Full Text Available The diffuse interface model of Saurel et al. (2008 is used for the computation of compressible cavitating flows around underwater missiles. Such systems use gas injection and natural cavitation to reduce drag effects. Consequently material interfaces appear separating liquid and gas. These interfaces may have a really complex dynamics such that only a few formulations are able to predict their evolution. Contrarily to front tracking or interface reconstruction method the interfaces are computed as diffused numerical zones, that are captured in a routinely manner, as is done usually with gas dynamics solvers for shocks and contact discontinuity. With the present approach, a single set of partial differential equations is solved everywhere, with a single numerical scheme. This leads to very efficient solvers. The algorithm derived in Saurel et al. (2009 is used to compute cavitation pockets around solid bodies. It is first validated against experiments done in cavitation tunnel at CNU. Then it is used to compute flows around high speed underwater systems (Shkval-like missile. Performance data are then computed showing method ability to predict forces acting on the system.
Long, Robert L.; Boor, R.A.; Cole, W.M.; Elder, G.E.
A brief statement of the mission of the White Sands Missile Range Nuclear Effects Laboratory is given. The new Nuclear Effects Laboratory Facility is described. This facility consists of two buildings-a laboratory and a reactor building. The White Sands Missile Range bare critical assembly, designated as the MoLLY-G, is described. The MoLLY-G, an unreflected, unmoderated right circular cylinder of uranium-molybdenum alloy designed for pulsed operation, will have a maximum burst capability of approximately 2 x 10/sup 17/ fissions with a burst width of 50 microseconds. The reactor construction and operating procedures are described. As designed, the MoLLY-G will provide an intense source of pulsed neutron and gamma radiation for a great variety of experimental and test arrangements. (auth)
Beckner, H. E.; Clark, S. R.; Bonner, J. R.; Thomas, C. G.
The Jonathan Dickinson Instrumentation Facility (JDIF) is an instrumentation station at the Eastern Test Range designed to provide space diversity tracking of all launches from the Eastern Space and Missile Center or Kennedy Space Center. The JDIF includes tracking radar, telemetry, command/control systems, timing, and communication systems and the Navy's Flight Test Support System in one integrated building. Since virtually all of the instrumentation at JDIF is critical to the success of launches, a concept was established to make it possible to run the Eastern Test Range site during mission support from a bank of diesel generators, and to use commercial power for normal day-to-day operations.
..., Island of Kauai, Hawaii; missile range facility. 334.1390 Section 334.1390 Navigation and Navigable... REGULATIONS § 334.1390 Pacific Ocean at Barking Sands, Island of Kauai, Hawaii; missile range facility. (a... Area, Barking Sands, Kauai, Hawaii. ...
Federal Laboratory Consortium — The Advanced Missile Signature Center (AMSC) is a national facility supporting the Missile Defense Agency (MDA) and other DoD programs and customers with analysis,...
... amendment to the regulation will not have a significant impact to the quality of the human environment and... DEPARTMENT OF DEFENSE Department of the Army, Corps of Engineers 33 CFR Part 334 Pacific Ocean off... regulations for the danger zone in waters of the Pacific Ocean off the Pacific Missile Range Facility at...
The facility, shown in Figure 3-20, is used almost entirely for propeller research. MANAGING DIHECTGR ARNOLD HANSEN ASST. DIRECTOR OPERATION OF...Fraunhofer- Gesell - schaft (FhG), a company which incorporates 32 technical institutes throughout West Germany. The central office for FhG is located in
Hahn, M.; Haferkamp, H.; Bach, W.; Rose, N.
For about 10 years the Institute for Material Science at the Hanover University has worked on projects of underwater cutting and welding. Increasing tasks to be done in nuclear facilities led to the development of special handling systems to support and handle the cutting tools. Also sensors and computers for extensive and complex tasks were integrated. A small sized freediving handling system, equipped with 2 video cameras, ultrasonic and radiation sensors and a plasma cutting torch for inspection and decommissioning tasks in nuclear facilities is described in this paper. (Author)
Yasuhiro Miwa; Syuichi Satoh; Naoya Hirose
A remote-controlled inspection robot for nuclear facilities was developed. This is a underwater robot technology combined with inspection and flaw removal technologies. This report will describe the structure and performance of this robot. The inspection robot consists of two parts. The one is driving equipment, and the other is inspection and grinding units. It can swim in the tank, move around the tank wall, and stay on the inspection area. After that it starts inspection and flaw removal with a special grinding wheel. This technology had been developed to inspect some Radioactive Waste (RW) tanks in operating nuclear power plants. There are many RW tanks in these plants, which human workers can be hard to access because of a high level dose. This technology is too useful for inspection works of human-inaccessible areas. And also, in conventional inspection process, some worker go into the tank and set up scaffolding after full drainage and decontamination. It spends too much time for these preparations. If tank inspection and flaw removal can be performed in underwater, the outage period will be reduced. Remote-controlled process can be performed in underwater. This is the great advantage for plant owners. Since 1999 we have been applying this inspection robot to operating nuclear 11 facilities in Japan. (authors)
Dick, James L
There is thus provided an underwater vehicle having facility for maneuvering alongside a retrieving vehicle, as by manipulation of bow and stern planes, for engaging a hull surface of the retrieving...
Dahlke, H.J.; Johnson, D.A.; Rawlins, J.K.; Searle, D.K.; Wachs, G.W.
This document is a summary description for an Underwater Fuel Storage Facility (UFSF) for foreign research reactor (FRR) spent nuclear fuel (SNF). A FRR SNF environmental Impact Statement (EIS) is being prepared and will include both wet and dry storage facilities as storage alternatives. For the UFSF presented in this document, a specific site is not chosen. This facility can be sited at any one of the five locations under consideration in the EIS. These locations are the Idaho National Engineering Laboratory, Savannah River Site, Hanford, Oak Ridge National Laboratory, and Nevada Test Site. Generic facility environmental impacts and emissions are provided in this report. A baseline fuel element is defined in Section 2.2, and the results of a fission product analysis are presented. Requirements for a storage facility have been researched and are summarized in Section 3. Section 4 describes three facility options: (1) the Centralized-UFSF, which would store the entire fuel element quantity in a single facility at a single location, (2) the Regionalized Large-UFSF, which would store 75% of the fuel element quantity in some region of the country, and (3) the Regionalized Small-UFSF, which would store 25% of the fuel element quantity, with the possibility of a number of these facilities in various regions throughout the country. The operational philosophy is presented in Section 5, and Section 6 contains a description of the equipment. Section 7 defines the utilities required for the facility. Cost estimates are discussed in Section 8, and detailed cost estimates are included. Impacts to worker safety, public safety, and the environment are discussed in Section 9. Accidental releases are presented in Section 10. Standard Environmental Impact Forms are included in Section 11.
Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.
Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de
Rao, D.V.H.; Ganeshan, P.; Khadilkar, M.G.
Cirus rod cutting building is a pool of water in concrete unlined bays. This houses several equipment required for processing of spent fuel and other experimental assemblies. These have been in use for over three decades. Recently the fuel transfer buggy had a major breakdown and the repair involved elaborate planning preparation and special methods to ensure safe working condition and to minimise manrem consumption. This also provided an opportunity to assess the condition of other underwater components in radiation environment which were hitherto inaccessible. This paper highlights the repair work carried on buggy and also the effect of ageing on some of the equipment vis a vis the possibility of their life extension. (author). 7 figs
Helble, Tyler A; Ierley, Glenn R; D'Spain, Gerald L; Martin, Stephen W
Time difference of arrival (TDOA) methods for acoustically localizing multiple marine mammals have been applied to recorded data from the Navy's Pacific Missile Range Facility in order to localize and track humpback whales. Modifications to established methods were necessary in order to simultaneously track multiple animals on the range faster than real-time and in a fully automated way, while minimizing the number of incorrect localizations. The resulting algorithms were run with no human intervention at computational speeds faster than the data recording speed on over forty days of acoustic recordings from the range, spanning multiple years. Spatial localizations based on correlating sequences of units originating from within the range produce estimates having a standard deviation typically 10 m or less (due primarily to TDOA measurement errors), and a bias of 20 m or less (due primarily to sound speed mismatch). An automated method for associating units to individual whales is presented, enabling automated humpback song analyses to be performed.
Würsig, B; Greene, C R
Western Hong Kong is home to two species of marine mammals: Indo-Pacific humpbacked dolphins (Sousa chinensis) and finless porpoises (Neophocaena phocaenoides). Both are threatened in many parts of their range in southeast Asia [for example, International Biological Research Institute Reports 9 (1997), 41; Asian Marine Biology 14 (1997) 111]. In 1998, when the new Hong Kong International Airport opened in western Hong Kong, small tankers (about 100 m long, cargo capacity about 6300 metric tons) began delivering fuel to the Aviation Fuel Receiving Facility (AFRF) just off Sha Chau Island, north of the airport. Calibrated sound recordings were taken over a 4-day period from a quiet, anchored boat at distances 80-2000 m from aviation fuel delivery activities at the AFRF. From the recordings, 143 sections were selected for analysis. Narrowband spectral densities on the sound pressures were computed, and one-third octave band levels were derived for center frequencies from 10 to 16,000 Hz. Broadband levels, viz. 10-20,000 Hz. were also computed. The results showed that the Sha Chau area is normally noisy underwater, with the lowest broadband levels measured corresponding to those expected during a storm at sea (sea state 6). This background noise is believed to come largely from heavy vessel traffic in the Urmston Road to the north and east of Sha Chau and from vessels in the Pearl River Estuary to the West. The sound levels from the AFRF tankers are comparable to the levels measured from similar- and smaller-sized supply vessels supporting offshore oil exploration. The strongest sounds recorded were from a tanker leaving the AFRF at distance 100 m from the hydrophone, for which the one-third octave band level at 100 Hz was 141 dB re 1 microPa (spectrum level 127 dB re 1 microPa2/Hz) and the 10-20,000 Hz broadband level was 146 dB. At distances of 100 m or more and frequencies above 300 Hz, the one-third octave band levels were less than 130 dB (spectrum level 111 dB re
UCRL-15910 specifies wind and tornado missiles for moderate- and high-hazard DOE facilities. Wall-barrier specimens have been tested at the Tornado Missile Impact Facility at Texas Tech University. The facility has an air-activated tornado missile cannon capable of firing 2x4 timber planks weighing 12 lb at speeds up to 150 mph and 3-in-diameter steel pipes weighing 75 lb at speeds to 7 5 mph. Wall barriers tested to date include reinforced concrete walls from 4-in. to 10-in. thick; 8-in. and 12-in. walls of reinforced concrete masonry units (CMU); two other masonry wall configurations consisting of an 8-in. CMU with a 4-in. clay-brick veneer and a 10-in. composite wall with two wythes of 4-in. clay brick. The impact test series is designed to determine the impact speed that will produce backface spall of each wall barrier. A set of 15 wall sections has been constructed and tested at this time. Preliminary finding suggest that all cells of CMU walls must be grouted to prevent missile penetration. Walls recommended in the workshop on UCRL-15910 provide acceptable protection if cracking can be accepted
Choe, D.; Xiao, S.; Jevremovic, T.; Yang, X.
The University of Utah 100 kW TRIGA (UUTR) reactor provides usable neutron yields for neutron radiography. Currently, UUTR reactor has three irradiators (Central, Pneumatic, and Thermal irradiators) and one Fast neutron Irradiation Facility (FNIF). These irradiators are very small so they are not suitable for neutron radiography. UUTR has three beam ports but they are not available due to the structure of the core. All sides of the core are occupied by FNIF, Thermal Irradiator, and three ion chambers. The only available position for underwater vertical beam port is on the top of the FNIF. There are two factors necessary to fulfill to be able to realize vertical underwater beam port: noninterruption to other facilities and radiation shielding. Designing the vertical beam port as movable ensures good access to the core and pool, while still providing a good neutron radiography environment. Keeping the top of the beam port below the surface of the pool the water represents biological shield. Neutron radiographs, with a simple setup of efficient neutron converters and digital camera systems, can produce acceptable resolution with an exposure time as short as a few minutes. It is important to validate the design with calculations before constructing the beam port. The design of the beam port is modeled using the MCNP5 transport code. A minimum of 10 5 neutrons/cm 2 -sec thermal neutron flux is required for high resolution neutron radiography. Currently, the UUTRIGA is in the process of upgrading its power from 100 kW to 250 kW. Upon the completion of the upgrading, the maximum neutron flux in the core will be ∼7x10 12 neutrons/cm 2 -sec. This paper discusses a modeling and evaluation of capability for a neutron radiography facility. (author)
Federal Laboratory Consortium — This test facility offers the capability to emulate and measure guided missile radar cross-section without requiring flight tests of tactical missiles. This facility...
Full Text Available The paper reviews the history of technical development in the field of hypervelocity missiles. It highlights the fact that the development of anti-ballistic systems in USA, Russia, France, UK, Sweden, and Israel is moving toward the final deployment stage; that USA and Israel are trying to sell PAC 2 and Arrow 2 to India; and that India’s Agni and Prithvi missiles have improved their accuracy, with assistance from Russia. Consequently, the paper proposes enhanced effort for development in Pakistan of a basic hypersonic tactical missile, with 300 KM range, 500 KG payload, and multi-rolecapability. The author argues that a system, developed within the country, at the existing or upgraded facilities, will not violate MTCR restrictions, and would greatly enhance the country’s defense capability. Furthermore, it would provide high technology jobs toPakistani citizens. The paper reinforces the idea by suggesting that evolution in the field of aviation and electronics favors the development of ballistic, cruise and guided missile technologies; and that flight time of short and intermediate range missiles is so short that its interception is virtually impossible.
... Range Facility (PMRF), Barking Sands, Island of Kauai, Hawaii. 165.1406 Section 165.1406 Navigation and...), Barking Sands, Island of Kauai, Hawaii. (a) Location. The following area is established as a safety zone during launch operations at PMRF, Kauai, Hawaii: The waters bounded by the following coordinates: (22°01...
Haan, de D.; Burggraaf, D.; Ybema, M.S.; Hille Ris Lambers, R.
The aim of this part of the Monitoring and Evaluation Program NSW (MEP-NSW), i.e. “acoustic measurements”, is to measure and analyze underwater sound emissions from the construction of the OWEZ wind farm and to investigate the effects to marine animals (in particular fish, harbour porpoises and
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.
About 75 countries currently possess cruise missiles.1 Many experts predict that anti- ship and land attack cruise missile proliferation will increase in terms of both scope and technological sophistication...
Hichkad, Ravi R; Bolkcom, Christopher
Congress has expressed interest in cruise missile defense for years. Cruise missiles (CMs) are essentially unmanned attack aircraft -- vehicles composed of an airframe, propulsion system, guidance system, and weapons payload...
Hichkad, Ravi R; Bolkcom, Christopher
Congress has expressed interest in cruise missile defense for years. Cruise missiles (CMs) are essentially unmanned attack aircraft -- vehicles composed of an airframe, propulsion system, guidance system, and weapons payload...
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...
The first underwater panoramic images were added to Google Maps™, the company announced on 25 September. This first “underwater Street View collection,” launched in partnership with the Caitlin Seaview Survey, provides people with the opportunity to “become the next virtual Jacques Cousteau.” For more information, see: maps.google.com/ocean.
Federal Laboratory Consortium — A large complex contained within approximately 600 acres with security fencing, controlled access gates, and a munitions convoy access road. The complex is capable...
The growing need for underwater observation and subsea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, biogeochemical, evolutionary, and ecological changes in the sea, ocean, and lake environments, and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. Models are presented for three kinds of optical wireless communication links: (a) a line-of-sight link, (b) a modulating retroreflector link, and (c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered light it was possible to mitigate this decrease in some cases. It is concluded from the analysis that a high-data-rate underwater optical wireless network is a feasible solution for emerging applications such as UUV-to-UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.
Bhattacharyya, A.K.; Boritz, R.C.; Niyogi, P.K.
The development of techniques designed to calculate tornado missile velocities is traced. It is shown that there is a need for a consistent method for obtaining missile velocities for a variety of tornado parameters. A consistent method for determination of trajectories and velocities of missiles generated by a tornado is described. The effects of plant layout upon missile impact velocity at a given building are discussed from the point of view of determining the necessary missile barrier characteristics. 19 references
Full Text Available 【Abstract】Objective: To determine the pattern of causalities of Iraqi ballistic missile attacks on Tehran, the capital of Iran, during Iraq-Iran war. Methods: Data were extracted from the Army Staff Headquarters based on daily reports of Iranian army units during the war. Results: During 52 days, Tehran was stroked by 118 Al-Hussein missiles (a modified version of Scud missile. Eighty-six missiles landed in populated areas. During Iraqi missile attacks, 422 civilians died and 1 579 injured (4.9 deaths and 18.3 injuries per missile. During 52 days, 8.1 of the civilians died and 30.4 injured daily. Of the cases that died, 101 persons (24% were excluded due to the lack of information. Among the remainders, 179 (55.8% were male and 142 (44.2% were female. The mean age of the victims was 25.3 years±19.9 years. Our results show that the high accuracy of modified Scud missiles landed in crowded ar-eas is the major cause of high mortality in Tehran. The pres-ence of suitable warning system and shelters could reduce civilian casualties. Conclusion: The awareness and readiness of civilian defense forces, rescue services and all medical facilities for dealing with mass casualties caused by ballistic missile at-tacks are necessary. Key words: Mortality; War; Mass casualty incidents; Wounds and injuries
The techniques of calibration of underwater sound transducers for farfield, near-field and closed environment conditions are reviewed in this paper .The design of acoustic calibration tank is mentioned. The facilities available at Naval Physical & Oceanographic Laboratory, Cochin for calibration of transducers are also listed.
on the DPRK TPD-2 ballistic missile. A 3 degree-of-freedom ( 3DoF ) mathematical model was previously developed and used to simulate the trajectory...Characteristics(estimated) TPD-2 ICBM Data Input to Simulation(From ) Figure 3. Reach of TPD-2 Missile A 3DoF ballistic missile
At the present day, an unparalleled number of international actors, be it national governments or non-state groups, have acquired or are seeking to acquire both weapons of mass destruction and the means to deliver them. Those means of delivery can be Ballistic Missiles that can bridge vast – even
Schrum, P.B.; Cohen, G.H.
Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.
Schrum, P.B.; Cohen, G.H.
Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer ±45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer ±10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion
Federal Laboratory Consortium — The Underwater Sound Reference Division (USRD) serves as the U.S. standardizing activity in the area of underwater acoustic measurements, as the National Institute...
.... The Evolved SEASPARROW Missile, a Navy Acquisition Category II program, is an improved version of the RIM-7P SEASPARROW missile that will intercept high-speed maneuvering, anti-ship cruise missiles...
The growing need for underwater observation and sub-sea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, bio-geochemical, evolutionary and ecological changes in the sea, ocean and lake environments and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. We present models of three kinds of optical wireless communication links a) a line-of-sight link, b) a modulating retro-reflector link and c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered lighted it was possible to mitigate this decrease in some cases. We conclude from the analysis that a high data rate underwater optical wireless network is a feasible solution for emerging applications such as UUV to UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.
Laser cutting; underwater laser cutting; fibre optic beam delivery; Nd:YAG laser; material processing; heat affected zone; microstructure. PACS Nos 42.62.Cf; 42.62.-b; 42.55.Rz; 42.81.Ai; 42.81.-i. 1. Introduction. Underwater laser cutting and welding has many applications in nuclear facilities and shiping industry and is a ...
Williams, K.D.; Gieszl, R.; Keller, P.J.; Drayer, B.P.
This paper reports ferromagnetic properties of fired missile projectiles (bullets, BBs, etc) investigated. Projectile samples were obtained from manufactures, police, and commercial sources. Deflection measurements at the portal of a 1.5-T magnetic field were performed for 47 projectiles. Sixteen bullets were examined in gelatin phantoms for rotation-translation movements as well. Ferromagnetic bullets displayed considerable deflection forces in the presence of the magnetic field and could be rotated to 80 degrees from their previous alignments when introduced perpendicular to the magnetic field in our gelatin phantom experiments. Military bullet calibers appear to pose the greatest ferromagnetic risk. Commercial sporting ammunition is generally nonferromagnetic
The United States has pursued defenses against nuclear-armed long-range ballistic missiles since at least the 1950s. At the same time, concerns that missile defenses could undermine nuclear deterrence and potentially spark an arms race led the United States and Soviet Union to negotiate limits on these systems. The 1972 Anti-Ballistic Missile Treaty constrained strategic missile defenses for thirty years. After abandoning the treaty in 2002, President George W. Bush began fielding the Ground-based Midcourse Defense (GMD) homeland missile defense system on an extremely aggressive schedule, nominally to respond to threats from North Korea and Iran. Today, nearly fifteen years after its initial deployment, the potential and the limits of this homeland missile defense are apparent. Its test record is poor and it has no demonstrated ability to stop an incoming missile under real-world conditions. No credible strategy is in place to solve the issue of discriminating countermeasures. Insufficient oversight has not only exacerbated the GMD system's problems, but has obscured their full extent, which could encourage politicians and military leaders to make decisions that actually increase the risk of a missile attack against the United States. These are not the only costs. Both Russia and China have repeatedly expressed concerns that U.S. missile defenses adversely affect their own strategic capabilities and interests, particularly taken in light of the substantial US nuclear forces. This in turn affects these countries' nuclear modernization priorities. This talk will provide a technical overview of the US strategic missile defense system, and how it relates to deterrence against non-peer adversaries as well as how it affects deterrence with Russia and China and the long-term prospects for nuclear reductions
... 15 Commerce and Foreign Trade 2 2010-01-01 2010-01-01 false Missile technology. 742.5 Section 742... BASED CONTROLS § 742.5 Missile technology. (a) License requirements. (1) In support of U.S. foreign... establish the existence of a contract. (d) Missile Technology Control Regime. Missile Technology Control...
Development and demonstration of the safe dismantling of metal components from the decommissioning of nuclear facilities by means of underwater plasma arc cutting. Development of a measurement and control system for a underwater plasma arc cutting device for the safe dismantling of metallic components from the decommissioning of nuclear facility. Final report
Haferkamp, H.; Bach, F.W.; Steiner, H.; Kah, S.
For the decommissioning of nuclear installations, methods and tools for the dismantling of complicated metallic components with great material thickness are needed. The method of underwater plasma arc cutting offers the possibility for the dismantling of highly activated components because of the shielding effect of water. Up to now the tools for the underwater method are only available for simple contours. Target of the project was the development of a plasma arc cutting technique for the dismantling of complicated components and of a control and measurement system. (orig./DG) [de
This report presents water-resource information that was collected at White Sands Missile Range during 1971 and early 1972 by personnel of the U.S. Geological Survey, Water Resources Division. Data on ground-water pumpage and resulting water-level fluctuation, chemical quality, percipitation, and surface-water runoff are summarized in the report. The data were obtained as a result of the continuing water-resources basic-data collection program sponsored by the Facilities Engineering Directorate, White Sands Missile Range.
This report provides an overview and description of the design and construction of underwater geotechnical foundations and offers preliminary guidance based on past and current technology applications...
Seven completed initial tests are described with 4 types of hypothetical tornado-borne missiles (impacting reinforced concrete panels that are typical of walls in nuclear power facilities). The missiles were rocket propelled to velocities currently postulated as being attainable by debris in tornadoes. (1500-pound 35-foot long utility pole; 8-pound 1-inch Grade 60 reinforcing bar; 78-pound 3-inch Schedule 40 pipe; and 743-pound 12-inch Schedule 40 pipe;) The results show that a minimum thickness of 24 inches is sufficient to prevent backface scabbing from normal impacts of currently postulated tornado missiles and that existing power plant walls are adequate for the most severe conditions currently postulated by regulatory agencies. This report gives selected detailed data on the tests completed thus far, including strain, panel velocity, and reaction histories
Jenson, Richard J.
Approved for public release; distribution is unlimited The Pacific Missile Test Center (PMTC) is the Navy's largest Major Range and Test Facility Base, with an investment of over one billion dollars. The majority of this investment is in range test equipment and facilities including radar, telemetry, communication and command/ control systems. Concern is growing over the "excessively obsolete condition of PMTC technical equipment." Improvement of factors concerned with...
Phase IIb, Task I of the Missile Power Supply which consists of development, fabrication and test of an 8500 watt battery-converter breadboard power ...001 are reported and analyzed. The progress of the work on the Missile Power Supply DC to DC converter breadboard is reported.... supply , was continued during the quarter ending September 30, 1967. The basic parameters used in the design of the 95 volt battery breadboard are
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…
Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell
The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: (1) Be easy to apply; (2) Adhere well to the four surfaces of interest; (3) Not change or have a negative impact on water chemistry or clarity; (4) Not be hazardous in final applied form; and (5) Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates
Technical Directions Inc. (TDI), Ortonville, Michigan, was asked by the U.S. Army and the U.S. Air Force to improve the efficiency of their J-45 missile engine for the NLOS-LS LAM Loitering Attack Missile...
Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya
As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)
TRIDENT II (D5) Sea-Launched Ballistic Missile UGM 133A (TRIDENT II (D5) missile) developed an improved Submarine Launched Ballistic Missile with...The TRIDENT II (D5) missile’s increased payload allows the deterrent mission to be achieved with fewer submarines . Trident II Missile December 2015...needed for the cable builds, which extended the overall time required for build/test, and b) unplanned work was required during the Burn-In Console
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.
Jenkins, Scott A; Humphreys, Douglas E; Sherman, Jeff; Osse, Jim; Jones, Clayton; Leonard, Naomi; Graver, Joshua; Bachmayer, Ralf; Clem, Ted; Carroll, Paul; Davis, Philip; Berry, Jon; Worley, Paul; Wasyl, Joseph
The goals of this study are to determine how to advance from present capabilities of underwater glider (and hybrid motorglider) technology to what could be possible within the next few years; and to identify critical research issues that must be resolved to make such advancements possible. These goals were pursued by merging archival flight data with numerical model results and system spreadsheet analysis to extrapolate from the present state-of-the–art in underwater (UW) gliders to potential...
Full Text Available Missile defense systems are often related to major military resources aimed at shielding a specific region from incoming attacks. They are intended to detect, track, intercept, and destruct incoming enemy missiles. These systems vary in cost, efficiency, dependability, and technology. In present times, the possession of these types of systems is associated with large capacity military countries. Demonstrated here are the mathematical techniques behind missile systems which calculate trajectories of incoming missiles and potential intercept positions after initial missile detection. This procedure involved the use of vector-valued functions, systems of equations, and knowledge of projectile motion concepts.
Seattle Pacific University, Seattle Washington. LTC Lloyd’s military education includes the Air Defense Officer Basic and Advance Courses, Army...Missile Defense Acquisition: Failure is Not an Option 8 capabilities. Retired Marine General James Mattis’ renowned quote rings true, “The enemy...facilities, and fire control and communications nodes based in Alaska and California.21USNORTHCOM personnel operate MDA’s battle command, control, and
Simiu, E.; Cordes, M.
An investigation of the question of tornado-borne missile speeds was carried out, with a view to identify pertinent areas of uncertainty and to estimate credible tornado-borne missile speeds - within the limitations inherent in the present state of the art. The investigation consists of two parts: (1) a study in which a rational model for the missile motion is proposed, and numerical experiments are carried out corresponding to various assumptions on the initial conditions of the missile motion, the structure of the tornado flow, and the aerodynamic properties of the missile; (2) a theoretical and experimental study of tornado-borne missile aerodynamics, conducted by Colorado State Univ. (CSU) to be covered in a separate report by CSU. In the present report, the factors affecting missile motion and their influence upon such motion are examined
Spearman, M. L.
The development of missiles from early history to present time is put in perspective. The influence of World War II in accelerating the development of guided missiles, particularly through German scientists, is discussed. The dispersion of German scientists to other countries and the coupling of their work with native talent to develop guide missiles is traced. Particular emphasis is placed on the evolution of the missile in the U.S. and the U.S.S.R. Since the Soviets possess what is probably the world's most complete array of dedicated missile system types, their known inventory is reviewed. Some philosophical observations of missile design trends and missile purposes are made as related to the interests of various countries.
Available data on tornado wind velocities and wind distribution are incorporated into a mathematical model of the tornado wind field. The mathematical model is then used to predict the time-history of motion of a potential missile in a tornado wind field. (U.S.)
Willis, Walter David
Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The underwater characterization equipment is often required to operate at depths exceeding 20 ft (6.1 m) and in relatively confined or congested spaces. The typical baseline approach has been the use of radiation detectors and underwater cameras mounted on long poles, or stationary cameras with pan and tilt features mounted on the sides of the underwater facility. There is a perceived need for an inexpensive, more mobile method of performing close-up inspection and radiation measurements in confined spaces underwater. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available ''Scallop'' vehicle, but has been modified by Department of Energy's Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at Idaho National Engineering and environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head'' fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations
The article discusses the relevance of the underwater vehicles' ability to solve a wide range of problems. The idea put in the basis of this research is designing a modular underwater robot. It allows to mount various equipment and test it in underwater environment. The paper deals with the concept of the robot and its characteristics.
Wallace, Michael L.; Freitas, William M.
4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…
Strategic missiles and weapons are proliferating rapidly; thus, the US and its Allies are likely to face both capable bilateral threats and multilateral configurations with complex coalitions for which defenses could be essential for stability. Current hit-to-kill interceptor and radar and infrared detection, track, and discrimination technology should suffice for limited threats, but it is necessary to meet those threats in time while maintaining growth potential for the more sophisticated threats likely to follow. National Missile Defense faces a confusing array of threats, programs, and alternatives, but the technologies in development are clearly an appropriate first step towards any of them. They are likely to succeed in the near term; the challenge is to retain flexibility to provide needed options in the mid and long terms.
Gledhill, Irvy MA
Full Text Available on the typical length scale L of the aerodynamic object under study: aeroelastic deflections , control surface deflections , dynamic wedges in wind tunnels , and the release of stores from aircraft  2. calculation of dynamic derivatives using c... of the program required for absolute velocities were also found to be minor. Validation test cases have included a spinning plate, constant velocity airfoil, and oscillating airfoil . Test case: rapidly accelerating missile We consider a simple...
NORMAL-FORCE-CURVE SLOPE, X=0 165 88 CORRELATION OF NORMAL-FORCE-CURVE SLOPE AT SUPERSONIC SPEEDS FOR GOTHIC AND OGEE PLANFORMS 166 89 METHODS FOR...FIN CROSS-FLOW DRAG 167 90 PREDICTION OF NONLINEAR LIFT OF DOUBLE-DELTA PLANFORMS AT SUBSONIC SPEEDS 169 91 CORRELATION OF LIFT CURVES OF GOTHIC ...methods are available in the literature for missile configurations, there is no collection of these techniques in a form suitable for efficient
special instructions VID visual identification VR visual route Legend NOTES: 1. Update IDs at any level in the ID matrix; IDBO or POO considerations...nations. Such weapons provide an offensive capability and, when mated with a WMD, may give a nation the ability to deter a potential adversary by...the final stages of preparing the weapon for operations is mating the warhead to the missile body. This may be a training event so it can be
Although the Strategic Defense Initiative (SDI) is meant to cope with the danger of a Soviet nuclear attack, the recent US debate over SDI has paid surprisingly little attention to Soviet views of ballistic missile defense. Despite the existence of a substantial body of pertinent scholarship, the debate has failed to take adequate account of major changes in Soviet ballistic missile defense policy since the mid-1960s. It has also neglected the links between current Soviet military policy and broader Soviet political and economic choices. The Soviets regard SDI not as a novel undertaking to reduce the risks of nuclear war but as an extension of the geopolitical competition between the superpowers. This competition has been dominated in the 1980s, in the Soviet view, by sharply increased US assertiveness and the decline of detente. Viewing SDI as a manifestation of these general trends, Soviet decision makers find the prospect of an unregulated race in ballistic missile defenses and military space technologies deeply unsettling. The deterioration of superpower relations has raised serious doubts in Moscow about the wisdom of Soviet external policy during the 1970s and has provoked sharp internal differences over policy toward the US. Already highly suspicious of the Reagan administration, the elite is united by a general conviction that SDI is an American gambit that may ultimately undercut past Soviet strategic gains and pose a grave new threat to Soviet security. 14 references.
efforts at missile defense (such as the 1960s- era Nike -Zeus program) were aimed at countering the vast Soviet missile arsenal. Recent efforts are...on unclassified performance parameters for the various radars and interceptors and assumed that the systems would work “as advertised .” (A...develop defenses against ballistic missiles. Early U.S. efforts (such as the 1960s-era Nike -Zeus program) were aimed at countering the Soviet Union’s
Federal Laboratory Consortium — This laboratory comprises several hardware-in-the-loop missile flight simulations designed specifically to evaluate the effectiveness of electro-optical air defense...
Evers, L.; Barros, A.I.; Monsuur, H.
The increasing proliferation of ballistic missiles and weapons of mass destruction poses new risks worldwide. For a threatened nation and given the characteristics of this threat a layered ballistic missile defence system strategy appears to be the preferred solution. However, such a strategy
Naval Personnel Program Support Activity, Washington, DC.
Fundamentals of missile and nuclear weapons systems are presented in this book which is primarily prepared as the second text of a three-volume series for students of the Navy Reserve Officers' Training Corps and the Officer Candidate School. Following an introduction to guided missiles and nuclear physics, basic principles and theories are…
Gomaa, Walid; El-Sherif, Ashraf F.; El-Sharkawy, Yasser H.
The conventional method used to detect an underwater target is by sending and receiving some form of acoustic energy. But the acoustic systems have limitations in the range resolution and accuracy; while, the potential benefits of a laserbased underwater target detection include high directionality, high response, and high range accuracy. Lasers operating in the blue-green region of the light spectrum(420 : 570nm)have a several applications in the area of detection and ranging of submersible targets due to minimum attenuation through water ( less than 0.1 m-1) and maximum laser reflection from estimated target (like mines or submarines) to provide a long range of detection. In this paper laser attenuation in water was measured experimentally by new simple method by using high resolution spectrometer. The laser echoes from different targets (metal, plastic, wood, and rubber) were detected using high resolution CCD camera; the position of detection camera was optimized to provide a high reflection laser from target and low backscattering noise from the water medium, digital image processing techniques were applied to detect and discriminate the echoes from the metal target and subtract the echoes from other objects. Extraction the image of target from the scattering noise is done by background subtraction and edge detection techniques. As a conclusion, we present a high response laser imaging system to detect and discriminate small size, like-mine underwater targets.
Javaid Muhammad Yasar
Full Text Available Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no review of these gliders have been done. This paper reviews existing underwater gliders, with emphasis on their respective working principles, range and payload capacity. All information on gliders available in the public domain or published in literature from the year 2000-2013 was reviewed. The majority of these gliders have an operational depth of 1000 m and a payload of less than 25 kg. The exception is a blend-body shape glider, which has a payload of approximately 800 kg and an operational depth around about 300 m. However, the commercialization of these gliders has been limited with only three know examples that have been successfully commercialized.
period an effort was also made to estimate the cost of a reasonably simple test device that consists of a motor, bearing support and underwater...planned for use at that facility. FIT Test Vehicle Successful operation of the HullBUG system on the sailing vessel Adele was performed in
SI LE FO RC ES Figure. Trends in missiles and missile defense. The global gap between our mis- sile defense and our adversaries’ missile capabilities...Antiballistic Missiles,” Kuang Chiao Ch- ing, 16 August 1998, 54–61. 29. Toshi Yoshihara and James R. Holmes, Red Star over the Pacific: China’s Rise
Lettner, H.; Hofmann, W.; Winkler, R.; Rolle, R.; Foisner, W.
At a facility for underwater thermal radon therapy in Bad Hofgastein, experiments were carried out with the aim of establishing radon in the air exhaled by the treated patients and of radon decay products on the skin of the patients. The time course of radon concentration in the exhaled air shows a maximum a few minutes after entering the bath, then the Rn concentration remains constant over the remaining time spent in the bath. Taking into account several simplifying assumptions, the average dose to the epidermis from radon daughters is about 50 μGy. (A.K.)
Attorney Docket No. 300009 1 of 8 A CARBON NANOTUBE UNDERWATER ACOUSTIC THERMOPHONE STATEMENT OF GOVERNMENT INTEREST  The...the Invention  The present invention is an acoustically transparent carbon nanotube thermophone. (2) Description of the Prior Art [0004...amplitude of the resulting sound waves.  Recently, there has been development of underwater acoustic carbon nanotube (CNT) yarn sheets capable
F. A. Abd El-Salam
Full Text Available The equations of motion of a missile under the air drag effects are constructed. The modified TD88 is surveyed. Using Lagrange's planetary equations in Gauss form, the perturbations, due to the air drag in the orbital elements, are computed between the eccentric anomalies of the burn out and the reentry points [Ebo,2π−Ebo], respectively. The range equation is expressed as an infinite series in terms of the eccentricity e and the eccentric anomaly E. The different errors in the missile-free range due to the drag perturbations in the missile trajectory are obtained.
Byalko, Alexey V.
We present the first experimental observation of a new hydrodynamic phenomenon, the underwater tornado. Simple measurements show that the tornado forms a vortex of the Rankine type, i.e. the rising gas rotates as a solid body and the liquid rotates with a velocity decreasing hyperbolically with the radius. We obtain the dependence of the tornado radius a on the gas stream value j theoretically: a ∼ j2/5. Processing of a set of experiments yielded the value 0.36 for the exponent in this expression. We also report the initial stages of the theoretical study of this phenomenon.
Thomas, T. R.; Cook, P. L.
A description is given of a simple, inexpensive and versatile method for estimating underwater weight. The use of a portable stock tank allows the determination of % Fat by underwater weighing without requiring a swimming pool, built-in tank, or special facility. Twenty-eight college students were weighed on two separate testing sessions 24-48 hours apart. Ten trials were performed at each session. The mean of the last five trials was used in determining underwater weight. The test-retest reliability coefficient was high, r = 0.98, and most of the successive trial correlations were above 0.99. The mean % Fat for the women (N = 9) was 22.2 +/- 5.9 and for the men (N = 19) was 13.7 +/- 5.1. Images Figure 1 PMID:630178
... and, therefore, are expensive. The Bush administration's interest in building a comprehensive, or "layered," missile defense system could lead to extraordinary defense budget costs over the next twenty to thirty years...
Surface based air & missile defence behelst enerzijds de verdediging tegen conventionele luchtdreigingen, zoals vliegtuigen, helikopters en onbemande vliegtuigen (luchtverdediging). Aan de andere kant houdt het de verdediging tegen ballistische raketten en kruisraketten in (raketverdediging). De
By October 2004, the United States will have begun initial deployment of a missile defense capability albeit a modest, limited, and not completely proven one to defend the homeland against a limited...
Twisdale, L.A.; Dunn, W.L.; Chu, J.
Mathematical models of the contributing events to the tornado missile hazard at nuclear power plants have been developed in which the major sources of uncertainty have been considered in a probabilistic framework. These models have been structured into a sequential event formalism which permits the treatment of both single and multiple missile generation events. A simulation computer code utilizing these models has been developed to obtain estimates of tornado missile event likelihoods. Two case studies have been analyzed; the results indicate that the probability of a single missile from the sampling population impacting any of the plant's targets is less then about 10 -7 per reactor-year. Additional work is needed for verification and sensitivity study
Willis, Katie L
The hearing of turtles is poorly understood compared with the other reptiles. Although the mechanism of transduction of sound into a neural signal via hair cells has been described in detail, the rest of the auditory system is largely a black box. What is known is that turtles have higher hearing thresholds than other reptiles, with best frequencies around 500 Hz. They also have lower underwater hearing thresholds than those in air, owing to resonance of the middle ear cavity. Further studies demonstrated that all families of turtles and tortoises share a common middle ear cavity morphology, with scaling best suited to underwater hearing. This supports an aquatic origin of the group. Because turtles hear best under water, it is important to examine their vulnerability to anthropogenic noise. However, the lack of basic data makes such experiments difficult because only a few species of turtles have published audiograms. There are also almost no behavioral data available (understandable due to training difficulties). Finally, few studies show what kinds of sounds are behaviorally relevant. One notable paper revealed that the Australian snake-necked turtle (Chelodina oblonga) has a vocal repertoire in air, at the interface, and under water. Findings like these suggest that there is more to the turtle aquatic auditory scene than previously thought.
In this report, the author first proposes an overview of the notion of missile prohibition. He notices that the association between weapons of mass destruction and missiles is a prelude to the legitimacy of missile control, notably within the framework of the Missile Technology Control Regime or MTCR. He also comments the notion of total ban. In a second part, the author analyses and discusses the limitations of the control of technology diffusion. He discusses the role of the MTCR, comments the evolution of this regime with the taking of China and Russia into consideration, the impacts of national implementations of export regimes on the MTCR, and economic aspects of control implementation. In the next part, the author addresses other kinds of limitations, i.e. those related with capacity evolutions of proliferating States. The last part addresses the evolution towards a new definition of approach to missile non-proliferation, notably in terms of perception of missile roles and of technology transfer controls
Alderson, M.A.H.G.; Bartley, R.; O'Brien, T.P.
The assessment of the safety of nuclear reactors has necessitated the study of the effect of missiles on reinforced concrete structures. A programme of experimental work has been initiated within the United Kingdom to resolve the problem of design for the shear stresses produced by the impact loading. The basic scale of the experiments has been chosen to be 1/25th and both hard and soft missiles have been employed. The missiles are launched by a compressed air gun towards a vertical, circular, reinforced concrete target, high speed cine photography and deflection gauges being employed to record the missile behaviour and response of the target. Hard missiles have initially been plane circular discs and soft missiles have been developed to simulate the scaled load/time characteristic of a MRCA impacting at a velocity of 215 m/s. Targets of different overall thickness and varying amounts of reinforcement have been tested. A theoretical analysis of the impact phenomena has also been carried out using computer programs based on finite difference methods (Dynamic Relaxation and PISCES 2DL). The paper outlines the experimental work performed and discusses the analytical assessment by comparison with the test results. (Auth.)
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
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
Leautier, R.; Pilot, G.
This report describes the work done to develop underwater plasma arc cutting techniques, to characterise aerosols from cutting operations on radioactive and non-radioactive work-pieces, and to develop suitable ventilation and filtration techniques. The work has been carried out in the framework of a contract between CEA-CEN Cadarache and the Commission of European Communities. Furthermore, this work has been carried out in close cooperation with CEA-CEN Saclay mainly for secondary emissions and radioactive analysis. The contract started in May 1986 and was completed in December 1988 by a supplementary agreement. This report has been compiled from several progress reports submitted during the work period, contains the main findings of the work and encloses the results of comparative tests on plasma arc cutting
Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.
. This stresses for implementation of multiple safety measures of a high degree so that the platform operates continuously in a fail-safe mode. This paper discusses issues on safety measures implemented on the autonomous underwater platforms namely MAYA AUV...
Generation of the impact load time history at the contact point between a viscoelastic missile and its targets is presented. In the past, in the case of aircraft striking containment shell structure, the impact load history was determined on the basis of actual measurements by subjecting a rigid wall to aircraft crash. The effects of elastic deformation of the target upon the impact load time history is formulated in this paper. The missile is idealized by a linear mass-spring-dashpot combination using viscoelastic models. These models can readily be processed taking into account the elastic as well as inelastic deformations of the missiles. The target is assumed to be either linearly elastic or rigid. In the case of the linearly elastic target, the normal mode theory is used to express the time-dependent displacements of the target which is simulated by lumped masses, elastic properties and dashpots in discrete parts. In the case of Maxwell viscoelastic model, the time-dependent displacements of the missile and the target are given in terms of the unknown impact load time history. This leads to an integral equation which may be solved by Laplace transformation. The normal mode theory is provided. Examples are given for bricks with viscoelastic materials as missiles against a rigid target. (Auth.)
With the trend toward ever larger power generating plants with large high-speed turbines, an important plant design consideration is the potential for and consequences of mechanical failure of turbine rotors. Such rotor failure could result in high-velocity disc fragments (turbine missiles) perforating the turbine casing and jeopardizing vital plant systems. The designer must first estimate the probability of any turbine missile damaging any safety-related plant component for his turbine and his plant arrangement. If the probability is not low enough to be acceptable to the regulatory agency, he must design a shield to contain the postulated turbine missiles. Alternatively, the shield could be designed to retard (to reduce the velocity of) the missiles such that they would not damage any vital plant system. In this paper, some of the presently available references that can be used to evaluate the probability, containment and retardation of turbine missiles are reviewed; various alternative methods are compared; and subjects for future research are recommended. (Auth.)
Ugone, Mary L; Meling, John E; James, Harold C; Haynes, Christine L; Heller, Brad M; Pomietto, Kenneth M; Bobbio, Jaime; Chang, Bill; Pugh, Jacqueline
Who Should Read This Report and Why? Missile Defense Agency program managers who are responsible for the acquisition and management of targets used to test the Ballistic Missile Defense System should be interested in this report...
Koehler, John M
.... Similarly several military systems with the single mission of missile defense have evolved in service stovepipes, and are now being integrated into a national and global missile defense architecture...
Hildreth, Steven A
... so. The Administration will ask the 110th Congress to fund a National Missile Defense (NMD) site in Europe, which some analysts argue is needed because of the threat of North Korean ballistic missiles to Europe...
Goodman, J.; Koch, J.E.
It is shown that tornado missile transportation is a diffusion Markovian process. Therefore, the Green's function method is applied for the estimation of the probability of hitting a unit target area. This propability is expressed through a joint density of tornado intensity and path area, a probability of tornado missile injection and a tornado missile height distribution. (orig.)
... Office of the Secretary Federal Advisory Committee; Missile Defense Advisory Committee AGENCY: Missile... Advisory Committee Act of 1972 (5 U.S.C., Appendix, as amended) and the Government in the Sunshine Act of... Missile Defense Advisory Committee will meet on August 4 and 5, 2010, in Washington, DC. DATES: The...
complex equations which may, for the sake of expe- diency, be circumvented. To satisfy the intent of this handbook, it will suffice merely to be aware of...tabulates dm given h and Gm. 1-11 RATE OFTRAVEL To attain a required level of protection (G,.- factor), it has been shown that the item to be pro- tected...706-298 This page intentionally left blank. - 2-2 MISSILE OR ROCKET PROFILE SHILLELAGH • REDEYE LAUNCHER (CONTAINS .. MISSILE) M41A2 M41A3
The primary circuit structures of different nuclear powerplants are constructed out of stainless steels, ferritic steels, plated ferritic steels and alloys of aluminium. According to the level of the specific radiation of these structures, it is necessary for dismantling to work with remote controlled cutting techniques. The most successful way to protect the working crew against exposure of radiation is to operate underwater in different depths. The following thermal cutting processes are more or less developed to work under water: For ferritic steels only - flame cutting; For ferritic steels, stainless steels, cladded steels and aluminium alloys - oxy-arc-cutting, arc-waterjet-cutting with a consumable electrode, arc-saw-cutting, plasma-arc-cutting and plasma-arc-saw. The flame cutting is a burning process, all the other processes are melt-cutting processes. This paper explains the different techniques, giving a short introduction of the theory, a discussion of the possibilities with the advantages and disadvantages of these processes giving a view into the further research work in this interesting field. (author)
Theater Ballistic Missile Defense (TBMD) is a challenging mission area for any Theater Combatant or Joint Task Force Commander, and one he must focus on to mitigate the strategic effects this "terror" weapon can impart...
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.
Kruse, Rachel A.
Approved for public release; distribution is unlimited. The US Army is currently developing a new close combat missile system, Common Missile, to replace the aging Tubelaunched, Optically-tracked, Wire-guided (TOW 2B) and HELLFIRE missile systems. The Common Missile will have a greater range and improved target acquisition capability over the current missile systems. The purpose of this thesis is to compare the performance of the Common Missile and the TOW 2B missile in a simulated ground ...
Weiss, M.; Shima, T.
This paper introduces a new approach to guidance law design using linear quadratic optimal control theory, minimizing throughout the engagement the variation of the control input as well as the integral control effort. The guidance law is derived for arbitrary order missile dynamics and target
PROFESSIONAL STUDIES PAPER: SUSTAINABILITY OF THE 21M MISSILE MAINTAINER LIEUTENANT COLONEL DAVID S. MILLER AIR...of the health and sustainability of the ICBM maintenance officer career field will reveal conclusions and recommendations that could assist the...maintenance career field as healthy and sustainable , and ready to flourish. However, the evidence presented in this paper will show otherwise. To
DeLong, M. [Lawrence Livermore National Lab., CA (United States)
Practical limitations with underwater imaging systems area reached when the noise in the back scattered radiation generated in the water between the imaging system and the target obscures the spatial contrast and resolution necessary for target discovery and identification. The advent of high power lasers operating in the blue-green portion of the visible spectrum (oceanic transmission window) has led to improved experimental illumination systems for underwater imaging. Range-gated and synchronously scanned devices take advantage of the unique temporal and spatial coherence properties of laser radiation, respectively, to overcome the deleterious effects of common volume back scatter.
Fedorov, V. M.; Pustovetov, V. P.; Trubkin, Y. A.; Kirilenkov, A. V.
Experimental measurements of cosmic ray muon intensity deep underwater aimed at determining a muon absorption curve are of considerable interest, as they allow to reproduce independently the muon energy spectrum at sea level. The comparison of the muon absorption curve in sea water with that in rock makes it possible to determine muon energy losses caused by nuclear interactions. The data available on muon absorption in water and that in rock are not equivalent. Underground measurements are numerous and have been carried out down to the depth of approx. 15km w.e., whereas underwater muon intensity have been measured twice and only down to approx. 3km deep.
Yang, Miao; Sowmya, Arcot
Quality evaluation of underwater images is a key goal of underwater video image retrieval and intelligent processing. To date, no metric has been proposed for underwater color image quality evaluation (UCIQE). The special absorption and scattering characteristics of the water medium do not allow direct application of natural color image quality metrics especially to different underwater environments. In this paper, subjective testing for underwater image quality has been organized. The statistical distribution of the underwater image pixels in the CIELab color space related to subjective evaluation indicates the sharpness and colorful factors correlate well with subjective image quality perception. Based on these, a new UCIQE metric, which is a linear combination of chroma, saturation, and contrast, is proposed to quantify the non-uniform color cast, blurring, and low-contrast that characterize underwater engineering and monitoring images. Experiments are conducted to illustrate the performance of the proposed UCIQE metric and its capability to measure the underwater image enhancement results. They show that the proposed metric has comparable performance to the leading natural color image quality metrics and the underwater grayscale image quality metrics available in the literature, and can predict with higher accuracy the relative amount of degradation with similar image content in underwater environments. Importantly, UCIQE is a simple and fast solution for real-time underwater video processing. The effectiveness of the presented measure is also demonstrated by subjective evaluation. The results show better correlation between the UCIQE and the subjective mean opinion score.
Severs, S.; Toll, H.V.
A structure for an underwater nuclear power generating plant comprising a triangular platform formed of tubular leg and truss members upon which are attached one or more large spherical pressure vessels and one or more small cylindrical auxiliary pressure vessels. (author)
Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd
Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…
Demarthon, F.; Dupuy-Maury, F.
This dossier summarizes the 50 years of the French history of submarine nuclear propulsion. It presents the respective missions of the different types of submarines (dissuasion, protection), the inside structure, the maintenance works, the reactor and propulsion system, the new generation of nuclear submarines and the facilities for the on-shore testing of the reactor components. (J.S.)
AFISC/DAP 1 1 HQ ATC/TTQ 2 1 1 HQ SAC/DPAT 3 3 3 HQ SAC/LGMQ (ATCLO) 1 1 1 HQ USAF/ MPPT 1 1 1 HQ USMC/OMU 1 1 LMDC/AN 1 NODAC 1 1 3330 TCHTW/TTGX...branch instructors; supervisors; and job controllers . 4. AFR 39-1 Specialty Descriptions: The specialty descriptions cover both the Minuteman and Titan...power production and environmental control system maintenance) were rated above average in training emphasis, while all PREL shop tasks (support vehicle
companies; Douglas Company over 50 years ago and McDonnell more than 40 years ago. The merger of the two companies occurred in 1967. The merger ...ticular target, and establishing track files. The Infrared Acqusition (IRACQ) model indicates operations that takes place at the subsystem level in
This paper reports that in late May 1972 former President Richard M. Nixon went to Moscow and signed, among other documents, a Treaty to Limit Anti-Ballistic Missile (ABM) Systems. Under this agreement, both the United States and the Soviet Union made a commitment not to build nationwide ABM defenses against the other's intercontinental and submarine-launched ballistic missiles. They agreed to limit ABM deployments to a maximum of two sites, with no more than 100 launchers per site. Thirteen of the treaty's sixteen articles are intended to prevent any deviation from this. In addition, a joint Standing Consultative Commission to monitor compliance was created. National technical means --- sophisticated monitoring devices on land, sea, and in space --- were to be the primary instruments used to monitor compliance with the treaty. The ABM Treaty was signed in conjunction with an Interim Agreement to Limit Strategic Offensive Arms
Full Text Available On September 17, 2009—the 70th anniversary of the Soviet invasion of Poland in 1939 that marked the beginning of World War II—the Obama Administration announced its intention to shelve plans for the U.S. Ballistic Missile Defense (BMD that had been developed under former President George W. Bush. Pointing to a new intelligence assessment, President Obama argued that his predecessor's plan to deploy an X-band radar station outside of Prague, Czech Republic, and 10 two-stage interceptor missiles in Poland would not adequately protect America and its European allies from the Iranian threat and reiterated his opposition to utilizing unproven technology in any European BMD architecture.
Simiu, E.; Cordes, M.R.
A procedure was developed for estimating speeds with which postulated missiles hit any given set of targets in a nuclear power plant or similar installation. Hit speeds corresponding to probabilities of occurrence of .0000001 were calculated for a given nuclear power plant under various assumptions concerning the magnitude of the force opposing missile take-off, direction of tornado axis of translation, number and location of missiles, and size of target area. The results of the calculations are shown to depend upon the parameters: CDA/m, where CD = drag coefficient, A = projected area, m = mass of missiles, and the ratio, k, between the minimum aerodynamic force required to cause missile take-off, and the weight of the missile
types of aircraft sensors are considered: radar, launch and missile approach detectors. Their limits are also defined by geometric shapes within the...E FOIZC OPLP- IZELE’A% Q CLAST D 6 I AQ3 f v r RATE Commeme I Lj%-vljtK EVA- CoMMMLF 51 ok) MA Lsu- A vwwov GV A Vc-k I m4uE A FIGURE 3-22 erVAD 3
tan 2.9) a -q W "pc Sientific Systems FcoS -Fs n + (p cos6 + q sind) tana coso (2.10) where V is the velocity: V = (u2 + v 2 + w2 ) 1 1 2 The terms...1984), "How Autopilot Requirements Constrain the Aerodynamic Design of Homing Missiles", Proc. American Contr. Conf., San Diego, CA, pp 71b-73U. I .N
This document discusses various aspects of missile defense systems like the Patriot, Avenger, and the supporting Battlefield Management Command Control, Communications, Computer, and Intelligence (BMC4I...
Clarke, Timothy L
Japan's development of a missile defense system has been accompanied by the acquisition of potentially offensive military assets, an increased command and control capability, significant restructuring...
variants.4 Aegis BMD 4.0: Flight testing of the Aegis BMD 4.0 system with Standard Missile -3 (SM-3) Block IB guided missiles has demonstrated that...range threshold IRBM threats in the midcourse phase of flight using SM-3 Block IB guided missiles .5 Flight testing in FY15 included a demonstration of...flight using SM-3 Block IB guided missiles .9 Midcourse engagements were made both organically (using the system’s own AN/SPY-1 radar) and with the
Yan, Mingliang; Huo, Zhicheng; Chen, Wei
Laser driving gun missile guidance type beam of laser information field formed by any link failure or reduced stability will directly lead to ballistic or miss out of control, and based on this, this paper designed the driving beam of laser guided missile guidance beam type forming device modulation and zoom mechanism, in order to make the missile can recognize its position in the laser beam, laser beam gun missile, by means of spatial encoding of the laser beam laser beam into information after forming device, a surface to achieve the purpose of precision guidance.
Physical layer in UASNs Our main investigations are about underwater communications using acoustic waves. Elec- tromagnetic and optical waves do not...Shengli, Z., and Jun-Hong, C. (2008), Prospects and problems of wireless communication for underwater sensor networks, Wirel. Commun . Mob. Comput., 8(8... Wireless Communications , 9(9), 2934–2944.  Pompili, D. and Akyildiz, I. (2010), A multimedia cross-layer protocol for underwater acoustic sensor networks
Cheng, Xilin; Cheng, Xiang
Following underwater acoustic channel modeling, this book investigates the relationship between coherence time and transmission distances. It considers the power allocation issues of two typical transmission scenarios, namely short-range transmission and medium-long range transmission. For the former scenario, an adaptive system is developed based on instantaneous channel state information. The primary focus is on cooperative dual-hop orthogonal frequency division multiplexing (OFDM). This book includes the decomposed fountain codes designed to enable reliable communications with higher energy efficiency. It covers the Doppler Effect, which improves packet transmission reliability for effective low-complexity mirror-mapping-based intercarrier interference cancellation schemes capable of suppressing the intercarrier interference power level. Designed for professionals and researchers in the field of underwater acoustic communications, this book is also suitable for advanced-level students in electrical enginee...
Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick
This volume constitutes the results of the International Conference on Underwater Environment, MOQESM’14, held at “Le Quartz” Conference Center in Brest, France, on October 14-15, 2014, within the framework of the 9th Sea Tech Week, International Marine Science and Technology Event. The objective of MOQESM'14 was to bring together researchers from both academia and industry, interested in marine robotics and hydrography with application to the coastal environment mapping and underwater infrastructures surveys. The common thread of the conference is the combination of technical control, perception, and localization, typically used in robotics, with the methods of mapping and bathymetry. The papers presented in this book focus on two main topics. Firstly, coastal and infrastructure mapping is addressed, focusing not only on hydrographic systems, but also on positioning systems, bathymetry, and remote sensing. The proposed methods rely on acoustic sensors such as side scan sonars, multibeam echo sounders, ...
Rapanotti, John L.; Gilbert, Bruno; Richer, Guy; Stowe, Robert
Modern anti-tank missiles and the requirement of rapid deployment have significantly reduced the use of passive armour in protecting land vehicles. Vehicle survivability is becoming more dependent on sensors, computers and countermeasures to detect and avoid threats. An analysis of missile propellants suggests that missile detection based on plume characteristics alone may be more difficult than anticipated. Currently, the passive detection of missiles depends on signatures with a significant ultraviolet component. This approach is effective in detecting anti-aircraft missiles that rely on powerful motors to pursue high-speed aircraft. The high temperature exhaust from these missiles contains significant levels of carbon dioxide, water and, often, metal oxides such as alumina. The plumes emits strongest in the infrared, 1 to 5micrometers , regions with a significant component of the signature extending into the ultraviolet domain. Many anti-tank missiles do not need the same level of propulsion and radiate significantly less. These low velocity missiles, relying on the destructive force of shaped-charge warhead, are more difficult to detect. There is virtually no ultraviolet component and detection based on UV sensors is impractical. The transition in missile detection from UV to IR is reasonable, based on trends in imaging technology, but from the analysis presented in this paper even IR imagers may have difficulty in detecting missile plumes. This suggests that the emphasis should be placed in the detection of the missile hard body in the longer wavelengths of 8 to 12micrometers . The analysis described in this paper is based on solution of the governing equations of plume physics and chemistry. These models will be used to develop better sensors and threat detection algorithms.
Underwater extravehicular activity (EVA) training in the weightless environment training facility (WETF) with astronaut Robert L. Stewart. Stewart is simulating a planned EVA using the mobile foot restraint device and a one-G version of the Canadian-built remote manipulator system.
Abe, Tadashi; Aota, Toshiichi; Nishizaki, Tadashi; Nakayama, Shigeru; Yamashita, Seiji
In Kawasaki Heavy Industries, Ltd., the development of a remote dismantling system by underwater plasma arc cutting process has been advanced, expecting its application to the dismantling and removal of nuclear reactor facilities. In the previous two reports, the fundamental experimental results such as the comparison of the cutting capability in air and in water were shown, but this time, the remote automatic cutting of wedge-shaped specimens was carried out, using a newly installed manipulator for underwater works, therefore its outline is reported. Also the cutting experiment by overhead position and vertical position was performed by using the same equipment, and comparison was made with the cutting capability by downhand and horizontal positions. It is important to grasp the cutting characteristics in the case of upward advancing and downward advancing cuttings by overhead and vertical positions when the cutting of pressure vessels and horizontal pipes into rings is supposed. The experimental apparatus, the cutting conditions, the testing method and the test results of the cutting capability test, the test of changing direction during cutting, and the remote cutting of pipes into rings are described. The underwater plasma arc cutting can cut all metals, the cutting speed is relatively high, and the apparatus is simple and compact. (Kako, I.)
unfavorable net change in the schedule variance is due to stopping Interferometric Fiber Optic Gyro assembly operations as a result of a technical problem...with oxygen depletion in the fill gas causing a frequency response problem with an optoelectrical gyro part. Trident II Missile December 2013 SAR
and had practiced moving the missiles to the erectors . At a January 1989 conference of American and Soviet leaders in Moscow, Soviet General Dmitri...4-3/7/63” folder, President’s Office Files, Special Correspondence, Box 31, JFKL. President’s Foreign Intelligence Advisory Board, March 11, 1963
Protecting Commercial Aviation Against the Shoulder-Fired Missile in the economy, such as fewer stays at hotels and decreased business travel . Aircraft...Protecting Commercial Aviation Against the Shoulder-Fired Missile Table A.2 (continued) Business Travel Airline Time cost: $34.50 Cost per mile: $0.134
http://www.ias.ac.in/article/fulltext/sadh/025/05/0463-0473. Keywords. Aerodynamic heating; ballistic missile; gravity; flat-earth. Abstract. The aerodynamic heating of a ballistic missile due to only convection is analysed taking into consideration the effects of gravity. The amount of heat transferred to the wetted area and to the ...
Ahmad, A.; Saad, M. R.; Che Idris, A.; Rahman, M. R. A.; Sujipto, S.
Cruise missile can be classified as a smart bomb and also Unmanned Aerial Vehicle (UAV) due to its ability to move and manoeuvre by itself without a pilot. Cruise missile flies in constant velocity in cruising stage. Malaysia is one of the consumers of cruise missiles that are imported from other nations, which can have distinct geographic factors including their local terrains compared to Malaysia. Some of the aerodynamic performances of missile such as drag and lift coefficients can be affected by the local geographic conditions in Malaysia, which is different from the origin nation. Therefore, a detailed study must be done to get aerodynamic performance of cruise missiles that operate in Malaysia. The effect of aerodynamic angles such as angle of attack and side slip can be used to investigate the aerodynamic performances of cruise missile. Hence, subsonic wind tunnel testings were conducted to obtain the aerodynamic performances of the missile at various angle of attack and sideslip angles. Smoke visualization was also performed to visualize the behaviour of flow separation. The optimum angle of attack found was at α=21° and side slip, β=10° for optimum pitching and yawing motion of cruise missile.
Barr, P.; Carter, P.G.; Howe, W.D.; Neilson, A.J.
Missile and target combinations at three different liners scales have been used in an experimental assessment of the applicability of replica scaling to the dynamic behaviour of reinforced concrete structures impacted by rigid missiles. Experimental results are presented for models with relative linear scales of 1, 0.37 and 0.12. (orig.) [de
system to meet the Power Supply requirements has been initiated. Paper designs for two types of unit cells to be used in the ’all battery’ approach to the... Power Supply were prepared. Initial screening tests on 0.2 Ampere-hour unit cells were performed. Additional cells are being fabricated to verify the...Work defining the requirements for a solid state DC to DC converter to be used in conjunction with a Silver-Zinc battery in the Missile Power Supply has been drawn up. (Author)
Full Text Available Surface-type infrared (IR decoy can simulate the IR characteristics of the target aircraft, which is one of the most effective equipment to confront IR guided missile. In the air combat, the IR guided missile poses a serious threat to the aircraft when it comes from the front of target aircraft. In this paper, firstly, the model of aircraft and surface-type IR decoy is established. To ensure their authenticity, the aircraft maneuver and radiation models based on real data of flight and exhaust system radiation in the state of different heights and different speeds are established. Secondly, the most effective avoidance maneuver is simulated when the missile comes from the front of the target aircraft. Lastly, combining maneuver with decoys, the best defense strategy is analysed when the missile comes from the front of aircraft. The result of simulation, which is authentic, is propitious to avoid the missile and improve the survivability of aircraft.
Yunes Sh. ALQUDSI
Full Text Available The aim of this paper is to develop a functional approach to optimize the engagement effectiveness of the tactical homing missiles and air defense systems by utilizing the differential geometric concepts. In this paper the engagement geometry of the interceptor and the target is developed and expressed in differential geometric terms in order to demonstrate the possibilities of the impact triangles and specify the earliest interception based on the direct intercept geometry. Optimizing the missile heading angle and suitable missile velocity against the target velocity is then examined to achieve minimum missile latax, minimum time-to-go (time-to-hit and minimum appropriate missile velocity that is guaranteed a quick and precise interception for the given target. The study terminates with different scenarios of engagement optimization with two-dimensional simulation to demonstrate the applicability of the DG approach and to show its properties.
Coyle, Philip E. [Center for Arms Control and Non-Proliferation, Washington, DC (United States)
America's missile defense systems are deployed at home and abroad. This includes the Groundbased Missile Defense (GMD) system in Alaska and California, the Phased Adaptive Approach in Europe (EPAA), and regional systems in the Middle East and Asia. Unfortunately these systems lack workable architectures, and many of the required elements either don't work or are missing. Major review and reconsideration is needed of all elements of these systems. GMD performance in tests has gotten worse with time, when it ought to be getting better. A lack of political support is not to blame as the DoD spends about $10 billion per year, and proposes to add about $5 billion over the next five years. Russia objects to the EPAA as a threat to its ICBM forces, and to the extensive deployment of U.S. military forces in countries such as Poland, the Czech Republic and Romania, once part of the Soviet Union. Going forward the U.S. should keep working with Russia whose cooperation will be key to diplomatic gains in the Middle East and elsewhere. Meanwhile, America's missile defenses face an enduring set of issues, especially target discrimination in the face of attacks designed to overwhelm the defenses, stage separation debris, chaff, decoys, and stealth. Dealing with target discrimination while also replacing, upgrading, or adding to the many elements of U.S. missiles defenses presents daunting budget priorities. A new look at the threat is warranted, and whether the U.S. needs to consider every nation that possesses even short-range missiles a threat to America. The proliferation of missiles of all sizes around the world is a growing problem, but expecting U.S. missile defenses to deal with all those missiles everywhere is unrealistic, and U.S. missile defenses, effective or not, are justifying more and more offensive missiles.
Coyle, Philip E.
America's missile defense systems are deployed at home and abroad. This includes the Groundbased Missile Defense (GMD) system in Alaska and California, the Phased Adaptive Approach in Europe (EPAA), and regional systems in the Middle East and Asia. Unfortunately these systems lack workable architectures, and many of the required elements either don't work or are missing. Major review and reconsideration is needed of all elements of these systems. GMD performance in tests has gotten worse with time, when it ought to be getting better. A lack of political support is not to blame as the DoD spends about $10 billion per year, and proposes to add about $5 billion over the next five years. Russia objects to the EPAA as a threat to its ICBM forces, and to the extensive deployment of U.S. military forces in countries such as Poland, the Czech Republic and Romania, once part of the Soviet Union. Going forward the U.S. should keep working with Russia whose cooperation will be key to diplomatic gains in the Middle East and elsewhere. Meanwhile, America's missile defenses face an enduring set of issues, especially target discrimination in the face of attacks designed to overwhelm the defenses, stage separation debris, chaff, decoys, and stealth. Dealing with target discrimination while also replacing, upgrading, or adding to the many elements of U.S. missiles defenses presents daunting budget priorities. A new look at the threat is warranted, and whether the U.S. needs to consider every nation that possesses even short-range missiles a threat to America. The proliferation of missiles of all sizes around the world is a growing problem, but expecting U.S. missile defenses to deal with all those missiles everywhere is unrealistic, and U.S. missile defenses, effective or not, are justifying more and more offensive missiles
developed using NASTRAN DMAP facility, for the solution of non-linear equations will not be considered here. 25-3 2.1 Approach A - Time Simulation...inviscid way. A supersonic panel code has been coupled with a NASTRAN code to determine static aeroelastic forces and moments as well as deformed shapes...NWCDM-NSTRN and Supersonic Store Programs for Calculating NASTRAN Forces Acting on Missiles Attached to Supersonic Aircraft," NEAR TR 369, 1987. 30
2-6 February 1912 .-- -,,.-.... . . rAt% Missale Procurement. Army of FES832 arom and. Financ Ina- (inthousands of _doll arot 161 Fiscal...Support Equipient and Facilities 2-15 February 1982 ’I I1 Deportment of tile Army Appropriatian FY 1981 Ansnual Ruldget Katlmadte JUTIICTON hs le I’l...million is requested for procurement of air defense, target missills, towed targets, and ground support equipment. Items les Than $900,000 - $4.5
Montag, W. H.; Detwiler, D. F., Jr.; Hall, L.
This paper addresses the unique problems associated with launching the Black Brant V, VIII, and IX sounding rocket vehicles at White Sands Missile Range (WSMR) and the significance of the introduction of the S19 to the NASA Goddard Space Flight Center Wallops Flight Facility sounding rocket program in terms of launch flexibility, improved impact dispersion, higher flight reliability, and reduced program costs. This paper also discusses salient flight results from NASA 36.011UL (the first S19 guided Black Brant launched at WSMR) and the NASA Comet Halley missions (36.010DL and 36.017DL).
modeling effort. The C version of the Range-dependent Acoustic Model (“ CRAM ”), a parabolic equation-based numerical model developed by Richard...of humpback whale vocalizations originating in the shallow water reef areas just west of Kauai, Hawaii to the Pacific Missile Range Facility (PMRF...are poorly sorted compared to the well sorted, fine- grained quartz sediments of terrigenous origin often found in other shallow water environments
Spearman, M. Leroy
Wind tunnel investigations of some tactical and strategic missile systems developed by the former Soviet Union have been included in the basic missile research programs of the NACA/NASA. Studies of the Soviet missiles sometimes revealed innovative design features that resulted in unusual or unexpected aerodynamic characteristics. In some cases these characteristics have been such that the measured performance of the missile exceeds what might have been predicted. In other cases some unusual design features have been found that would alleviate what might otherwise have been a serious aerodynamic problem. In some designs, what has appeared to be a lack of refinement has proven to be a matter of expediency. It is a purpose of this paper to describe some examples of unusual design features of some Soviet missiles and to illustrate the effectiveness of the design features on the aerodynamic behavior of the missile. The paper draws on the experience of the author who for over 60 years was involved in the aerodynamic wind tunnel testing of aircraft and missiles with the NACA/NASA.
For future pressurized-water reactors, which should be designed against core-meltdown accidents, missiles generated inside the containment present a severe problem for its integrity. The masses and geometries of the missiles, as well as their velocities, may vary to a great extent. Therefore a reliable proof of the containment integrity is very difficult. In this article the potential sources of missiles are discussed, and the conclusion was reached that the generation of heavy missiles must be prevented. Steam explosions must not damage the reactor vessel head. Thus fragments of the head cannot become missiles that endanger the containment shell. Furthermore, during a melt-through failure of the reactor vessel under high pressure, the resulting forces must not catapult the whole vessel against the containment shell. Only missiles caused by hydrogen explosions may be tolerable, but shielding structures that protect the containment shell may be required. Further investigations are necessary. Finally, measures are described showing that the generation of heavy missiles can indeed be prevented. Investigations are currently being carried out that will confirm the strength of the reactor vessel head. In addition, a device for retaining the fragments of a failing reactor vessel is discussed
Şahıngıl, Mehmet Cihan
A missile warning system can detect the incoming missile threat(s) and automatically cue the other Electronic Attack (EA) systems in the suit, such as Directed Infrared Counter Measure (DIRCM) system and/or Counter Measure Dispensing System (CMDS). Most missile warning systems are currently based on passive sensor technology operating in either Solar Blind Ultraviolet (SBUV) or Midwave Infrared (MWIR) bands on which there is an intensive emission from the exhaust plume of the threatening missile. Although passive missile warning systems have some clear advantages over pulse-Doppler radar (PDR) based active missile warning systems, they show poorer performance in terms of time-to-impact (TTI) estimation which is critical for optimizing the countermeasures and also "passive kill assessment". In this paper, we consider this problem, namely, TTI estimation from passive measurements and present a TTI estimation scheme which can be used in passive missile warning systems. Our problem formulation is based on Extended Kalman Filter (EKF). The algorithm uses the area parameter of the threat plume which is derived from the used image frame.
After a brief recall of the history of the development of ballistic missiles from World War II, the author discusses the various uses of these missiles, on the one hand by major powers, and on the other hand by other countries like Israel, Pakistan and India, and also Egypt and Iraq. He recalls the uses of these missiles during regional conflicts (Scuds by Iraq) and then discusses the issue of proliferation of ballistic missiles. He notices that most of these weapons are present in the arsenal of major powers under the form of intercontinental missiles, intermediate range weapons or theatre weapons. On the Third World side, proliferation concerns short- and medium-range missiles produced from technology transfers or national programmes. Mobile systems are now present in all conflicts (notably Libya, Syria) and are now based on more advanced technologies for propellers as well as for control and guidance systems. In the last part, the author discusses the perspectives associated with these missiles which are a strong offensive weapon, and are also modernised to carry nuclear warheads or multiple warheads. These evolutions could put the western superiority into question again
For future pressurized water reactors, which should be designed against core melt down accidents, missiles generated inside the containment present a severe problem for its integrity. The masses and geometries of the missiles as well as their velocities may vary to a great extend. Therefore, a reliable proof of the containment integrity is very difficult. To overcome this problem the potential sources of missiles are discussed. In section 5 it is concluded that the generation of heavy missiles must be prevented. Steam explosions must not damage the reactor vessel head. Thus fragments of the head cannot become missiles endangering the containment shell. Furthermore, during a melt-through failure of the reactor vessel under high pressure the resulting forces must not catapult the whole vessel against the containment shell. Only missiles caused by hydrogen explosions might be tolerable, but shielding structures which protect the containment shell might be required. Here further investigations are necessary. Finally, measures are described showing that the generation of heavy missiles can indeed be prevented. In section 6 investigations are explained which will confirm the strength of the reactor vessel head. In section 7 a device is discussed keeping the fragments of a failing reactor vessel at its place. (author). 12 refs., 8 figs
Stephan, Thomas; Frühberger, Peter; Werling, Stefan; Heizmann, Michael
The inspection of offshore parks, dam walls and other infrastructure under water is expensive and time consuming, because such constructions must be inspected manually by divers. Underwater buildings have to be examined visually to find small cracks, spallings or other deficiencies. Automation of underwater inspection depends on established water-proved imaging systems. Most underwater imaging systems are based on acoustic sensors (sonar). The disadvantage of such an acoustic system is the loss of the complete visual impression. All information embedded in texture and surface reflectance gets lost. Therefore acoustic sensors are mostly insufficient for these kind of visual inspection tasks. Imaging systems based on optical sensors feature an enormous potential for underwater applications. The bandwidth from visual imaging systems reach from inspection of underwater buildings via marine biological applications through to exploration of the seafloor. The reason for the lack of established optical systems for underwater inspection tasks lies in technical difficulties of underwater image acquisition and processing. Lightening, highly degraded images make a computational postprocessing absolutely essential.
Tu, D.K.; Murray, R.C.
The feasibility of using a finite element procedure to examine the impact phenomenon of a tornado-borne missile impinging on a reinforced concrete barrier was assessed. The major emphasis of this study was to simulate the impact of a nondeformable missile. Several series of simulations were run, using an 8-in.-dia steel slug as the impacting missile. The numerical results were then compared with experimental field tests and empirical formulas. The work is in support of tornado design practices for fuel reprocessing and fuel fabrication plants
Full Text Available In order to predict the immunity of a generic missile (GENEC, not only the electronic system but also the enclosure has to be taken into consideration. While a completely closed metallic missile enclosure shows a high electric shielding effectiveness, it is decreased substantially by apertures which could not be avoided by different reasons. The shielding effectiveness of the generic missile could be investigated by means of a hollow cylinder equipped with different apertures. Numerical simulations and measurements of this hollow cylinder will be carried out and analyzed.
Xu, Wen; Cheng, Qianliu; Zhao, Hangfang
These proceedings are a collection of 16 selected scientific papers and reviews by distinguished international experts that were presented at the 4th Pacific Rim Underwater Acoustics Conference (PRUAC), held in Hangzhou, China in October 2013. The topics discussed at the conference include internal wave observation and prediction; environmental uncertainty and coupling to sound propagation; environmental noise and ocean dynamics; dynamic modeling in acoustic fields; acoustic tomography and ocean parameter estimation; time reversal and matched field processing; underwater acoustic localization and communication as well as measurement instrumentations and platforms. These proceedings provide insights into the latest developments in underwater acoustics, promoting the exchange of ideas for the benefit of future research.
FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor... VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING 5. FUNDING NUMBERS 6. AUTHOR(S) Jake A. Jones 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS...underwater vehicles (AUVs), robot vision, autonomy, visual odometry, underwater color shift, optical properties of water 15. NUMBER OF PAGES 75 16
Alderson, M.A.H.G.; Bartley, R.; O'Brien, T.P.
The assessment of the safety of nuclear reactors has necessitated the study of the effect of missiles on reinforced concrete containment structures. Two simple theoretical calculational methods have been developed to provide basic information. The first is based on a crude energy balance approach in which that part of the kinetic energy of the missile which is transferred into the containment structure, is absorbed only as bending strain energy. To determine the energy transferred into the structure it is assumed that during the loading the target does not respond. The energy input to the structure is thus equal to the kinetic energy it will possess immediately the impulse has been removed. The boundary of the responding zone is defined by the distance travelled by the shear stress wave during the time in which the impact force increases to the load at which the shear capacity reaches the ultimate shear resistance. The second method is based on the equation of motion for an equivalent one-degree-of-freedom system assuming that only the peak value of deflection is important and that damping can be ignored. The spring stiffness of the equivalent system has been based upon the stiffness of the actual disc configuration responding in the flexural mode only. The boundaries of the disc have been defined by using the elastic plate formulae and equating those positive and negative moments which will produce a specified yield line pattern which may be inferred from plastic plate formulae. The equation of motion is solved to indicate how the quantity of reinforcement included in the structure may modify the peak deflection. By limiting the ductility ratio of the reinforcement to some prescribed level it is possible to indicate the quantity of reinforcement w
C O R P O R A T I O N Missiles for Asia ? The Need for Operational Analysis of U.S. Theater Ballistic Missiles in the Pacific Jacob L. Heim • The...Europe and East Asia ? One argument that has been advanced is that leaving the INF Treaty would free the United States to develop and deploy con...cruise missiles, and perhaps for this reason, there have not been any vocal calls for the United States to consider fielding GLCMs in Asia . One could
Villanueva, Alex; Bresser, Scott; Chung, Sanghun; Tadesse, Yonas; Priya, Shashank
An unmanned underwater vehicle (UUV) was designed inspired by the form and functionality of a Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency of locomotion, lack of natural predators, proper form and shape to incorporate payload, and varying range of sizes. The structure consists of a hub body surrounded by bell segments and microcontroller based drive system. The locomotion of UUV was achieved by shape memory alloy "Biometal Fiber" actuation which possesses large strain and blocking force with adequate response time. The main criterion in design of UUV was the use of low-profile shape memory alloy actuators which act as artificial muscles. In this manuscript, we discuss the design of two Jellyfish prototypes and present experimental results illustrating the performance and power consumption.
Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito
The underwater sympathetic detonation of pellet explosives was taken by high-speed photography. The diameter and the thickness of the pellet were 20 and 10 mm, respectively. The experimental system consists of the precise electric detonator, two grams of composition C4 booster and three pellets, and these were set in water tank. High-speed video camera, HPV-X made by Shimadzu was used with 10 Mfs. The underwater explosions of the precise electric detonator, the C4 booster and a pellet were also taken by high-speed photography to estimate the propagation processes of the underwater shock waves. Numerical simulation of the underwater sympathetic detonation of the pellet explosives was also carried out and compared with experiment.
The fortified Susquehanna Flats, the largest bed of underwater grasses in the Chesapeake Bay, seems able to withstand a major weather punch. Its resilience is contributing to an overall increase in the Bay’s submerged aquatic vegetation.
Full Text Available Underwater optical environments are seriously affected by various optical inputs, such as artificial light, sky light, and ambient scattered light. The latter two can block underwater object segmentation tasks, since they inhibit the emergence of objects of interest and distort image information, while artificial light can contribute to segmentation. Artificial light often focuses on the object of interest, and, therefore, we can initially identify the region of target objects if the collimation of artificial light is recognized. Based on this concept, we propose an optical feature extraction, calculation, and decision method to identify the collimated region of artificial light as a candidate object region. Then, the second phase employs a level set method to segment the objects of interest within the candidate region. This two-phase structure largely removes background noise and highlights the outline of underwater objects. We test the performance of the method with diverse underwater datasets, demonstrating that it outperforms previous methods.
Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren
This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (radio frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring.
A tactical skid to turn missile autopilot is designed and implemented using a two step design process that results in an optimal output feedback with a fixed, low order dynamic compensator for reduced...
Vaughn, Jr, Milton E
...) methodology Titled Euler Tunnel Analysis (ETA). Initially, comparison of CFD computations with wind tunnel measurements for the isolated missile are used to anchor the computations in reality and provide an evaluation benchmark...
The U.S. Army Defense Ammunition Center (DAC), Validation Engineering Division (SJMAC-DEV) conducted tests in accordance with MIL-STD-1660, "Design Criteria for Ammunition Unit Loads" on the NATO pallet with Javelin missiles...
Khaled Gamal Eltohamy
Full Text Available In this paper, a linear simulation algorithm, the adjoint method, is modified and employed as an efficient tool for analyzing the contributions of system parameters to the miss - distance of a nonlinear time-varying missile guidance system model. As an example for the application of the linear adjoint method, the effect of missile flight time on the miss - distance is studied. Since the missile model is highly nonlinear and a time-varying linearized model is required to apply the adjoint method, a new technique that utilizes the time-reversed linearized coefficients of the missile as a replacement for the time-varying describing functions is applied and proven to be successful. It is found that, when compared with Monte Carlo generated results, simulation results of this linear adjoint technique provide acceptable accuracy and can be produced with much less effort.
A new experimental procedure was used in the open shot of Operation Teapot to study various properties of secondary missiles produced in houses, shelters, and open areas at distances of 1470 to 10,500...
Zaharia Sebastian Marian
Full Text Available Designing a ballistic missile flight depends on the mission and the stress to which the missile is subject. Missile’s requests are determined by: the organization of components; flight regime type, engine configuration and aerodynamic performance of the rocket flight. In this paper has been developed a ballistic missile with a smooth fuselage type, 10 control surfaces, 8 directional surfaces for cornering execution, 2 for maneuvers of execution to change the angle of incidence and 4 stabilizers direction. Through the technology of gluing and clamping of the shell and the use of titanium components, mass of ballistic missile presented a significant decrease in weight and a structure with high strength.
Nusca, Michael J; Michaels, R. S
...) that can power tactical missiles for both current and future combat systems. The use of gel propellants brings the advantages of selectable thrust and the promise of small engine size but also introduces new challenges in combustion control...
In order to improve ship self-defense against sea-skimming missiles, several concepts, such as the free electron laser, high-power microwaves, and the Phalanx gun system are reviewed and evaluated in this thesis...
Underwater photogrammetry has been used to measure distortions in fuel assembly alignment pins in the upper internals of the Almarez and Dampierre PWRs. Photogrammetry is a three-dimensional precision measurement method using photographic techniques for the on-site measurement phase. On the strength of the operations at the two PWRs, underwater photogrammetry is now considered as a practical and effective technique for dimensional inspection at nuclear plants. (U.K.)
Merchant, Nathan D.; Brookes, Kate L.; Faulkner, Rebecca C.; Bicknell, Anthony W. J.; Godley, Brendan J.; Witt, Matthew J.
Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). ...
Volpe, Daniele; Pavan, Davide; Morris, Meg; Guiotto, Annamaria; Iansek, Robert; Fortuna, Sofia; Frazzitta, Giuseppe; Sawacha, Zimi
Although hydrotherapy is one of the physical therapies adopted to optimize gait rehabilitation in people with Parkinson disease, the quantitative measurement of gait-related outcomes has not been provided yet. This work aims to document the gait improvements in a group of parkinsonians after a hydrotherapy program through 2D and 3D underwater and on land gait analysis. Thirty-four parkinsonians and twenty-two controls were enrolled, divided into two different cohorts. In the first one, 2 groups of patients underwent underwater or land based walking training; controls underwent underwater walking training. Hence pre-treatment 2D underwater and on land gait analysis were performed, together with post-treatment on land gait analysis. Considering that current literature documented a reduced movement amplitude in parkinsonians across all lower limb joints in all movement planes, 3D underwater and on land gait analysis were performed on a second cohort of subjects (10 parkinsonians and 10 controls) who underwent underwater gait training. Baseline land 2D and 3D gait analysis in parkinsonians showed shorter stride length and slower speed than controls, in agreement with previous findings. Comparison between underwater and on land gait analysis showed reduction in stride length, cadence and speed on both parkinsonians and controls. Although patients who underwent underwater treatment exhibited significant changes on spatiotemporal parameters and sagittal plane lower limb kinematics, 3D gait analysis documented a significant (p<0.05) improvement in all movement planes. These data deserve attention for research directions promoting the optimal recovery and maintenance of walking ability. Crown Copyright © 2016. Published by Elsevier B.V. All rights reserved.
J.P. Dudeja; G.S. Kalsey
Sea-skim~ing cruise missiles pose the greatest threat to a surface ship in the present-day war scenario. The convenitional close-in-weapon-systems (CIWSs) are becoming less reliable against these new challenges requiring extremely fast reaction time. Naval Forces see a high energy laser as a feasible andjeffective directed energy weapon against sea-skimming antiship cruise missiles becauseof its .ability to deliver destructive energy at the speed of light on to a distant target. The paper com...
and ADCP completed operational testing and evaluation at White Sands Missile Range, New Mexico . A successful TMD demonstration was conducted as part of...Satellite (RAMOS) program. The Russian Space Industrial Company, NPO Cometa , under the auspices of Rosvoorzhenie, the Russians Arms Import/Export...Val flight test program will be conducted at White Sands Missile Range (WSMR), New Mexico . The flight test schedule consists of flight and system
ARL-TR-8085 ● AUG 2017 US Army Research Laboratory Adaptive Missile Flight Control for Complex Aerodynamic Phenomena by Frank...Adaptive Missile Flight Control for Complex Aerodynamic Phenomena by Frank Fresconi and Jubaraj Sahu Weapons and Materials Research Directorate...currently valid OMB control number . PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1. REPORT DATE (DD-MM-YYYY) August 2017 2. REPORT TYPE
van Binsbergen, S. A.; van Zelderen, B.; Veraar, R. G.; Bouquet, F.; Halswijk, W. H. C.; Schleijpen, H. M. A.
In performance prediction of IR sensor systems for missile detection, apart from the sensor specifications, target signatures are essential variables. Very often, for velocities up to Mach 2-2.5, a simple model based on the aerodynamic heating of a perfect gas was used to calculate the temperatures of missile targets. This typically results in an overestimate of the target temperature with correspondingly large infrared signatures and detection ranges. Especially for even higher velocities, this approach is no longer accurate. Alternatives like CFD calculations typically require more complex sets of inputs and significantly more computing power. The MATLAB code Hyperheat was developed to calculate the time-resolved skin temperature of axisymmetric high speed missiles during flight, taking into account the behaviour of non-perfect gas and proper heat transfer to the missile surface. Allowing for variations in parameters like missile shape, altitude, atmospheric profile, angle of attack, flight duration and super- and hypersonic velocities up to Mach 30 enables more accurate calculations of the actual target temperature. The model calculates a map of the skin temperature of the missile, which is updated over the flight time of the missile. The sets of skin temperature maps are calculated within minutes, even for >100 km trajectories, and can be easily converted in thermal infrared signatures for further processing. This paper discusses the approach taken in Hyperheat. Then, the thermal signature of a set of typical missile threats is calculated using both the simple aerodynamic heating model and the Hyperheat code. The respective infrared signatures are compared, as well as the difference in the corresponding calculated detection ranges.
Pilipenko, Vladimir; Arnon, Shlomi
In recent years the need for high data rate underwater wireless communication (WC) has increased. Nowadays, the conventional technology for underwater communication is acoustic. However, the maximum data rate that acoustic technology can provide is a few kilobits per second. On the other hand, emerging applications such as underwater imaging, networks of sensors and swarms of underwater vehicles require much faster data rates. As a result, underwater optical WC, which can provide much higher data rates, has been proposed as an alternative means of communication. In addition to high data rates, affordable communication systems become an important feature in the development requirements. The outcome of these requirements is a new system design based on off-the-shelf components such as blue and green light emitting diodes (LEDs). This is due to the fact that LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness. However, there are some challenges to be met when incorporating LEDs as part of the optical transmitter, such as low modulation rates and non linearity. In this paper, we review the main challenges facing the incorporation of LEDs as an integral part of underwater WC systems and propose some techniques to mitigate the LED limitations in order to achieve high data rate communication
year long! Thanks to my wife for knowing when I needed to go on a run, or taking the kids to Florida so I could focus on writing—you taught me one...weapons often left out of books on strategy. Unlike the pilot and the astronaut, figures that have been idolized as American heroes, missileers...from David N. Spires’ book , On Alert, which states on p. 50 of his history that, “on 1 September 1959 SAC Commander-in-Chief General Power announced
Elbahri, Mady; Abdelaziz, Ramzy; Disci-Zayed, Duygu; Homaeigohar, Shahin; Sosna, Justyna; Adam, Dieter; Kienle, Lorenz; Dankwort, Torben; Abdelaziz, Moheb
The dynamic underwater chemistry seen in nature is inspiring for the next generation of eco-friendly nanochemistry. In this context, green synthesis of size-tailored nanoparticles in a facile and scalable manner via a dynamic process is an interesting challenge. Simulating the volcano-induced dynamic chemistry of the deep ocean, here we demonstrate the Leidenfrost dynamic chemistry occurring in an underwater overheated confined zone as a new tool for customized creation of nanoclusters of zinc peroxide. The hydrodynamic nature of the phenomenon ensures eruption of the nanoclusters towards a much colder region, giving rise to growth of monodisperse, size-tailored nanoclusters. Such nanoparticles are investigated in terms of their cytotoxicity on suspension and adherent cells to prove their applicability as cancer nanotherapeutics. Our research can pave the way for employment of the dynamic green nanochemistry in facile, scalable fabrication of size-tailored nanoparticles for biomedical applications.
Julia L. Tripp
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.
Over the last few years, major focus of the nuclear debate has been turned towards the United States' proposal to erect a National Missile Defence (NMD) shield for itself. Of the existing nuclear weapon powers, China has been the most vociferous critic of this proposal. As and when this shield does become a reality, China will be the first to lose credibility as a deterrent against USA's existing nuclear arsenal. Therefore taking countermeasures against such a proposal is quite natural. China's approach towards non-proliferation mechanisms is steeped in realpolitik and its ability to manoeuvre them in its favour as a P5 and N5 power. Further, the Chinese leadership have been clear about the capabilities and limitations of nuclear weapons and treated them as diplomatic and political tools. The underlying aim is to preserve China's status as a dominant player in the international system while checkmating other possible challengers. Such a pragmatic approach is of far-reaching significance to all nations, especially those that possess nuclear weapons themselves. It will also be in India's long-term strategic interest to assess and take necessary corrective measures in its national security strategy, and make the composition of Indian nuclear strategy meet the desired goal. (author)
Full Text Available Along with rising awareness of public and scientific societies about environmental and ecological impacts of underwater noise, the need for underwater noise modelling in the shallow Lithuanian area of Baltic Sea emerged. Marine Strategy Framework Directive issues regarding underwater noise indicators refers to possibility of evaluation of Good Environmental State using underwater noise measurements as well as possibility to model underwater noise. Main anthropogenic underwater noise contributor in the Seas is the shipping lanes as known due to date, with no exclusion of Lithuanian Baltic Sea area. In this manuscript, it is presented the methods of development of simplistic underwater ambient noise model purposed for computation of underwater soundscape in shallow area of the Lithuanian Baltic Sea.
Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José
The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for
Swallom, D.W.; Sadovnik, I.; Gibbs, J.S.; Gurol, H.; Nguyen, L.
The development of magnetohydrodynamic propulsion systems for underwater vehicles is discussed. According to the authors, it is a high risk endeavor that offers the possibility of a number of significant advantages over conventional propeller propulsion systems. These advantages may include the potential for greater stealth characteristics, increased maneuverability, enhanced survivability, elimination of cavitation limits, and addition of a significant emergency propulsion system. The possibility of increased stealth is by far the most important advantage. A conceptual design study has been completed with numerical results that shows that these advantages may be obtained with a magnetohydrodynamic propulsion system in an annular configuration externally surrounding a generic study submarine that is neutrally buoyant and can operate with the existing submarine propulsion system power plant. The classical submarine mission requirements make the use of these characteristics of the magnetohydrodynamic propulsion system particularly appropriate for submarine missions. The magnetohydrodynamic annular propulsion system for a generic attack class submarine has been designed to take advantage of the magnetohydrodynamic thruster characteristics
Davis, Russ E.; Leonard, Naomi E.; Fratantoni, David M.
Gliders are autonomous underwater vehicles that achieve long operating range by moving at speeds comparable to those of, or slower than, typical ocean currents. This paper addresses routing gliders to rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory "ray" equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as measured by objective mapping error, of arrays of vehicles. In order to produce data sets that are readily interpretable, both approaches focus sampling near predetermined "ideal tracks" by measuring mapping skill only on those tracks, which are laid out with overall mapping skill in mind. One approach directly selects each vehicle's headings to maximize instantaneous mapping skill integrated over the entire array. Because mapping skill decreases when measurements are clustered, this method automatically coordinates glider arrays to maintain spacing. A simpler method that relies on manual control for array coordination employs a first-order control loop to balance staying close to the ideal track and maintaining vehicle speed to maximize mapping skill. While the various techniques discussed help in dealing with the slow speed of gliders, nothing can keep performance from being degraded when current speeds are comparable to vehicle speed. This suggests that glider utility could be greatly enhanced by the ability to operate high speeds for short periods when currents are strong.
Astronaut Bruce McCandless during an underwater test of the Manned Maneuvering Unit (MMU) Flight Support Station (FSS) donning and doffing in the Bldg 29 Weightless Environment Training Facility (WETF). View is of McCandless practicing donning and doffing the MMU. This scene is of a crewmember getting backed into the MMU and released from the flight support station (FSS) in the cargo bay for the beginning of his Extravehicular Activity (EVA).
Chu, Dongkai; Yin, Kai; Dong, Xinran; Luo, Zhi; Duan, Ji-An
Due to the presence of unique micro/nanostructures on the surface, fish's scale exhibits underwater superoleophobicity and keeps clean even in oil-polluted water. Inspired from this, we propose a facile method for the fabrication of underwater superoleophobic and anti-oil sapphire surface with line-patterned nanostructures by femtosecond laser. The as-prepared surface shows great superoleophobicity that the oil contact angles can reach up to 153° for 1, 2-dichloroethane droplets in water and low oil-adhesion. At the same time, the relationship between the microgrooves' period and surface wettability is studied, and the results indicate that the underwater superoleophobicity and low oil-adhesion can be achieved using a wide range of processing parameters. Meanwhile, the obtained surface is demonstrated to exhibit excellent stability. Moreover, the self-cleaning anti-oil ability of the as-prepared surface is conducted, and the potential mechanism of which is discussed. This technique has potential applications for the fabrication of underwater oil repelling devices and microfluidics.
Superina, V.; Orehovec, Z.
Modern world is faced with numerous terrorist attacks whose goals, methods and means of the conduct are various. It seems that we have entered the era when terrorism, one's own little terrorism, is the easiest and the most painless way of achieving a goal. That is why that such a situation has contributed to the necessity for strengthening individual and collective protection and safety, import and export control, control of the production and illegal sale of the potential means for delivering terrorist act. It has also contributed to the necessity for devising means of the delivery. For more than 10 years, a series of congresses on CB MTS Industry has pointed at chemicals and chemical industry as potential means and targets of terrorism. The specialization and experience of different authors in the field of the missile technology and missile fuels, especially those of Eastern origin, and the threat that was the reality of the war conflicts in 1990s was the reason for making a scientific and expert analysis of the liquid missile fuels as means of terrorism. There are not many experts in the field of NBC protection who are familiar with the toxicity and reaction of liquid missile fuels still lying discarded and unprotected in abandoned barracks all over Europe and Asia. The purpose of this paper is to draw public attention to possible different abuses of liquid missile fuels for a terrorist purpose, as well as to possible consequences and prevention measures against such abuses. (author)
The absence of a formidable U.S. and allied Theater Missile Defense (TMD) capability in the East Asian region has encouraged a build-up in offensive missile capability on the part of the People's Republic of China (PRC...
Delgado, Roberto L
.... The threat of ballistic missiles from Northeast Asia is especially high. China and North Korea are seen as the top threats in the region when it comes to the delivery of WMD through ballistic missiles...
Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong [State Key Lab of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)
A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.
Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong
A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system
Offer, H.P.; Chapman, T.L.; Willis, E.R.; Maslakowski, J.; Van Diemen, P.; Smith, B.W.
As nuclear plants age and reactor internal components begin to show increased evidence of age-related phenomena such as corrosion and fatigue, interest in the development of cost-effective mitigation and repair remedies grows. One technology currently receiving greater development and application program focus is underwater welding. Underwater welding, as used herein, is the application of weld metal to a substrate surface that is wet, but locally dry in the immediate area surrounding the welding torch. The locally dry environment is achieved by the use of a mechanical device that is specifically designed for water exclusion from the welding torch, surface to be welded, and the welding groove. This paper will explore recent developments in the use of underwater welding as a mitigation and repair technique. (author)
Ocokoljić Goran J.; Rašuo Boško P.; Bengin Aleksandar Č.
This paper presents modification of the existing guided missile which was done by replacing the existing front part with the new five, while the rear part of the missile with rocket motor and missile thrust vector control system remains the same. The shape of all improved front parts is completely different from the original one. Modification was performed based on required aerodynamic coefficients for the existing guided missile. The preliminary aerodynamic configurations of the improved mis...
Full Text Available Hypersonic cruise missile always adopts the configuration of waverider body with the restraint of scramjet. As a result, the lateral motion exhibits serious coupling, and the controller design of the lateral lateral system cannot be conducted separately for yaw channel and roll channel. A multiple input and multiple output optimal control method with integrators is presented to design the lateral combined control system for hypersonic cruise missile. A hypersonic cruise missile lateral model is linearized as a multiple input and multiple output plant, which is coupled by kinematics and fin deflection between yaw and roll. In lateral combined controller, the integrators are augmented, respectively, into the loop of roll angle and lateral overload to ensure that the commands are tracked with zero steady-state error. Through simulation, the proposed controller demonstrates good performance in tracking the command of roll angle and lateral overload.
Ruth, Michael J.
Development of a responsive, high-bandwidth missile autopilot for airframes which have structural modes of unusually low frequency presents a challenging design task. Such systems are viable candidates for modern, state-space control design methods. The PC-MATLAB interactive software package provides an environment well-suited to the development of candidate linear control laws for flexible missile autopilots. The strengths of MATLAB include: (1) exceptionally high speed (MATLAB's version for 80386-based PC's offers benchmarks approaching minicomputer and mainframe performance); (2) ability to handle large design models of several hundred degrees of freedom, if necessary; and (3) broad extensibility through user-defined functions. To characterize MATLAB capabilities, a simplified design example is presented. This involves interactive definition of an observer-based state-space compensator for a flexible missile autopilot design task. MATLAB capabilities and limitations, in the context of this design task, are then summarized.
Yang, Kaida; Zhao, Wenjie; Li, Dejun; Gong, Xiran; Sheng, Qian
The precious battle damage assessment by use of video images to analysis missile placement is a new study area. The article proposed an improved speeded up robust features algorithm named restricted speeded up robust features, which combined the combat application of TV-command-guided missiles and the characteristics of video image. Its restrictions mainly reflected in two aspects, one is to restrict extraction area of feature point; the second is to restrict the number of feature points. The process of missile placement analysis based on video image was designed and a video splicing process and random sample consensus purification were achieved. The RSURF algorithm is proved that has good realtime performance on the basis of guarantee the accuracy.
Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid
This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF......). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities...... in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters....
Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.
In the frame of an european contract, the feasibility of the underwater cutting with a CO 2 laser power is studied. The aim of this work is the dismantling metallic structures of reactors pools. The paper analyzes the general concept of the experimental device, the underwater cutting head, the experimenting vessel, examples of cuttings in dismantling situation with a 500 W CO 2 laser, and examples of cuttings with a 5 kW CO 2 laser. (author). 2 refs., 9 figs., 2 tabs
Erbe, Christine; McCauley, Robert; McPherson, Craig; Gavrilov, Alexander
Underwater acoustic recordings of six Floating Production Storage and Offloading (FPSO) vessels moored off Western Australia are presented. Monopole source spectra were computed for use in environmental impact assessments of underwater noise. Given that operations on the FPSOs varied over the period of recording, and were sometimes unknown, the authors present a statistical approach to noise level estimation. No significant or consistent aspect dependence was found for the six FPSOs. Noise levels did not scale with FPSO size or power. The 5th, 50th (median), and 95th percentile source levels (broadband, 20 to 2500 Hz) were 188, 181, and 173 dB re 1 μPa @ 1 m, respectively.
... Hurricane Missiles for Nuclear Power Plants AGENCY: Nuclear Regulatory Commission. ACTION: Regulatory guide... regulatory guide, (RG) 1.221, ``Design-Basis Hurricane and Hurricane Missiles for Nuclear Power Plants... missiles that a nuclear power plant should be designed to withstand to prevent undue risk to the health and...
Latham, G.V.; McDonald, W.G.; Moore, H.J.
Seismic signals recorded from impacts of missiles at the White Sands Missile Range are radically different from the signal recorded from the Apollo 12 lunar module impact. This implies that lunar structure to depths of at least 10 to 20 kilometers is quite different from the typical structure of the earth's crust. Results obtained from this study can be used to predict seismic wave amplitudes from future man-made lunar impacts. Seismic energy and crater dimensions from impacts are compared with measurements from chemical explosions.
Huang, Hesong; Tong, Zhongxiang; Li, Taorui; Jia, Lintong; Li, Shenbo
Surface-type infrared (IR) decoy can simulate the IR characteristics of the target aircraft, which is one of the most effective equipment to confront IR guided missile. In the air combat, the IR guided missile poses a serious threat to the aircraft when it comes from the front of target aircraft. In this paper, firstly, the model of aircraft and surface-type IR decoy is established. To ensure their authenticity, the aircraft maneuver and radiation models based on real data of flight and exhau...
Calhoun, David; Shepherd, Stephen
During their operating lives, nuclear power plants typically maintain a high level of control over the amount of debris that is allowed to accumulate at the plant site. Although primarily intended to reduce the potential for fire damage, some plants also rely on these controls to limit the damage that could be caused during a tornado from missiles generated from loose debris. Demolition work associated with power plant decommissioning inevitably increases the quantity of debris. When bulk commodities such as piping and electrical distribution components are demolished, they are subject to various staging, handling, and storage processes before they can be released from the site. The demolition of plant structures dramatically increases the quantity of loose steel and concrete debris. For the foreseeable future, all plants that undertake decommissioning will have spent-fuel assemblies present on the plant site during the demolition project whether the spent fuel remains stored in a spent-fuel pool or is transferred to an independent spent-fuel storage installation (ISFSI). Under present regulations, protection from tornado missiles would be required for both types of spent-fuel storage. In addition, a small proportion of decommissioning plants will have operating units in close proximity. Licensing commitments for tornado missile protection may mandate controls on the production or storage of demolition debris. This paper presents a case study of the San Onofre Nuclear Generating Station (Fig. 1). Tornado missile protection licensing commitments from three types of facilities will be in force during the decommissioning of San Onofre Unit 1 (Unit 1): 1. Unit 1, under a possession-only license; 2. an ISFSI that will eventually store spent fuel from Unit 1; 3. San Onofre Operating Unit 2 (Unit 2) and San Onofre Operating Unit 3 (Unit 3). Together, these three facilities illustrate the range of impacts that licensing commitments designed for tornado protection may
Klingstedt, G.; Leisio, C. [ed.
A viscous sealant is revolutionizing repair of the stone and concrete masonry of underwater dams, bridges and canals. There is now no need for expensive and time-consuming cofferdams, since a diver can extrude quick-setting mortar into underwater structures needing repair. This technique has worked well in recent years in various parts of Finland even in strongly flowing water. IVO experts are now starting to look more beyond the borders of Finland
sufficiently waterproofed ...................................................................... 20 Objective: Calibration method can be used both topside... additional background variability is observed at early times, as illustrated in Figure 15. The layout of this figure is the same as Figure 14. Now the...are discussed in the following sections and summarized in Table 5. Objective: System is sufficiently waterproofed The array remained underwater up to
Houston-based Astro Technology Inc. used a partnership with Johnson Space Center to pioneer an advanced fiber-optic monitoring system for offshore oil pipelines. The company's underwater adhesives allow it to retrofit older deepwater systems in order to measure pressure, temperature, strain, and flow properties, giving energy companies crucial data in real time and significantly decreasing the risk of a catastrophe.
2nd International Conference on Underwater Acoustic Measurements, Crete, Greece, 2007. 16  P.T. Gough and D.W. Hawkins “Imaging algorithms...course. Runs 275 and 325 folla.v the same trad < and run 322 foUows a track on the opposite side of the swath. The LF SAS image of run 325 is shown
Cannelli, L; Leus, G.; Dol, H.S.; Walree, P.A. van
In this paper a multiband transceiver designed for underwater channels is presented. Multi-branch filtering at the receiver is used to leverage the diversity offered by a multi-scale multi-lag scenario. The multi-branch bank of filters is constructed by estimating scale and delay coefficients
Anthropogenic noise emission in the marine environment has always been an environmental issue of serious concern. In particular, the noise generated during the installation of foundation piles is considered to be one of the most significant sources of underwater noise pollution. This is mainly
A key innovation in the history of whales was the evolution of a sonar system together with high-frequency hearing. Fossils of an archaic toothed whale's inner ear bones provide clues for a stepwise emergence of underwater echolocation ability. Copyright © 2016 Elsevier Ltd. All rights reserved.
Liebschner, Alexander; Seibel, Henrike; Teilmann, Jonas; Wittekind, Dietrich; Parmentier, Eric; Dähne, Michael; Dietz, Rune; Driver, Jörg; Elk, van Cornelis; Everaarts, Eligius; Findeisen, Henning; Kristensen, Jacob; Lehnert, Kristina; Lucke, Klaus; Merck, Thomas; Müller, Sabine; Pawliczka, Iwona; Ronnenberg, Katrin; Rosenberger, Tanja; Ruser, Andreas; Tougaard, Jakob; Schuster, Max; Sundermeyer, Janne; Sveegaard, Signe; Siebert, Ursula
The project conducts application-oriented research on impacts of underwater noise on marine vertebrates in the North and Baltic Seas. In distinct subprojects, the hearing sensitivity of harbor porpoises and gray seals as well as the acoustic tolerance limit of harbor porpoises to impulsive noise
Twisdale, L.A.; Dunn, W.L.
A probabilistic methodology has been developed to predict the probabilities of tornado-propelled missiles impacting and damaging nuclear power plant structures. Mathematical models of each event in the tornado missile hazard have been developed and sequenced to form an integrated, time-history simulation methodology. The models are data based where feasible. The data include documented records of tornado occurrence, field observations of missile transport, results of wind tunnel experiments, and missile impact tests. Probabilistic Monte Carlo techniques are used to estimate the risk probabilities. The methodology has been encoded in the TORMIS computer code to facilitate numerical analysis and plant-specific tornado missile probability assessments
The fact remains that South Africa, with or without nuclear weapons and ballistic missile capability, remains a formidable military power in the continent of Africa. The threat it still represents for the security of African sates and, in particular the from line and other neighbouring states can only be reassessed in the light of the ongoing internal changes in South Africa. A tangible proof of South Africa's determination to abandon the policy of military intimidation would be its expeditions accession to the Treaty on the non-proliferation of nuclear weapons and the opening of all its nuclear facilities to international inspection. Recent statements concerning its intention to this effect are most encouraging. South Africa's accession to the non-proliferation Treaty will not only strengthen confidence in the region, but would also remove one of the main obstacles for transforming the continent into a nuclear-weapon free zone
Peterson, Samuel L.
Approved for public release; distribution in unlimited. The U.S. Army is beginning to field the first of six Stryker Brigade Combat Teams (SBCTs) and equip the organic Anti-Tank (AT) Company of the Brigade with the LAV III Anti-Tank Guided Missile (ATGM) Platform and the Tube-Launched, Optically-Tracked, Wire-Guided 2B (TOW 2B) missile system. A developmental effort is currently underway to replace the aging TOW 2B and Hellfire missile systems with a common missile that meets both ground...
unexpected energetic event in the third-stage rocket motor and failed to intercept a short-range ballistic missile target. Following the flight test...Phone Connect with GAO To Report Fraud , Waste, and Abuse in Federal Programs Congressional Relations Public Affairs Please Print on Recycled Paper.
Scientia Militaria: South African Journal of Military Studies. Journal Home · ABOUT THIS JOURNAL · Advanced Search · Current Issue · Archives · Journal Home > Vol 9, No 1 (1979) >. Log in or Register to get access to full text downloads. Username, Password, Remember me, or Register. Missiles and aircraft (part 2).
Scientia Militaria: South African Journal of Military Studies. Journal Home · ABOUT THIS JOURNAL · Advanced Search · Current Issue · Archives · Journal Home > Vol 9, No 3 (1979) >. Log in or Register to get access to full text downloads. Username, Password, Remember me, or Register. Missiles and aircraft (Part 3).
Scientia Militaria: South African Journal of Military Studies. Journal Home · ABOUT · Advanced Search · Current Issue · Archives · Journal Home > Vol 9, No 4 (1979) >. Log in or Register to get access to full text downloads. Username, Password, Remember me, or Register. Missiles and aircraft - Part 4. C Meyer. Abstract.
Scientia Militaria: South African Journal of Military Studies. Journal Home · ABOUT THIS JOURNAL · Advanced Search · Current Issue · Archives · Journal Home > Vol 8, No 4 (1978) >. Log in or Register to get access to full text downloads. Username, Password, Remember me, or Register. Missiles and aircraft (Part 1).
The aerodynamic heating of a ballistic missile due to only convection is analysed taking into consideration the effects of gravity. The amount of heat transferred to the wetted area and to the nose region has been separately determined, unlike A Miele's treatise without consideration of gravity. The peak heating ratesto the ...
Abstract. The aerodynamic heating of a ballistic missile due to only convection is analysed taking into consideration the effects of gravity. The amount of heat transferred to the wetted area and to the nose region has been separately determined, unlike A Miele's treatise without consideration of gravity. The peak heating rates ...
Bloemen, A.A.F.; Evers, L.; Barros, A.I.; Monsuur, H.; Wagelmans, A.P.M.
This paper proposes a model for determining a robust defence strategy against ballistic missile threat. Our approach takes into account a variety of possible future scenarios and different forms of robustness criteria, including the well-known absolute robustness criterion. We consider two problem
... systems in Item 1, as follows: (a) Composite structures, laminates, and manufactures thereof, including... provided in Note (1) below for those designed for missiles with a range under 300 km or manned aircraft...) Item 3(a) engines may be exported as part of a manned aircraft or in quantities appropriate for...
R D Neumann and J R Hayes (Summerfield 1986) carried out a sort of aerodynamic heating analysis for high velocity missiles by applying the knowledge of both inviscid and viscous flow fields over the vehicle, as the heating rate at any point of the vehicle is a function of many test-specific properties such as fluid flow field ...
or informal conasultation with the U.S. Fiah and aoaroro daring the antelope fawaiog peeied wad yearloag for desert bighorn Wildlife= ceee oaceening... catalogued , thereby making missiles easier to identify and shortening response time. F.4.3 ELEMENT DESCRIPTION The SBS element would consist of a
On the 50th anniversary of the Cuban missile crisis Mark White re-examines the most dangerous episode in the history of the Cold War. Utilising declassified materials, he provides a fresh interpretation of the roles play by John Kennedy’s team of advisers. In particular, the contributions made by Robert McNamara and Robert Kennedy are re-evaluated.
..., Technology, and Logistics and the Director, Missile Defense Agency (MDA), independent advice and... be appointed for term of service ranging from one-to-two years. Unless authorized by the Secretary of Defense, no member may serve more than two consecutive terms of service. This same term of service...
Hepworth, H.K.; Davidson, J.S.; Hooyman, J.L.
Commercially available admixtures have been developed for placing traditional concrete products under water. This paper evaluates adapting anti-washout admixture (AWA) and high range water reducing admixture (HRWRA) products to enhance controlled low-strength materials (CLSMs) for underwater placement. A simple experimental scale model (based on dynamic and geometric similitude) of typical grout pump emplacement equipment has been developed to determine the percentage of cementing material washed out. The objective of this study was to identify proportions of admixtures and underwater CLSM emplacement procedures which would minimize the cross-contamination of the displaced water while maintaining the advantages of CLSM. Since the displaced water from radioactively contaminated systems must be subsequently treated prior to release to the environment, the amount of cross-contamination is important for cases in which cementing material could form hard sludges in a water treatment facility and contaminate the in-place CLSM stabilization medium
McMahon, P.M.; Meyers, B.L.; Buchert, K.P.
The paper presents a general model for the evaluation of local effects damage including, penetration and backface spalling, of reinforced concrete barriers subjected to the impact of deformable tornado generated missiles. The model is based on an approximte force time history which assumes: 1) the initial penetration of the missile occurs without significant deformation of the missile if the strength of the missile is greater than that of the barrier. This portion of the time history is represented by a linear and finite rise time; 2) wrinkling or collapse of the missile occurs when the critical stress of the missile is exceeded. This portion of the time histroy is represented by a constant force-time relationship, although a decreaseing force might be more accurate; 3) while the missile is penetrating and wrinkling both elastic and plastic stress waves are developed in the missile, and compressive and shear stress waves are generated in he target. When the shear waves reach the backface of the slab, doagonal cracks initiating at the end of the penetrating missile are formed. These cracks propagate to the backface reinforcing where splitting cracks are formed. Finally, yield hinge lines form in the plane of reinforcing; 4) repenetration of the missile occurs after the wrinkling has caused a change in missile cross section. This repenetration results from moving the failure cone described in three above, and is also represented by the costant force time history. Using the assumptions, relationships for the penetration depth of the missile the wrinkling length of the missile, the critical missile stress, the time history of the impact and the spalling of the target are developed. (Auth.)
Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang
Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.
Full Text Available Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameters from input forces and moments to output velocities and acceleration of the unmanned underwater vehicle. The motion models of the unmanned underwater vehicle were nonlinear and Genetic Algorithm was adopted to identify those hydrodynamic coefficients. To verify the identification quality, velocities and acceleration of the unmanned underwater vehicle was measured using inertial sensor under the same conditions as Genetic Algorithm identification. Curves similarity between measured velocities and acceleration and those identified by Genetic Algorithm were used as optimizing standard. It is found that the curves similarity were high and identified hydrodynamic coefficients of the unmanned underwater vehicle satisfied the measured motion states well.
Safdar Hussain Bouk
Full Text Available Similar to terrestrial networks, underwater wireless networks (UWNs also aid several critical tasks including coastal surveillance, underwater pollution detection, and other maritime applications. Currently, once underwater sensor nodes are deployed at different levels of the sea, it is nearly impossible or very expensive to reconfigure the hardware, for example, battery. Taking this issue into account, considerable amount of research has been carried out to ensure minimum energy costs and reliable communication between underwater nodes and base stations. As a result, several different network protocols were proposed for UWN, including MAC, PHY, transport, and routing. Recently, a new paradigm was introduced claiming that the intermittent nature of acoustic channel and signal resulted in designing delay tolerant routing schemes for the UWN, known as an underwater delay tolerant network. In this paper, we provide a comprehensive survey of underwater routing protocols with emphasis on the limitations, challenges, and future open issues in the context of delay tolerant network routing.
Alexey I. Podberezkin
Full Text Available The article analyses the political and military aspects of progress in the dialogue between Russia and the U.S./NATO on cooperation in missile defense; investigates the past experiences and current state of cooperation between Russia and the Alliance on missile defense issues; examines the technical features of American missile defence systems today; finds a solution to question whether or not the European Missile Defence Program actually threatens Russia's nuclear deterrent and strategic stability in general; identifies both potential benefits and possible losses for Russia stemming from the development of cooperation with the United States and NATO in countering ballistic missile threats, or from refusal to have such cooperation. Evidently, the initiative of creation of a missile defense in Europe surely belongs to the USA. Washington has enormous technological, financial, economic, military and institutional capabilities in the field of a missile defense, exceeding by far other NATO member-states. In February 2010, the President of the United States B. Obama adopted a project "European Phased Adaptive Approach" (EPAA as an alternative to G. Bush's global strategic missile defense plan. The first two stages of the Phased Adaptive Approach are focused on creating a system capable of intercepting small, medium and intermediate-range ballistic missiles. The possibility of intercepting long-range missiles is postponed to the third (2018 and forth phases (2020. Moscow finds especially troublesome the third and the fourth phases of Washington's project of creating a European segment of the global antiballistic missile system, considering prospective capabilities of the U.S. interceptor missiles 61 and the envisioned areas of their deployment. The U.S. counter-evidence is that phase four interceptors do not exist yet. Russia insists on getting the political and legal guarantees from the U.S. and NATO that their missile defense systems will not slash
Tang, Henry H.; Le, Suy Q.; Orndoff, Evelyne S.; Smith, Frederick D.; Tapia, Alma S.; Brower, David V.
Integrity and performance monitoring of subsea pipelines and structures provides critical information for managing offshore oil and gas production operation and preventing environmentally damaging and costly catastrophic failure. Currently pipeline monitoring devices require ground assembly and installation prior to the underwater deployment of the pipeline. A monitoring device that could be installed in situ on the operating underwater structures could enhance the productivity and improve the safety of current offshore operation. Through a Space Act Agreement (SAA) between the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) and Astro Technology, Inc. (ATI), JSC provides technical expertise and testing facilities to support the development of fiber optic sensor technologies by ATI. This paper details the first collaboration effort between NASA JSC and ATI in evaluating underwater applicable adhesives and friction coatings for attaching fiber optic sensor system to subsea pipeline. A market survey was conducted to examine different commercial ]off ]the ]shelf (COTS) underwater adhesive systems and to select adhesive candidates for testing and evaluation. Four COTS epoxy based underwater adhesives were selected and evaluated. The adhesives were applied and cured in simulated seawater conditions and then evaluated for application characteristics and adhesive strength. The adhesive that demonstrated the best underwater application characteristics and highest adhesive strength were identified for further evaluation in developing an attachment system that could be deployed in the harsh subsea environment. Various friction coatings were also tested in this study to measure their shear strengths for a mechanical clamping design concept for attaching fiber optic sensor system. A COTS carbide alloy coating was found to increase the shear strength of metal to metal clamping interface by up to 46 percent. This study provides valuable data for
remote control of such vehicles requires the use of a tether , limiting the vehicle’s range; however operating underwater vehicles autonomously requires...URBI Universal Robot Body Interface UUV Unmanned Underwater Vehicle UNCLASSIFIED xi DSTO–TN–1194 UNCLASSIFIED THIS PAGE IS INTENTIONALLY BLANK xii... underwater environment, where many platforms are still reliant upon an umbilical tether for power and high bandwidth communications. This tether
waves for Underwater Wireless Communication (UWC); radio waves, optical waves, and acoustic waves are few to name. Radio waves are good for extra low...2211 underwater communication , wireless sensors, mutual information REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S) 10. SPONSOR...Cotae, “On the Performance of the Underwater Wireless Communication Sensor Networks: Work in Progress” ASEE Mid-Atlantic Fall 2014 Conference
Hino, Takehisa; Tamura, Masataka; Kono, Wataru; Kawano, Shohei; Yoda, Masaki
Stress Corrosion Clacking (SCC) has been reported at Alloy 600 welds between nozzles and safe-end in Pressurized Water Reactor (PWR) plant. Alloy 690, which has higher chromium content than Alloy 600, has been applied for cladding on Alloy 600 welds for repairing damaged SCC area. Toshiba has developed Underwater Laser Beam Welding technique. This method can be conducted without draining, so that the repairing period and the radiation exposure during the repair can be dramatically decreased. In some old PWRs, high-sulfur stainless steel is used as the materials for this section. It has a high susceptibility of weld cracks. Therefore, the optimum welding condition of Alloy 690 on the high-sulfur stainless steel was investigated with our Underwater Laser Beam Welding unit. Good cladding layer, without any crack, porosity or lack of fusion, could be obtained. (author)
Newnham, R.E.; Zhang, J.; Alkoy, S.; Meyer, R.; Hughes, W.J.; Hladky-Hennion, A.C.; Cochran, J.; Markley, D. [Materials Research Laboratory, Penn State University, University Park, PA 16802 (United States)
The cymbal is a miniaturized class V flextensional transducer that was developed for use as a shallow water sound projector and receiver. Single elements are characterized by high Q, low efficiency, and medium power output capability. Its low cost and thin profile allow the transducer to be assembled into large flexible arrays. Efforts were made to model both single elements and arrays using the ATILA code and the integral equation formulation (EQI).Millimeter size microprobe hydrophones (BBs) have been designed and fabricated from miniature piezoelectric hollow ceramic spheres for underwater applications such as mapping acoustic fields of projectors, and flow noise sensors for complex underwater structures. Green spheres are prepared from soft lead zirconate titanate powders using a coaxial nozzle slurry process. A compact hydrophone with a radially-poled sphere is investigated using inside and outside electrodes. Characterization of these hydrophones is done through measurement of hydrostatic piezoelectric charge coefficients, free field voltage sensitivities and directivity beam patterns. (orig.)
Farcas, Adrian [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom); Thompson, Paul M. [Lighthouse Field Station, Institute of Biological and Environmental Sciences, University of Aberdeen, Cromarty IV11 8YL (United Kingdom); Merchant, Nathan D., E-mail: email@example.com [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)
Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.
Rudnick, Daniel L.
Underwater gliders are autonomous underwater vehicles that profile vertically by changing their buoyancy and use wings to move horizontally. Gliders are useful for sustained observation at relatively fine horizontal scales, especially to connect the coastal and open ocean. In this review, research topics are grouped by time and length scales. Large-scale topics addressed include the eastern and western boundary currents and the regional effects of climate variability. The accessibility of horizontal length scales of order 1 km allows investigation of mesoscale and submesoscale features such as fronts and eddies. Because the submesoscales dominate vertical fluxes in the ocean, gliders have found application in studies of biogeochemical processes. At the finest scales, gliders have been used to measure internal waves and turbulent dissipation. The review summarizes gliders' achievements to date and assesses their future in ocean observation.
Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio; Meseguer Pallarès, Roc; Eggly, Gabriel
“The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-26401-1_37." Underwater sensor networks are becoming an important field of research, because of its everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geo-localization, ocean sampling and early tsunamis alert. It is well-known the challenge that represents to perfo...
irreversible Joule heat) by an electric light bulb . The reciprocal (or reverse) of this process by supplying heat and shining light to the same electric bulb ...limit the invention to the precise form disclosed; and obviously many modifications and variations are possible in light of the above teaching...300151 1 of 14 PASSIVE MODE CARBON NANOTUBE UNDERWATER ACOUSTIC TRANSDUCER STATEMENT OF GOVERNMENT INTEREST  The invention described
Qurnell, F.D.; Peloquin, A.V.
An underwater suction device for collecting irradiated materials in a pool of water includes injection and suction tubes and a removable, disposable filter for capturing irradiated materials. Pressurized water is injected into the suction tube through a jet pump nozzle to establish a suction flow through the tube. The suction device is manoeuverable by a pole, which is pivotally connected to the suction device by a latching mechanism. (author)
Concepts The first design (Figure 1) was based on the concept of an airfoil kite. The shape of the tow body was built around a NACA5515 hydrofoil to...Underwater Vehicles Brooke Ocean Technology (USA) Inc. 6 Figure 1: Hydrofoil Design The second design was based on that of a boat hull...communications. A sharp bow was utilized to cut through the water to reduce drag when on the surface. Like the hydrofoil design the top profile was
Now funded is the initial stage of NESTOR, an imaginative new programme for a dedicated underwater neutrino astroparticle physics laboratory. Located in the international waters off the southernmost corner of continental Europe near the town of Pylos in S.W. Greece, NESTOR (NEutrinos from Supernovae and TeV sources Ocean Range) recalls the wise king of Pylos who counselled the Greeks during the Trojan war, an excellent tradition for new scientific goals of detecting neutrinos
Surface bound water is a strong deterrent for forming strong bonds between two surfaces underwater and expelling that bound water is important for strong adhesion. I will discuss examples of different strategies used by geckos, spiders, and mussels to handle this last layer of bound water. Recent results using infrared-visible sum frequency generation spectroscopy to probe the structure of this bound water will be discussed. National Science Foundation.
Isern González, Josep; Hernández Sosa, Daniel; Fernández Perdomo, Enrique; Cabrera Gámez, Jorge; Domínguez Brito, Antonio Carlos; Prieto Marañón, Víctor
Underwater gliders have revealed as a valuable scientific platform, with a growing number of successful environmental sampling applications. They are specially suited for long range missions due to their unmatched autonomy level, although their low surge speed make them strongly affected by ocean currents. Path planning constitute a real concern for this type of vehicle, as it may reduce the time taken to reach a given waypoint or save power. In such a dynamic environment it is not easy to fi...
300170 1 of 10 A RECOVERY SYSTEM FOR UNMANNED UNDERWATER VEHICLES STATEMENT OF GOVERNMENT INTEREST  The invention described herein may...6 of 10 forces cannot be easily predicted and can be strong enough to require a significantly larger handling system and significantly more...the sea state, the ship handling system , the capture mechanism and the design of the capture mechanism 400.  The water jets 100 will increase
Fratantoni, David M
This program supported research on the operational and management issues stemming from application of large fleets of autonomous underwater gliders to oceanographic research and rapid environmental...
Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus
The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016). Prelim......The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016...
Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.
Full Text Available Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.
Filaretov, V.F.; Koval, E.V.
When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects
Van Reet, Alan R
In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...
.... Unfortunately, communication antennas must point to specific satellites in this system and thus underwater vehicles must steer a specific course on the surface during the communication process...
Luo, Junhai; Han, Ying; Fan, Liying
Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper.
Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.
This paper described the low cost implementation of hardware and software in developing the system of ultrasonic which can visualize the feedback of sound in the form of measured distance through mobile phone and monitoring the frequency of detection by using real time graph of Java application. A single waterproof transducer of JSN-SR04T had been used to determine the distance of an object based on operation of the classic pulse echo detection method underwater. In this experiment, the system was tested by placing the housing which consisted of Arduino UNO, Bluetooth module of HC-06, ultrasonic sensor and LEDs at the top of the box and the transducer was immersed in the water. The system which had been tested for detection in vertical form was found to be capable of reporting through the use of colored LEDs as indicator to the relative proximity of object distance underwater form the sensor. As a conclusion, the system can detect the presence of an object underwater within the range of ultrasonic sensor and display the measured distance onto the mobile phone and the real time graph had been successfully generated.
This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.
Future large-scale implementation of wave energy converts (WECs) will introduce an anthropogenic activity in the ocean which may contribute to underwater noise. The Ocean houses several marine species with acoustic sensibility; consequently the potential impact of the underwater noise needs to be addressed. At present, there are no acoustic impact studies based on acquired data. The WEAM project (Wave Energy Acoustic Monitoring) aims at developing an underwater noise monitoring plan for WECs. The development of an acoustic monitoring plan must consider the sound propagation in the ocean, identify noise sources, understand the operational characteristics and select adequate instrumentation. Any monitoring strategy must involve in-situ measurements. However, the vast distances which sound travels within the ocean, can make in-situ measurements covering the entire area of interest, impracticable. This difficulty can be partially overcome through acoustic numerical modelling. This paper presents a synthetic study, on the application of acoustic forward modelling and the evaluation of the impact of noise produced by wave energy devices on marine mammals using criteria based on audiograms of dolphins, or other species. The idea is to illustrate the application of that methodology, and to show to what extent it allows for estimating distances of impacts due to acoustic noise.
Stevenson, J.D.; Zhao, Y.
Tornado wind loads and other tornado phenomena, including tornado missiles and differential pressure effects, have not usually been considered in the design of conventional industrial, commercial, or residential facilities in the United States; however, tornado resistance has often become a design requirement for certain hazardous facilities, such as large nuclear power plants and nuclear materials and waste storage facilities, as well as large liquefied natural gas storage facilities. This article provides a review of current procedures for the design of hazardous industrial facilities to resist tornado effects. 23 refs., 19 figs., 13 tabs
Milthorpe, J. F.; Lynn, P. J. P.
Many guided weapons, particularly air-to-air missiles, employ infra-red homing devices to locate targets. Infra-red (IR) seekers receive the electromagnetic radiation from hot emitters, such as aircraft, using wavelengths that are typically between 3 mm and 14 mm. For a target to be detected, there must be a significant contrast, either in strength or in wavelength, between the heat emitted by the target and the background, which is usually the sky. While early IR missiles detected the hot exhaust of the engine, modern weapons can detect the radiation from lower temperature parts of the aircraft such as the skin, which enables the weapon to attack an aircraft from in front.
Marquis, E.; Pocholle, J. P.
Femtosecond lasers have been widely used in laboratories for years and are now suitable for industrial applications and new military ones. Due to their very short pulse duration, they have the capability to generate intense electric fields and plasmas in targeted materials. We present here a novel scheme of missile counter-measure that is using such an intense laser source to disrupt the operation of IR guidance systems. Classical lasers for missile defense are based on thermal effects on the target whereas photons are used as the kill vehicle [1,2]. In femtosecond countermeasure, the average power is quite low, but the very intense field creates ionization effects than can damage sensitive optics and also plasma that can be used as active decoys against IR homing electronics. As the recent systems are compact and portable, an airport protection scheme is proposed to eliminate manpads threats in the vicinity of a civilian airport.
Kozlovsky, Alexander; Shalimov, Sergey; Lukianova, Renata
We report on ionosonde and meteor radar observations made in Sodankyla Geophysical Observatory (SGO, 67N, 27E, Finland) on December 9, 2009 during a test launch of the Russian solid propellant military missile. Because of the technical problem the missile was self-destroyed around 07 UT at ionospheric height (170-260 km) over the Kola Peninsula (Russia), at a distance about 500 km to east from the observatory. Products of the explosion, including long-lived ionized aluminum oxides, were spread into the large area and reached the region of SGO meteor radar observations in about 2 hours (around 09 UT). After about 3 hours (around 10 UT) a sporadic E layer presumably composed of the remains was observed close to the zenith of the SGO ionosonde. We present the data and discuss possible mechanisms accounting for both vertical and horizontal transport of the remains. Theoretical estimations suggest that the observed transport could be likely due to thermospheric turbulence.
Sumpter, David R.
McDonnell Douglas Missile Systems Company (MDMSC) has developed a laser ignition subsystem (LIS) for air-to-air missile applications. The MDMSC subsystem is designed to activate batteries, unlock fins, and sequence propulsion system events. The subsystem includes Pyro Zirconium Pump (PZP) lasers, mechanical Safe & Arm, fiber-optic distribution system, and optically activated pyrotechnic devices (initiators, detonators, and thermal batteries). The LIS design has incorporated testability features for the laser modules, drive electronics, fiber-optics, and pyrotechnics. Several of the LIS have been fabricated and have supported thermal battery testing, integral rocket ramjet testing, and have been integrated into integral rocket ramjet flight test vehicles as part of the flight control subsystem.
Full Text Available Linear first/second order fin direct current (DC actuator model approximations for missile applications are currently limited to angular position and angular velocity state variables. Furthermore, existing literature with detailed DC motor models is decoupled from the application of interest: tail controller missile lateral acceleration (LATAX performance. This paper aims to integrate a generic DC fin actuator model with dual-mode feedforward and feedback control for tail-controlled missiles in conjunction with the autopilot system design. Moreover, the characteristics of the actuator torque information in relation to the aerodynamic fin loading for given missile trim velocities are also provided. The novelty of this paper is the integration of the missile LATAX autopilot states and actuator states including the motor torque, position and angular velocity. The advantage of such an approach is the parametric analysis and suitability of the fin actuator in relation to the missile lateral acceleration dynamic behaviour.
Full Text Available Missile is a guided weapon and designed to protect outermost island from a thread of other country. It, commonly, is used as self defense. This research presented surface-to-surface missile in final dive manoeuvre for fixed target. Furthermore, it was proposed manoeuvring based on unmanned aerial vehicle (UAV, autopilot system, which needs accuration and minimum both time and thrust of missile while attacking object. This paper introduced pontryagin’s Minimum Principle, which is useable to solve the problem. The numerical solution showed that trajectory of the missile is split it up in three sub-intervals; flight, climbing, and diving. The numerical simulation showed that the missile must climb in order to satisfy the final dive condition and the optimum time of a missile depend on initial condition of the altitude and the terminal velocity
Bux, Qadir; Rahman, Ismail Abdul; Zaidi, Ahmad Mujahid Ahmad
Great demand exists for more efficient design to protect delicate and serious structures such as nuclear plants, Power plants, Weapon Industries, weapons storage places, water retaining structures, & etc, against impact of kinetic missiles generated both accidentally and deliberately such as dynamic loading, incident occurs in nuclear plants, terrorist attack, Natural disasters like tsunami and etc., in various impact and blast scenarios for both civilian and military activities. In many ...
A composite steel panel wall system is defined as a wall system with concrete fill sandwiched between two steel layers such that no concrete surface is exposed on the interior or the exterior wall surface. Three full scale missile tests were conducted on two specific composite wall systems. The results of the full scale tests were in good agreement with the finalized theory. The theory is presented, and the acceptance of the theory for design calculations is discussed
Underwood (U.S. Army Aviation & Missile Research, Development and Engineering Center) William B. Blake (AFRL/ RBCA ) 5d. PROJECT NUMBER A07T 5e. TASK...Control Design and Analysis Branch (AFRL/ RBCA ) Control Sciences Division Air Force Research Laboratory Air Vehicles Directorate WPAFB, OH 45433-7542...OH 45433-7542 Air Force Materiel Command United States Air Force AFRL/ RBCA 11. SPONSORING/MONITORING AGENCY REPORT NUMBER(S) AFRL-RB
Randorf, Jeffrey Allen
A software object model for the six degree-of-freedom missile modeling domain is presented. As a precursor, a domain analysis of the missile modeling domain was started, based on the Feature-Oriented Domain Analysis (FODA) technique described by the Software Engineering Institute (SEI). It was subsequently determined the FODA methodology is functionally equivalent to the Object Modeling Technique. The analysis used legacy software documentation and code from the ENDOSIM, KDEC, and TFrames 6-DOF modeling tools, including other technical literature. The SEI Object Connection Architecture (OCA) was the template for designing the object model. Three variants of the OCA were considered---a reference structure, a recursive structure, and a reference structure with augmentation for flight vehicle modeling. The reference OCA design option was chosen for maintaining simplicity while not compromising the expressive power of the OMT model. The missile architecture was then analyzed for potential areas of concurrent computing. It was shown how protected objects could be used for data passing between OCA object managers, allowing concurrent access without changing the OCA reference design intent or structure. The implementation language was the 1995 release of Ada. OCA software components were shown how to be expressed as Ada child packages. While acceleration of several low level and other high operations level are possible on proper hardware, there was a 33% degradation of 4th order Runge-Kutta integrator performance of two simultaneous ordinary differential equations using Ada tasking on a single processor machine. The Defense Department's High Level Architecture was introduced and explained in context with the OCA. It was shown the HLA and OCA were not mutually exclusive architectures, but complimentary. HLA was shown as an interoperability solution, with the OCA as an architectural vehicle for software reuse. Further directions for implementing a 6-DOF missile modeling
Hughes, Christopher W.
Since December 1998, the Japanese government has formally committed itself to undertake cooperative technological research with the US into Ballistic Missile Defence (BMD). Japanese government policy-makers stress that the BMD project remains at present purely at the research stage, and that separate government decisions will be necessary before any progression towards the stages of development, production and deployment. Nevertheless, even at the research phase it is clear that both Japanese...
Termit (NATO designation: SS-N-2A Styx) antiship missiles, models, and technical data to China beginning in 1959. Moscow was to assist Beijing with...performance, the PLAN has begun to expand its training and has become more diverse and realistic in re- cent years with increasing focus on cruise...these routines in diverse ways over many years and the command and control architecture needed to deal with complex combined- arms operations
stored on the capacitor. The capacitor then discharges through the inductive coil, which creates a magnetic field. Meanwhile, the capacitor charges ...TECHNICAL REPORT RDMR-WD-16-37 RESONANT INDUCTIVE POWER TRANSFER FOR NONCONTACT LAUNCHER-MISSILE INTERFACE Martin S...AGENCY USE ONLY 2. REPORT DATE August 2016 3. REPORT TYPE AND DATES COVERED Final 4. TITLE AND SUBTITLE Resonant Inductive Power Transfer
McComas, Brian K.
A Missile Defense Sensor is a complex optical system, which sits idle for long periods of time, must work with little or no on-board calibration, be used to find and discriminate targets, and guide the kinetic warhead to the target within minutes of launch. A short overview of the Missile Defense problem will be discussed here, as well as, the top-level performance drivers, like Noise Equivalent Irradiance (NEI), Acquisition Range, and Dynamic Range. These top-level parameters influence the choice of optical system, mechanical system, focal plane array (FPA), Read Out Integrated Circuit (ROIC), and cryogenic system. This paper will not only discuss the physics behind the performance of the sensor, but it will also discuss the "art" of optimizing the performance of the sensor given the top level performance parameters. Balancing the sensor sub-systems is key to the sensor's performance in these highly stressful missions. Top-level performance requirements impact the choice of lower level hardware and requirements. The flow down of requirements to the lower level hardware will be discussed. This flow down directly impacts the FPA, where careful selection of the detector is required. The flow down also influences the ROIC and cooling requirements. The key physics behind the detector and cryogenic system interactions will be discussed, along with the balancing of subsystem performance. Finally, the overall system balance and optimization will be discussed in the context of missile defense sensors and expected performance of the overall kinetic warhead.
INTRODUCTION AND OVERVIEW The purpose of this research paper is to answer the ques - tion "Should entry level missile maintenance officer courses conducted...Management Organization GLCM (HQ TAC/ SMOG ), informally proposed combining missile main- tenance courses in the summer-fall timeframe of 1981. Colonel...facilitate discussion and decision making. Chapter Two outlines the procedure the paper will use to answer the ques - - tion "Should we combine missile
MONITOR’S REPORT NUMBER(S) 12. DISTRIBUTION /AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES 14...mis- sion, that service researched missile systems like the Nike -Zeus to de- fend against USSR ICBMs.11 Eventually, the Army fielded several ver- sions...of the Nike weapons system, along with the Hawk and Stinger missiles, to combat theater ballistic missiles and air-breathing threats. The colossal
Full Text Available An efficient empirical approach was developed to accurately represent the blast shock wave loading resulting from the launch of a missile from a military aircraft to be used in numerical analyses. Based on experimental test series of missile launches in laboratory environment and from a helicopter, equations were derived to predict the time- and position-dependent overpressure. The method was finally applied and validated in a structural analysis of a helicopter tail boom under missile launch shock wave loading.
J. Yu. Parshkova
Full Text Available The article reflects the US officials' point of view on the development of its national missile defense. The major threat to international security is the proliferation of ballistic missiles and weapons of mass destruction. The United States and the former Soviet Union made huge efforts to reduce and limit offensive arms. However, presently the proliferation of ballistic missiles spreads all over the world, especially in the Middle East, because of the ballistic missile technology falling into the hands of hostile non-state groups. Missile defenses can provide a permanent presence in a region and discourage adversaries from believing they can use ballistic missiles to coerce or intimidate the U.S. or its allies. With the possible attack regional missile defense systems will be promptly mobilized to enhance an effective deterrent. The ultimate goal of such large-scale missile defense deployment is to convince the adversaries that the use of ballistic missiles is useless in military terms and that any attack on the United States and its allies is doomed to failure. The United States has missile defense cooperative programs with a number of allies, including United Kingdom, Japan, Australia, Israel, Denmark, Germany, Netherlands, Czech Republic, Poland, Italy and many others. The Missile Defense Agency also actively participates in NATO activities to maximize opportunities to develop an integrated NATO ballistic missile defense capability. The initiative of the development of US BMD naturally belongs to the United States. That country has enormous technological, financial, economic, military and institutional capabilities, exceeding by far those of the other NATO members combined.
The potential hazard of HCDA-generated missiles is analyzed, and the current status of the potential hazards of sodium fires is summarized. Simple analyses are performed to determine lower bounds on the HCDA energetics required to generate missiles that could reach the secondary containment structure of a 1000-MWe LMFBR. The potential missiles considered include the vessel head, components mounted on the head, and conrol rods
Akhila, M. R.; Gopika, S.; Abraham, R. J.
This paper discusses the application of a lead compensator with complex pole and complex zero for a missile. It is compared with a lead compensator with real pole and real zero. A typical laser guided missile control system is considered for the performance comparison of both the compensators. Simulation studies carried out with MATLAB brings out the scope of using complex compensator in missile guided systems.
Sari Cahyaningtias; Subchan Subchan
Missile is a guided weapon and designed to protect outermost island from a thread of other country. It, commonly, is used as self defense. This research presented surface-to-surface missile in final dive manoeuvre for fixed target. Furthermore, it was proposed manoeuvring based on unmanned aerial vehicle (UAV), autopilot system, which needs accuration and minimum both time and thrust of missile while attacking object. This paper introduced pontryagin’s Minimum Principle, which is useable to s...
Calhoon, W. H; Kenzakowski, D. C
... components and missile defense systems. Current engineering level models neglect turbulent-chemistry interactions and typically underpredict the intensity of plume afterburning and afterburning burnout...
... components and missile defense systems. Current engineering level models neglect turbulence chemistry interactions and typically underpredict the intensity of plume afterburning and afterburning burnout...
fielding ground station assets and a fleet of over 30 GMD interceptors; upgrading, redesigning, refurbishing, and retrofitting the system; and...CE-II Block I, to fix known issues, address 3GAO, Missile Defense: DOD’s Report Provides Limited...Progress in Achieving Acquisition Goals and Improving Accountability , GAO-14-351 (Washington, D.C.: Apr. 1, 2014). 4GAO-15-345. Page 4
We have developed underwater cutting technique for 4.2 mm thick zircaloy pressure tubes and up to 6 mm thick steel using fibre-coupled 250 W average power pulsed Nd:YAG laser. This underwater cutting technique will be highly useful in various nuclear applications as well as in dismantling/repair of ship and pipe lines ...
Chen, Zhe; Wang, Huibin; Xu, Lizhong; Shen, Jie
Due to the major obstacles originating from the strong light absorption and scattering in a dynamic underwater environment, underwater optical information acquisition and processing suffer from effects such as limited range, non-uniform lighting, low contrast, and diminished colors, causing it to become the bottleneck for marine scientific research and projects. After studying and generalizing the underwater biological visual mechanism, we explore its advantages in light adaption which helps animals to precisely sense the underwater scene and recognize their prey or enemies. Then, aiming to transform the significant advantage of the visual adaptation mechanism into underwater computer vision tasks, a novel knowledge-based information weighting fusion model is established for underwater object extraction. With this bionic model, the dynamical adaptability is given to the underwater object extraction task, making them more robust to the variability of the optical properties in different environments. The capability of the proposed method to adapt to the underwater optical environments is shown, and its outperformance for the object extraction is demonstrated by comparison experiments.
Kobayashi, Futoshi; Kojima, Fumio
An underwater inspection robot has been needed for preventive maintenance in a nuclear power plant. This paper deals with a self-localization method for the underwater inspection robot. In this method, the position and the orientation of the robot are estimated by using the particle filter. For showing the effectiveness of the proposed method, an experiment with real robot is demonstrated. (author)
Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C. de; Wit, P. de; Goethals, F.; Holtkamp, M.; Martin, E.S.; Spadaro, P.; Raalte, G. van; Victor, G.Y.V.; Jensen, A.
The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic
Jong, C.A.F. de
There is a growing interest in the possible impact of anthropogenic underwater noise on marine life . One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest
Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C.A.F. de; Witt, P. de; Holtkamp, M.; Goethals, F.; San Martin, E.; Spadaro, P.; Raalte, G. van; Jensen, A.
The World Organisation of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) was established to provide a guidance paper on dredging sound, impact on aquatic biota and advice on
Full Text Available A capacitive micromachined ultrasonic transducer structure for use in underwater imaging is designed, fabricated and tested in this paper. In this structure, a silicon dioxide insulation layer is inserted between the top electrodes and the vibration membrane to prevent ohmic contact. The capacitance-voltage (C-V characteristic curve shows that the transducer offers suitable levels of hysteresis and repeatability performance. The −6 dB center frequency is 540 kHz and the transducer has a bandwidth of 840 kHz for a relative bandwidth of 155%. Underwater pressure of 143.43 Pa is achieved 1 m away from the capacitive micromachined ultrasonic transducer under 20 excitation. Two-dimensional underwater ultrasonic imaging, which is able to prove that a rectangular object is present underwater, is achieved. The results presented here indicate that our work will be highly beneficial for the establishment of an underwater ultrasonic imaging system.
Jiang, Peng; Feng, Yang; Wu, Feng
This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance.
Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.; Deng, Zhiqun; Rohrer, John S.; Caviggia, Kurt A.
The purpose of this study was to design and build two versions of an underwater sound recording device. The device designed is referred to as the Underwater Sound Recorder (USR), which can be connected to one or two hydrophones or other underwater sound sensors. The URS contains a 26 dB preamplifier and a user selectable gain that permits additional amplification of input to the system from 26 dB to 46 dB. Signals within the frequency range up to 15 kHz may be recorded using the USR. Examples of USR applications are monitoring underwater processes that have the potential to create large pressure waves that could potentially harm fish or other aquatic life, such as underwater explosions or pile driving. Additional applications are recording sound generated by vessels or the vocalizations of some marine mammals, such as the calls from many species of whales.
Cheng, Binbin; Wang, Wenwu; Chen, Yao
It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.
Mehaute, Bernard Le
This is the first book on explosion-generated water waves. It presents the theoretical foundations and experimental results of the generation and propagation of impulsively generated waves resulting from underwater explosions. Many of the theories and concepts presented herein are applicable to other types of water waves, in particular, tsunamis and waves generated by the fall of a meteorite. Linear and nonlinear theories, as well as experimental calibrations, are presented for cases of deep and shallow water explosions. Propagation of transient waves on dissipative, nonuniform bathymetries to
Shiri, Ron S.; Lunde, Emily L.; Coronado, Patrick L.; Quijada, Manuel A.
For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with this approach is that there is generally a large loss of the light signal due to scattering and absorption in water, even though there is an optimal wavelength for transmission in the blue or green wavelengths of the visible spectrum. The second issue is that a simple communication system, consisting only of a highly directional source/transmitter and small optical detector/receiver, has a very narrow field of view. The goal of this project is to improve an optical, underwater communication system by increasing the effective field of view of the receiving optics. To this end, we make two changes to the simple system: (1) An optical dome was added near the receiver. An array of lenses is placed radially on the surface of the dome, reminiscent of the compound eye of an insect. The lenses make the source and detector planes conjugate, and each lens adds a new region of the source plane to the instrument's total field of view. (2) The receiver was expanded to include multiple photodiodes. With these two changes, the receiver has much more tolerance to misalignments (in position and angle) of the transmitter. Two versions of the optical dome (with 6" and 8" diameters) were designed using PTC's Creo CAD software and modeled using Synopsys' CODE V optical design software. A series of these transparent hemispherical domes, with both design diameters, were manufactured using a 5-axis mill. The prototype was then retrofitted with lenses and compared with the computer-generated model to demonstrate the effectiveness of this solution. This work shows that the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with
Reyff, James A
Pile driving occurs in a variety of nearshore environments that typically have very shallow-water depths. The propagation of pile-driving sound in water is complex, where sound is directly radiated from the pile as well as through the ground substrate. Piles driven in the ground near water bodies can produce considerable underwater sound energy. This paper presents examples of sound propagation through shallow-water environments. Some of these examples illustrate the substantial variation in sound amplitude over time that can be critical to understand when computing an acoustic-based safety zone for aquatic species.
Falkenberg, Thomas; Gregersen, Rene Tavs; Blanke, Mogens
This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using dierent approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal...... based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude...
concenetrate on the bearings-only approach. In this method the Observer monitors his bearing to the Source, over a period of time. Usually the Observer must...developed in [ 5] was earlier applied with much success to tracking maneuvering air targets. This approach will now be applied in the underwater environment...April 1977.  A. H. Jazwinski, Stochastic Processes and Filtering Theory, Academic Press, New York, 1970.  D. H. Halliday, and R. Resnick, Physics, John Wiley & Sons, Inc., New York, 1966. hI
...: Divers or underwater ROV. 115.650 Section 115.650 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY... Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater survey, you may use divers or an underwater remotely operated vehicle (ROV). (a) If you use divers to...
Johnson, V.J.; Pao, J.H.; Demmer, R.L.; Tripp, J.L.
A project is underway to deactivate a Fuel Storage Basin. The project specifies the requirements and identifies the tasks that will be performed for deactivation of the CPP- 603 building at the Idaho Nuclear Technology and Engineering Center of the Idaho National Engineering and Environmental Laboratory. The Fuel Receiving and Storage Building (CPP- 603) was originally used to receive and store spent nuclear fuel from various facilities. The area to undergo deactivation includes the three spent nuclear fuel storage basins and a transfer canal (1.5 million gallons of water storage). Deactivation operations at the task site include management of the hot storage boxes and generic fuel objects, removal of the fuel storage racks, basin sludge, water evaporation and basin grouting, and interior equipment, tanks, and associated components. This includes a study to develop a grout formulation and placement process for this deactivation project. Water will be allowed to passively evaporate to r educe the spread of contamination from the walls of the basin. The basins will be filled with grout, underwater, as the water evaporates to maintain the basin water at a safe level. The objective of the deactivation project is to eliminate potential exposure to hazardous and radioactive materials and eliminate potential safety hazards associated with the CPP-603 building
Zhu, Junxiao; Ho, Siu Chun Michael; Patil, Devendra; Wang, Ning; Hirsch, Rachel; Song, Gangbing
Reports indicated that impact events accounted for 47% of offshore pipeline failures, which calls for impact detection and localization for subsea pipelines. In this paper, an innovative method for rapid localization of impacts on underwater pipelines utilizing a novel determination technique for both arrival-time and group velocity (ATGV) of ultrasonic guided waves with lead zirconate titanate (PZT) transducers is described. PZT transducers mounted on the outer surface of a model pipeline were utilized to measure ultrasonic guided waves generated by impact events. Based on the signals from PZT sensors, the ATGV technique integrates wavelet decomposition, Hilbert transform and statistical analysis to pinpoint the arrival-time of the designated ultrasonic guided waves with a specific group velocity. Experimental results have verified the effectiveness and the localization accuracy for eight impact points along a model underwater pipeline. All estimations errors were small and were comparable with the wavelength of the designated ultrasonic guided waves. Furthermore, the method is robust against the low frequency structural vibration introduced by other external forces.
Full Text Available The open circuit underwater breathing apparatus can be a one or two-stage regulator used in scuba diving or a two-stage regulator used in surface supplied installations. These installations are proper in underwater sites at small depth. The pneumatic circuit of a two-stage regulator is composed mainly of a first stage regulator mounted on the air cylinders and a second stage carried by the diver in his mouth. The two regulators are linked together by a medium pressure hose. The circuit opens when the depression created by the diver’s inhalation, in the second stage body, reaches a certain value. The second stage opening causes a transient movement, namely an expansion wave that propagates through the medium pressure hose to the first stage regulator. The first stage regulator opens and the air in the cylinders is allowed to flow to the diver. The longer the hose, the greater the duration of the expansion wave propagation. Investigations on the wave propagation offer data on the inspiration unsteady motion duration which influences the respiratory effort of the diver.
Full Text Available The underwater environment is an extreme environment that requires a process of human adaptation with specific psychophysiological demands to ensure survival and productive activity. From the standpoint of existing models of intelligence, personality and performance, in this explanatory study we have analyzed the contribution of individual differences in explaining the adaptation of military personnel in a stressful environment. Structural equation analysis was employed to verify a model representing the direct effects of psychological variables on individual adaptation to an adverse environment, and we have been able to confirm, during basic military diving courses, the structural relationships among these variables and their ability to predict a third of the variance of a criterion that has been studied very little to date. In this way, we have confirmed in a sample of professionals (N = 575 the direct relationship of emotional adjustment, conscientiousness and general mental ability with underwater adaptation, as well as the inverse relationship of emotional reactivity. These constructs are the psychological basis for working under water, contributing to an improved adaptation to this environment and promoting risk prevention and safety in diving activities.
Gao, Yang; Song, Jingfeng; Li, Shumin; Elowsky, Christian; Zhou, You; Ducharme, Stephen; Chen, Yong Mei; Zhou, Qin; Tan, Li
Exploring the abundant resources in the ocean requires underwater acoustic detectors with a high-sensitivity reception of low-frequency sound from greater distances and zero reflections. Here we address both challenges by integrating an easily deformable network of metal nanoparticles in a hydrogel matrix for use as a cavity-free microphone. Since metal nanoparticles can be densely implanted as inclusions, and can even be arranged in coherent arrays, this microphone can detect static loads and air breezes from different angles, as well as underwater acoustic signals from 20 Hz to 3 kHz at amplitudes as low as 4 Pa. Unlike dielectric capacitors or cavity-based microphones that respond to stimuli by deforming the device in thickness directions, this hydrogel device responds with a transient modulation of electric double layers, resulting in an extraordinary sensitivity (217 nF kPa-1 or 24 μC N-1 at a bias of 1.0 V) without using any signal amplification tools.
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.
Praczyk, Tomasz; Szymak, Piotr
Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.
Full Text Available Geotube is, among others, a type of coastal structure that is increasingly accepted for coastal protection especially underwater breakwater. Besides its relatively low cost, it has other advantages such as flexibility, ease of construction and the fact that it can be filled with local sand material. Similar to all other coastal structures, it should also be stable under wave attack. A simple theoretical approach based on linear wave was adopted to estimate the stability of such structure. The theoretical solution was then compared with an experimental study. The experimental study was conducted at the Hydraulics and Hydrology Laboratory of Universitas Gadjah Mada. However, instead of a real geotube, PVC pipe was used where the weight of the PVC was varied by adjusting the volume of sand in the pipe. The result indicated that the agreement between the theoretical solution and the experiment was encouraging. The analytical solution may be utilized to predict underwater pipe stability under wave attack with certain degree of accuracy.
Merchant, Nathan D; Brookes, Kate L; Faulkner, Rebecca C; Bicknell, Anthony W J; Godley, Brendan J; Witt, Matthew J
Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). Field measurements were made during 2013-2014 at twelve sites around the UK. Median noise levels ranged from 81.5-95.5 dB re 1 μPa for one-third octave bands from 63-500 Hz. Noise exposure varied considerably, with little anthropogenic influence at the Celtic Sea site, to several North Sea sites with persistent vessel noise. Comparison of acoustic metrics found that the RMS level (conventionally used to represent the mean) was highly skewed by outliers, exceeding the 97 th percentile at some frequencies. We conclude that environmental indicators of anthropogenic noise should instead use percentiles, to ensure statistical robustness. Power analysis indicated that at least three decades of continuous monitoring would be required to detect trends of similar magnitude to historic rises in noise levels observed in the Northeast Pacific.
Giuliano, Giovanni; Kent, Lionel W. J.; Laycock, Leslie C.
The present study originated in the lack of research into achieving underwater total internal reflection (TIR) via the acousto-optic effect. The uniqueness of this technique exists in the fact that it is based on a high sound pressure level which induces a localised change in refractive index of seawater sufficient to achieve total internal reflection within the communication channel. Different transducer systems for generating the pressure wave have been investigated and take the form of a wave which may be either a standing wave, or a novel beamforming technique. The former is based on an array of transducers and with an acoustic mirror at the receiver in order to establish the standing wave. The alternative approach relies on the high intrinsic directionality of a novel beamformer where an annular transducer array is examined as an acoustic source. In this paper, the main characteristics of the acoustic optic waveguide will be presented. This will include both sound and light propagation in the ocean, TIR, novel beam propagation, the refractive index of water as a function of the externally applied acoustic pressure, and the acoustic technology. The modelled results, the limitations imposed by the challenging medium, and the system requirements required to obtain an Underwater Wireless Acousto-Optic Waveguide (UWAOW) will be also addressed.
... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Pacific Ocean at Kwajalein Atoll, Marshall Islands; missile testing area. 334.1440 Section 334.1440 Navigation and Navigable Waters CORPS OF....1440 Pacific Ocean at Kwajalein Atoll, Marshall Islands; missile testing area. (a) The warning area...
... Administration Regulations (EAR) to reflect changes to the Missile Technology Control Regime (MTCR) Annex that.... 130104008-3008-01] RIN 0694-AF81 Revisions to the Export Administration Regulations Based on the 2012 Missile Technology Control Regime Plenary Agreements AGENCY: Bureau of Industry and Security, Commerce...
... Administration Regulations (EAR) to reflect changes to the Missile Technology Control Regime (MTCR) Annex that.... 0912031426-0047-01] RIN 0694-AE79 Revisions to the Export Administration Regulations Based on the 2009 Missile Technology Control Regime Plenary Agreements AGENCY: Bureau of Industry and Security, Commerce...
Automated precise guided missile defence has been around for some years, and is a modern-day mechanism used frequently since 2011 to defend against rocket attacks penetrating national airspace. Israel's automated Iron Dome Missile Defence System has intercepted over 1 000 rockets during two recent military ...
The impact behavior of the steel plate of BWR containment vessels against missiles, that are caused by the postulated catastrophic failure of components with a high kinematic energy has been investigated. The research started in 1977 and was completed in 1979 by a project team of the Technical Research Association for Integrity of Structures at Elevated Service Temperatures, sponsored by three Electric Power Companies (Tokyo, Chubu, and Chugoku). Although the probability of the occurrence of missiles inside and outside of containment vessels is extremely low, the following items are required to maintain the integrity of containment vessels. (1) The probability of the occurrence of missiles. (2) The weight and energy of the missiles. (3) The impact behavior of containment vessel steel plate against postulated missiles. In connection with the above item (3), an actual-scale missile test was conducted. In addition, a computation analysis was performed to confirm the impact behavior against the missiles, in order to search for wide applicability to the various kinds of postulated missiles. This research has finally aimed at obtaining a new empirical formula which carries out the assessment of the integrity of containment vessels. (orig.)
rence is seen among animals (e.g., a dog baring its teeth). The stories of Adam and Eve and Pandora’s Box —as well as pa- rental behavior—are good...ballistic missile (SRBM) that can easily reach the node with minimal indica- tion and warning. The terrorist cell has stolen a missile- erector - launcher
O. V. Voronin
Full Text Available The article summarizes the basic directions of automation for planning and management of combat by the divisions of tactical missile defense. The article focuses on the problem of the automated choice of rational option for combat order and fire control carried out by the divisions of tactical missile defense during operation.
... Vehicles (including cruise missile systems, target drones and reconnaissance drones) End-Uses. 744.3... missile systems, target drones and reconnaissance drones) End-Uses. (a) General prohibition. In addition...: END-USER AND END-USE BASED § 744.3 Restrictions on Certain Rocket Systems (including ballistic missile...
...-Basis Hurricane and Hurricane Missiles AGENCY: Nuclear Regulatory Commission. ACTION: Proposed interim...-ISG-024, ``Implementation of Regulatory Guide 1.221 on Design-Basis Hurricane and Hurricane Missiles....221, ``Design-Basis Hurricane and Hurricane Missiles for Nuclear Power Plants.'' DATES: Submit...
Zhao, Yin; Xia, Ying-kai; Chen, Ying; Xu, Guo-Hua
Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed contr...
An underwater television support device equipped with a rotatable and vertically movable underwater television camera and an underwater television camera controlling device for monitoring images of the inside of the reactor core photographed by the underwater television camera to control the position of the underwater television camera and the underwater light are disposed on an upper lattice plate of a reactor pressure vessel. Both of them are electrically connected with each other by way of a cable to rapidly observe the inside of the reactor core by the underwater television camera. The reproducibility is extremely satisfactory by efficiently concentrating the position of the camera and image information upon inspection and observation. As a result, the steps for periodical inspection can be reduced to shorten the days for the periodical inspection. Since there is no requirement to withdraw fuel assemblies over a wide reactor core region, and the device can be used with the fuel assemblies being left as they are in the reactor, it is suitable for inspection of detectors for nuclear instrumentation. (N.H.)
Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning
We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.
Full Text Available Ontologies have been widely used to facilitate semantic interoperability and serve as a common information model in many applications or domains. The Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project, aiming to facilitate coordination and cooperation between heterogeneous underwater vehicles, also adopts ontologies to formalize information that is necessarily exchanged between vehicles. However, how to derive more useful contexts based on ontologies still remains a challenge. In particular, the extreme nature of the underwater environment introduces uncertainties in context data, thus imposing more difficulties in context reasoning. None of the existing context reasoning methods could individually deal with all intricacies in the underwater robot field. To this end, this paper presents the first proposal applying a hybrid context reasoning mechanism that includes ontological, rule-based, and Multi-Entity Bayesian Network (MEBN reasoning methods to reason about contexts and their uncertainties in the underwater robot field. The theoretical foundation of applying this reasoning mechanism in underwater robots is given by a case study on the oil spill monitoring. The simulated reasoning results are useful for further decision-making by operators or robots and they show that the consolidation of different reasoning methods is a promising approach for context reasoning in underwater robots.
Planchat, J. P.; Descroix, J. P.; Sarre, G.
A comparative performance study has been conducted for silver-zinc, thionyl chloride, and thermal batteries designed for such missile applications as ICBM guidance system power supplies. Attention is given to each of the three candidates' conformity to requirements concerning mechanical configuration, electrochemical design, electrolyte reservoir, external case, and gas generator. The silver-zinc and Li-SOCl2 candidates employ similar cell configurations and yield comparable performance. The thermal battery is found to be incapable of meeting battery case temperature-related requirements.
Wall Street’s fears by denying that he was a communist and declaring his respect for private property. Not everyone saw Castro as a nuevo amigo, however...Commander Thomas Cosgrove , the Oxford’s captain, had prepared his ship for trouble. If the Cubans tried to stop and board her, he could call upon the ready...removal of the missiles under the auspices of a UN observer team. The Soviet UN ambassador repeatedly denied the American charges, however. 39 That same
Chvala, William D.; Solana, Amy E.; States, Jennifer C.; Warwick, William M.; Weimar, Mark R.; Dixon, Douglas R.
The document provides an overview of renewable resource potential at White Sands Missile Range (WSMR) based primarily upon analysis of secondary data sources supplemented with limited on-site evaluations. The effort was funded by the U.S. Army Installation Management Command (IMCOM) as follow-on to the 2005 DoD Renewable Energy Assessment. This effort focuses on grid-connected generation of electricity from renewable energy sources and also ground source heat pumps (GSHPs) for heating and cooling buildings, as directed by IMCOM.
Dunn, W.L.; Lew, S.T.; Davis, R.L.; Hsu, J.C.; McConnell, B.S.
Literature reviews, preliminary models, methodology descriptions, and general progress appraisal corresponding to the first 12 weeks of the research and approximately 14% of the budget expenditures are presented. Consequently, much of the methodology discussed in the various tasks is tentative and dependent upon further investigation as noted. The objective of this project is to develop a probabilistic formalism for characterizing the effects of the tornado generated missiles on the plant safety. The state-of-the-art nnd the R/D efforts needed to accomplish the stated objective are summarized
Angelica Lo Duca
Full Text Available In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.
Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi
The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)
Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens
The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....... and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own...
Full Text Available Understanding the dynamics of bodies of water and their impact on the global environment requires sensing information over the full volume of water. In this article, we develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for computing maximally detailed volumetric models. We prove that the controller converges to a local minimum and show how the controller can be extended to work with hybrid robot and sensor network systems. We implement the controller on an underwater sensor network with depth adjustment capabilities. Through simulations and in-situ experiments, we verify the functionality and performance of the system and algorithm.
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.
Clemons, T. M., III; Chang, K. C.
This paper examines the use of various estimation filters on the highly non-linear problem of tracking a ballistic missile during boost phase from a moving airborne platform. The aircraft receives passive bearing data from an IR sensor and range data from a laser rangefinder. The aircraft is assumed to have a laser weapon system that requires highly accurate bearing information in order to keep the laser on target from a distance of 100-200 km. The tracking problem is made more difficult due to the changing acceleration of the missile, especially during stage drop-off and ignition. The Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), 'bootstrap' Particle Filter (PF), and the Gaussian Sum Particle Filter (GSPF) are explored using different values for sensor accuracy in bearing and range, and various degrees of uncertainty of the target and platform dynamic. Scenarios were created using Satellite Toolkit © for trajectories from a Southeast Asia launch with associated sensor observations. MATLAB © code modified from the ReBEL Toolkit © was used to run the EKF, UKF, PF, and GSPF sensor track filters. Mean Square Error results are given for tracking during the period when the target is in view of the radar and IR sensors. This paper provides insight into the accuracy requirements of the sensors and the suitability of the given estimators.
Kozlovsky, Alexander; Shalimov, Sergey; Lukianova, Renata; Lester, Mark
We report on ionosonde and meteor radar observations made in Sodankylä Geophysical Observatory (SGO, 67°22'N, 26°38'E, Finland) on 9 December 2009, during a test launch of the Russian solid propellant military missile. Due to a technical problem, the missile was self-destroyed around 07 UT at an ionospheric height (near 200 km altitude) over the Kola Peninsula (Russia), at a distance about 500 km to east from the observatory. Products of the explosion were spread into a large area and reached the region of SGO meteor radar observations in about 2 h (around 09 UT). After about 3 h (around 10 UT), a sporadic E layer presumably composed of the remains including long-lived metallic (aluminum and its oxides) ions, was observed near the zenith of the SGO ionosonde. We discuss possible mechanisms accounting for transport of the remains. (1) Since the event occurred during a long-lasting period of extremely low solar and magnetic activity, the ionospheric electric field was unlikely to play a substantial role in the transport of the remains and sporadic E layer formation. (2) The horizontal transport of the remains cannot be explained by the neutral winds based on empirical models. (3) Theoretical estimations suggest that the observed transport could be due to thermospheric turbulence.
Electro-optically (EO) guided surface to air missiles (SAM) have developed to use Ultraviolet (UV) wavebands supplementary to the more common Infrared (IR) wavebands. Missiles such as the US Stinger have been around for some time, these have been joined recently by Chinese FN-16 and Russian SA-29 (Verba) and there is a much higher potential proliferation risk. The purpose of this paper is to introduce a first-principles, physics based, model of a typical seeker arrangement. The model is constructed from various calculations that aim to characterise the physical effects that will affect the performance of the system. Data has been gathered from a number of sources to provide realism to the variables within the model. It will be demonstrated that many of the variables have the power to dramatically alter the performance of the system as a whole. Further, data will be shown to illustrate the expected performance of a typical UV detector within a SAM in detection range against a variety of target sizes. The trend for the detection range against aircraft size and skin reflectivity will be shown to be non-linear, this should have been expected owing to the exponential decay of a signal through atmosphere. Future work will validate the performance of the model against real world performance data for cameras (when this is available) to ensure that it is operates within acceptable errors.
Hallewell, G D
The ANTARES Collaboration is constructing a deep underwater neutrino detector for operation at -2400 m off the French Mediterranean coast near Toulon. The detector, which will begin operation in 2004, will have an aperture of approx 0.1 km sup 2 , and will contain 900 photomultiplier tubes. The photomultiplier axes will be angled 45 deg. downward toward the seabed to observe the Cherenkov emissions of upward-going muons created by the interactions in or near the detector of high energy neutrinos traversing the Earth. These neutrinos arrive undeviated from a variety of galactic and extragalactic sources of astrophysical interest, and might be produced in the possible annihilation of dark matter neutralinos. The design and present status of the detector are summarized. Results from site evaluation and the development of supporting instrumentation are outlined.
Butler, John L
This improved and updated second edition covers the theory, development, and design of electro-acoustic transducers for underwater applications. This highly regarded text discusses the basics of piezoelectric and magnetostrictive transducers that are currently being used as well as promising new designs. It presents the basic acoustics as well as the specific acoustics data needed in transducer design and evaluation. A broad range of designs of projectors and hydrophones are described in detail along with methods of modeling, evaluation, and measurement. Analysis of projector and hydrophone transducer arrays, including the effects of mutual radiation impedance and numerical models for elements and arrays, are also covered. The book includes new advances in transducer design and transducer materials and has been completely reorganized to be suitable for use as a textbook, as well as a reference or handbook. The new edition contains updates to the first edition, end-of-chapter exercises, and solutions to select...
Rapidis, Petros A. [Institute of Nuclear Physics, National Center for Scientific Research ' Demokritos' , Athens 15310 (Greece)], E-mail: firstname.lastname@example.org
The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.
Full Text Available This paper describes the validation process of a localization algorithm for underwater vehicles. In order to develop new localization algorithms, it is essential to characterize them with regard to their accuracy, long-term stability and robustness to external sources of noise. This is only possible if a gold-standard reference localization (GSRL is available against which any new localization algorithm (NLA can be tested. This process requires a vehicle which carries all the required sensor and processing systems for both the GSRL and the NLA. This paper will show the necessity of such a validation process, briefly sketch the test vehicle and its capabilities, describe the challenges in computing the localizations of both the GSRL and the NLA simultaneously for comparison, and conclude with experimental data of real-world trials.
Moore, Casey; daCunha, John; Rhoades, Bruce; Twardowski, Michael
A compact, high-resolution, two-dimensional excitation-emission matrix fluorometer (EEMF) has been designed and built specifically for use in identifying and measuring the concentrations of organic compounds, including polluting hydrocarbons, in natural underwater settings. Heretofore, most EEMFs have been designed and built for installation in laboratories, where they are used to analyze the contents of samples collected in the field and brought to the laboratories. Because the present EEMF can be operated in the field, it is better suited to measurement of spatially and temporally varying concentrations of substances of interest. In excitation-emission matrix (EEM) fluorometry, fluorescence is excited by irradiating a sample at one or more wavelengths, and the fluorescent emission from the sample is measured at multiple wavelengths. When excitation is provided at only one wavelength, the technique is termed one-dimensional (1D) EEM fluorometry because the resulting matrix of fluorescence emission data (the EEM) contains only one row or column. When excitation is provided at multiple wavelengths, the technique is termed two-dimensional (2D) EEM fluorometry because the resulting EEM contains multiple rows and columns. EEM fluorometry - especially the 2D variety - is well established as a means of simultaneously detecting numerous dissolved and particulate compounds in water. Each compound or pool of compounds has a unique spectral fluorescence signature, and each EEM is rich in information content, in that it can contain multiple fluorescence signatures. By use of deconvolution and/or other mixture-analyses techniques, it is often possible to isolate the spectral signature of compounds of interest, even when their fluorescence spectra overlap. What distinguishes the present 2D EEMF over prior laboratory-type 2D EEMFs are several improvements in packaging (including a sealed housing) and other aspects of design that render it suitable for use in natural underwater
Thor I. Fossen
Full Text Available The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1 an adaptive passivity-based control scheme and (2 deriving a hybrid (adaptive and sliding controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunovlike lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV.
Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel
Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.
Rapidis, Petros A.
The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.
Miller, Timothy F; Gandhi, Farhan; Rufino, Russell J
There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations). (paper)
Rudnick, Daniel L.; Cole, Sylvia T.
The sampling characteristics of an underwater glider are addressed through comparison with contemporaneous measurements from a ship survey using a towed vehicle. The comparison uses the underwater glider Spray and the towed vehicle SeaSoar north of Hawaii along 158°W between 22.75°N and 34.5°N. A Spray dive from the surface to 1000 m and back took 5.6 h and covered 5.3 km, resulting in a horizontal speed of 0.26 m s-1. SeaSoar undulated between the surface and 400 m, completing a cycle in 11 min while covering 2.6 km, for a speed of 3.9 m s-1. Adjacent profiles of temperature and salinity are compared between the two platforms to prove that each is accurate. Spray and SeaSoar data are compared through sections, isopycnal spatial series, and wave number spectra. The relative slowness of the glider results in the projection of high-frequency oceanic variability, such as internal waves, onto spatial structure. The projection is caused by Doppler smearing because of finite speed and aliasing due to discrete sampling. The projected variability is apparent in properties measured on depth surfaces or in isopycnal depth. No projected variability is seen in observations of properties on constant density surfaces because internal waves are intrinsically filtered. Wave number spectra suggest that projected variability affects properties at constant depth at wavelengths shorter than 30 km. These results imply that isobaric quantities, like geostrophic shear, are valid at wavelengths longer than 30 km, while isopycnal quantities, like spice, may be analyzed for scales as small as a glider measures.
lethal methods may become an increasingly useful tool to investigate shark populations where researchers encounter logistical or conservation-related constraints. Keywords: biopsy probe, laser photogrammetry, non-lethal sampling, underwater ...
"Digital Sonar Design in Underwater Acoustics Principles and Applications" provides comprehensive and up-to-date coverage of research on sonar design, including the basic theory and techniques of digital signal processing, basic concept of information theory, ocean acoustics, underwater acoustic signal propagation theory, and underwater signal processing theory. This book discusses the general design procedure and approaches to implementation, the design method, system simulation theory and techniques, sonar tests in the laboratory, lake and sea, and practical validation criteria and methods for digital sonar design. It is intended for researchers in the fields of underwater signal processing and sonar design, and also for navy officers and ocean explorers. Qihu Li is a professor at the Institute of Acoustics, Chinese Academy of Sciences, and an academician of the Chinese Academy of Sciences.
Hou, Weilin; Gray, Deric J; Weidemann, Alan D; Fournier, Georges R; Forand, J. L
...) in the spatial domain and the modulation transfer function (MTF) in the frequency domain. Due to the intensity variations involved in underwater sensing, denoising is carefully carried out by wavelet decompositions...
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.
Tuna, G.; Das, R.
In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.
Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew
Imaging through underwater experiences severe distortions due to random fluctuations of temperature and salinity in water, which produces underwater turbulence through diffraction limited blur. Lights reflecting from objects perturb and attenuate contrast, making the recognition of objects of interest difficult. Thus, the information available for detecting underwater objects of interest becomes a challenging task as they have inherent confusion among the background, foreground and other image properties. In this paper, a saliency-based approach is proposed to detect the objects acquired through an underwater turbulent medium. This approach has drawn attention among a wide range of computer vision applications, such as image retrieval, artificial intelligence, neuro-imaging and object detection. The image is first processed through a deblurring filter. Next, a saliency technique is used on the image for object detection. In this step, a saliency map that highlights the target regions is generated and then a graph-based model is proposed to extract these target regions for object detection.
Rinaldi, R.; Hordosch, H.
After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.
KWON KYOUNG YOUB
Full Text Available A fuzzy logic for autonomous navigation of underwater robot is proposed in this paper. The VFF(Virtual Force Field algorithm, which is widely used in the field of mobile robot, is modified for application to the autonomous navigation of underwater robot. This Modified Virtual Force Field(MVFF algorithm using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robot. A graphic simulator based on OpenGL for an autonomous navigation has been developed. The good performance of the proposed MVFF algorithm is verified through computer simulations on an underwater robot.
The strain gauge data and displacement sensors results showed that the multi-layer plates have higher level of underwater shock wave mitigation than the triple aluminum plates with strain and deflection of nearly 50%.
Tai, Shen-Chuan; Tsai, Ting-Chou; Huang, Jyun-Han
Light absorption and scattering in underwater environments can result in low-contrast images with a distinct color cast. This paper proposes a systematic framework for the enhancement of underwater images. Light transmission is estimated using the random forest algorithm. RGB values, luminance, color difference, blurriness, and the dark channel are treated as features in training and estimation. Transmission is calculated using an ensemble machine learning algorithm to deal with a variety of conditions encountered in underwater environments. A color compensation and contrast enhancement algorithm based on depth information was also developed with the aim of improving the visual quality of underwater images. Experimental results demonstrate that the proposed scheme outperforms existing methods with regard to subjective visual quality as well as objective measurements.
Ranjan, T.N.; Nherakkol, A.; Navelkar, G.S.
To navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in its application. A truly autonomous vehicle must determine its position which requires the optimal integration of all available attitude...
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.
Jesus, S. M.
This is a review presentation that addresses recent developments in underwater acoustic telemetry as a tool for ocean observation, monitoring and protection. Distributed sensing is a paradigm with important reflections in oceanic technology where bottom installed structures can not always be connected to a central hub through cabled networks. Moreover, recent developments in ocean robotics lead to the off-the-shelf availability of autonomous underwater vehicles that rely on wireless communica...
Temsamani, A.B.; Vandenplas, S.; Van Biesen, L.
In this work a parametric modeling of the underwater acoustic field is investigated in a laboratory scale at high frequencies (150-850 kHz). The aim is to develop experimentally verifiable theoretical models to investigate the acoustic field propagation in elastic and viscoelastic or porous media. To achieve this goal, the efforts have been directed to three integral parts pertaining to the development of the methods. The first part deals with the modeling of the underwater acoustic field fol...
Xiao, Kun; Fang, Shao-Ji; Pang, Yong-Jie
To impove underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.
Li, Daijin; Qin, Kan; Luo, Kai
Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional mod...
Jong, C.A.F. de
There is a growing interest in the possible impact of anthropogenic underwater noise on marine life . One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest for naval [2,3] and fishery research vessels . Due to the potential environmental impact, it becomes also relevant for commercial shipping. The challenge is to bring the expertise from the naval ...
79 ix LIST OF FIGURES Figure 1. NPS REMUS 100 with WHOI Docking Station. Source: [1...underwater missions were short and quick . Now, with advanced technology, underwater missions can be as long as the user desires. The new AUVs have...the full information problem. In order to use the MHE approach for real-time applications, the optimization process should be quick and accurate
Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-marc; Deniset, Francois
Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of th...
Kraus, Robert J.
The use of autonomous underwater vehicles (AUVs) for oceanic observation and research is becoming more common. Underwater gliders are a specific class of AUV that do not use conventional propulsion. Instead they change their buoyancy and center of mass location to control attitude and trajectory. The vehicles spend most of their time in long, steady glides, so even minor improvements in glide range can be magnified over multiple dives. This dissertation presents a rigid-body dynamic system...
The oscillation of a gas bubble produced as a result of underwater explosion could cause the severe whipping damage on nearby marine vehicle. The effects of rigid boundary curvatures to explosive gas bubble oscillation behavior in underwater were investigated. The analyses were conducted using a multimaterial Lagrangian-Eulerian finite element code, MSC/DYTRAN. The incident shock wave pressure, bubble pulse pressure, gas bubble radius and period were calculated for the case of detonation of a...
Stephenson, A.E.; Sliter, G.E.
It is standard practice to consider the effects of low-probability impacts of tornado-borne debris (''tornado missiles'' such as utility poles and steel pipes) in the structural design of nuclear power plants in the United States. To provide data that can be used directly in the design procedure, a series of full-scale tornado-missile impact tests was performed. This paper is a brief summary of the results and conclusions from these tests. The tests consisted of reinforced concrete panels impacted by poles, pipes, and rods propelled by a rocket sled. The panels were constructed to current minimum standards and had thicknesses typical of auxiliary buildings of nuclear power plants. A specific objective was the determination of the impact velocities below which the panels do not experience backface scabbing. Another objective was to assess the adequacy of (1) conventional design formulae for penetration and scabbing and (2) conventional design methods for overall structural response. Test missiles and velocities represented those in current design standards. Missiles included utility poles, steel pipes, and steel bars. It is important to interpret the data in this paper in recognition that the test conditions represent conservative assumptions regarding maximum wind speeds, injection of the missile into the wind stream, aerodynamic trajectory, and orientation of missile at impact. Even with the severe assumptions made, the full-scale tests described demonstrate the ability of prototypical nuclear plant walls and roofs to provide adequate protection against postulated tornado-missile impact
Ocokoljić Goran J.
Full Text Available This paper presents modification of the existing guided missile which was done by replacing the existing front part with the new five, while the rear part of the missile with rocket motor and missile thrust vector control system remains the same. The shape of all improved front parts is completely different from the original one. Modification was performed based on required aerodynamic coefficients for the existing guided missile. The preliminary aerodynamic configurations of the improved missile front parts were designed based on theoretical and computational fluid dynamics simulations. All aerodynamic configurations were tested in the T-35 wind tunnel at the Military Technical Institute in order to determine the final geometry of the new front parts. The 3-D Reynolds averaged Navier-Stokes numerical simulations were carried out to predict the aerodynamic loads of the missile based on the finite volume method. Experimental results of the axial force, normal force, and pitching moment coefficients are presented. The computational results of the aerodynamic loads of a guided missile model are also given, and agreed well with.
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.
Blackwell, Susanna B.; Greene, Charles R.
Underwater and in-air recordings were made from a boat anchored near Prudhoe Bay, Alaska, while a Griffon 2000TD hovercraft drove by at or near full power on four passes. At the closest point of approach (CPA, 6.5 m), underwater broadband (10-10 000 Hz) levels reached 133 and 131 dB re: 1 μPa at depths of 1 and 7 m, respectively. In-air unweighted and A-weighted broadband (10-10 000 Hz) levels reached 104 and 97 dB re: 20 μPa, respectively. The hovercraft produced sound at a wide range of frequencies. Both underwater and in air, the largest spectral peak was near 87 Hz, which corresponded to the blade rate of the thrust propeller. In addition, the spectral composition included several harmonics of this frequency. The shaft or blade rate of the lift fan was barely detectable underwater despite its proximity to the water. The hovercraft was considerably quieter underwater than similar-sized conventional vessels and may be an attractive alternative when there is concern over underwater sounds.
Almost 70% of planet Earth is covered by water. A large percentage of underwater environment is unexplored. In the past two decades, there has been an increase in the interest of exploring and monitoring underwater life among scientists and in industry. Underwater operations are extremely difficult due to the lack of cheap and efficient means. Recently, Wireless Sensor Networks have been introduced in underwater environment applications. However, underwater communication via acoustic waves is subject to several performance limitations, which makes the relevant research issues very different from those on land. In this thesis, we investigate node placement for building an initial Underwater Wireless Sensor Network infrastructure. Firstly, we formulated the problem into a nonlinear mathematic program with objectives of minimizing the total transmission loss under a given number of sensor nodes and targeted volume. We conducted experiments to verify the proposed formulation, which is solved using Matlab optimization tool. We represented each node with a truncated octahedron to fill out the 3D space. The truncated octahedrons are tiled in the 3D space with each node in the center where locations of the nodes are given using 3D coordinates. Results are supported using ns-3 simulator. Results from simulation are consistent with the obtained results from mathematical model with less than 10% error.
Full Text Available The Underwater Swarm is a particular Underwater Network configuration characterized by nodes very close one to each other, with mobility capability. The structure of the network is that of a distributed network, in which the nodes, through the exchange of control information, will take decisions in collaborative manner. This type of network raises challenges for its effective design and development, for which the only use of acoustic communication as traditionally suggested in underwater communication could be not enough. A new emerging solution could be a hybrid solution that combines the use of acoustic and optical channel in order to overcome the acoustic channel limitations in underwater environment. In this work, we want to investigate how the acoustic and optical communications influence the Underwater Swarm performance by considering the Low Layers Protocols (Physical Layer, Data Link Layer and Network Layer effects over the two different propagation technologies. Performance simulations have been carried out to suggest how the new hybrid system could be designed. This study will permit to provide useful analysis for the real implementation of an Underwater Swarm based on hybrid communication technology.
Fan, Jinxiang; Wang, Feng
Today's infrared imaging guiding missiles are facing many challenges. With the development of targets' stealth, new-style IR countermeasures and penetrating technologies as well as the complexity of the operational environments, infrared imaging guiding missiles must meet the higher requirements of efficient target detection, capability of anti-interference and anti-jamming and the operational adaptability in complex, dynamic operating environments. Missileborne infrared imaging detecting systems are constrained by practical considerations like cost, size, weight and power (SWaP), and lifecycle requirements. Future-generation infrared imaging guiding missiles need to be resilient to changing operating environments and capable of doing more with fewer resources. Advanced IR imaging detecting and information exploring technologies are the key technologies that affect the future direction of IR imaging guidance missiles. Infrared imaging detecting and information exploring technologies research will support the development of more robust and efficient missile-borne infrared imaging detecting systems. Novelty IR imaging technologies, such as Infrared adaptive spectral imaging, are the key to effectively detect, recognize and track target under the complicated operating and countermeasures environments. Innovative information exploring techniques for the information of target, background and countermeasures provided by the detection system is the base for missile to recognize target and counter interference, jamming and countermeasure. Modular hardware and software development is the enabler for implementing multi-purpose, multi-function solutions. Uncooled IRFPA detectors and High-operating temperature IRFPA detectors as well as commercial-off-the-shelf (COTS) technology will support the implementing of low-cost infrared imaging guiding missiles. In this paper, the current status and features of missile-borne IR imaging detecting technologies are summarized. The key
Chang, Ting Li
In the combat scenario where the infrared missile is an almost continuous threat during the operation, fighter aircraft are currently quite susceptible to being killed in attacks by infrared missiles. Theoretical analysis applied to an encounter simulation seems to indicate that it is possible to use the infrared Active Jammer and the expendable decoy (flare) to defeat the infrared missile (spin-scan and con-scan seekers). The theoretical analysis of a simplified case of a spin-scan and con-s...
Tu, D.K.; Larder, R.
This study is a continuation of the Lawrence Livermore Laboratory (LLL) effort to evaluate the applicability of using the finite element procedure to numerically simulate the impact of tornado-borne missiles on reinforced concrete targets. The objective of this study is to assess the back-face scab threshold of a reinforced concrete target impacted by deformable and nondeformable missiles. Several simulations were run using slug and pipe-type impacting missiles. The numerical results were compared with full-scale experimental field tests
Both tethered (ROV) and untethered (AUV) systems have proven to be highly valuable tools for a range of application undersea. Certain enabling technologies coupled with recent advances in robotic systems make it possible to consider supplementing many of the functions performed by these platforms with appropriately designed semi-autonomous vehicles that may be less expensive operate than traditional deep-water ROVs. Such vehicles can be deployed from smaller ships and may lead to sea-floor resident systems able to perform a range of interventions under direct human control when required. These systems are effectively a hybrid cross between ROV and AUV vehicles and poised to enable an important new class of undersea vehicle. It is now possible to radically redefine the meaning of the words "tethered vehicle" to include virtual tethering via acoustic and optical means or through the use of small diameter re-useable tethers, providing not power but only high bandwidth communications. The recent developments at Woods Hole Oceanographic Institution (WHOI), paves the way for a derivative vehicle type able to perform a range of interventions in deep water. Such battery-powered, hybrid-tethered vehicles will be able to perform tasks that might otherwise require a conventional ROV. These functions will be possible from less complex ships because of a greatly reduced dependence on large, heavy tethers and associated vehicle handling equipment. In certain applications, such vehicles can be resident within subsea facilities, able to provide operators with near instant access when required. Several key emerging technologies and capabilities make such a vehicle possible. Advances in both acoustic and optical "wireless" underwater communications and mico-tethers as pioneered by the HROV Nereus offer the potential to transform ROV type operations and thus offer planners and designers an important new dimension to subsea robotic intervention
Bell, J.P.; Ponikvar, D.R. [W.J. Schafer Associates, Inc., Arlington, VA (United States)
W.J. Schafer Associates has proposed an architecture for a laser system capable of not only beaming power from a ground site to space, but also capable of intercepting theater missiles during their boost phase for defense of ground troops in regional conflicts. The system comprises a ship-based multi-megawatt laser and beam control system, a relay mirror package mounted on a high altitude, long endurance, unmanned lighter-than-air vehicle, and a sensor package, mounted on the balloon, which directs the laser beam to the target and can also provide an early commitment of ground based kinetic energy interceptors. A system concept is presented, as well as an assessment of system effectiveness.
Full Text Available This paper introduces the design of multichannel acquisition circuit based on FPGA which samples and records the Doppler signals, ignition signal and the working condition of fuze security enforcement agencies of missile fuze in real-time in the test of high speed dynamic intersection. Furthermore, for the problem of increasing number of sample channel which causes the complexity of the multiplexer control, a general programmable channel switching method is proposed based on FPGA. In the method, FPGA is the control core, and using the internal ROM resource effectively simplifies the complexity of channel switch in the multichannel acquisition system. This paper analyzes the acquisition system design, and describes the design of hardware circuit and analog switch address coding in detail. The test result shows that the acquisition circuit meets the design requirements with high sampling precision and application value.
Ikeda, Kazutoyo; Takagi, Toshimitsu; Inoue, Haruhisa; Yoshida, Hisao; Moriuchi, Takehiro
On July 8, 2013, the new regulatory requirements for commercial power reactors got in force. Based on a concept of 'Defense-in-depth', essential importance was placed on the third and fourth layers of defense and prevention of simultaneous loss of all safety functions due to common causes. In this regards, the previous assumptions on the impact of earthquakes, tsunamis and other external events such as volcanic eruptions, tornadoes and forest fires were re-evaluated, and countermeasures for nuclear safety against these external events were decided to be enhanced. For tornado, Nuclear Regulation Authority promulgated the 'Assessment Guide for Tornado Effect on Nuclear Power Plants' to evaluate the effect of tornadoes. This paper will introduce the outline of evaluation cases of tornado effect, and tornado missiles protections taken at the Ikata Unit 3 Nuclear Power Plant (for actual case studies). (author)
Frank C. Zagare
Full Text Available This study surveys and evaluates previous attempts to use game theory to explain the strategic dynamic of the Cuban missile crisis, including, but not limited to, explanations developed in the style of Thomas Schelling, Nigel Howard and Steven Brams. All of the explanations were judged to be either incomplete or deficient in some way. Schelling’s explanation is both empirically and theoretically inconsistent with the consensus interpretation of the crisis; Howard’s with the contemporary understanding of rational strategic behavior; and Brams’ with the full sweep of the events that define the crisis. The broad outlines of a more general explanation that addresses all of the foundational questions associated with the crisis within the confines of a single, integrated, game-theoretic model with incomplete information are laid out.
Tang, Jue; Sun, Xinli
Penetrating the shell armor is an effective means of destroying hard targets with multiple layers of protection. The penetration process is a high-speed impact dynamics research category, involving high pressure, high temperature, high speed and internal material damage, including plugging, penetration, spalling, caving, splashing and other complex forms, therefore, Analysis is one of the difficulties in the study of impact dynamics. In this paper, the Lagrang algorithm and the SPH algorithm are used to analyze the penetrating steel plate, and the penetration model of the rocket penetrating the steel plate, the failure mode of the steel plate and the missile and the advantages and disadvantages of Lagrang algorithm and SPH algorithm in the simulation of high-speed collision problem are analyzed and compared, which provides a reference for the study of simulation collision problem.
Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.
An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional
Obtaining new insights into the behavior of free-living marine organisms is fundamental for conservation efforts and anticipating the impact of climate change on marine ecosystems. Despite the recent advances in biotelemetry, collecting physiological and behavioral parameters of underwater free-living animals remains technically challenging. In this thesis, we develop the first magnetic underwater animal monitoring system that utilizes Tunnel magnetoresistance (TMR) sensors, the most sensitive solid-state sensors today, coupled with flexible magnetic composites. The TMR sensors are composed of CoFeB free layers and MgO tunnel barriers, patterned using standard optical lithography and ion milling procedures. The short and long-term stability of the TMR sensors has been studied using statistical and Allan deviation analysis. Instrumentation noise has been reduced using optimized electrical interconnection schemes. We also develop flexible NdFeB-PDMS composite magnets optimized for applications in corrosive marine environments, and which can be attached to marine animals. The magnetic and mechanical properties are studied for different NdFeB powder concentrations and the performance of the magnetic composites for different exposure times to sea water is systematically investigated. Without protective layer, the composite magnets loose more than 50% of their magnetization after 51 days in seawater. The durability of the composite magnets can be considerably improved by using polymer coatings which are protecting the composite magnet, whereby Parylene C is found to be the most effective solution, providing simultaneously corrosion resistance, flexibility, and enhanced biocompatibility. A Parylene C film of 2μm thickness provides the sufficient protection of the magnetic composite in corrosive aqueous environments for more than 70 days. For the high level performance of the system, the theoretically optimal position of the composite magnets with respect to the sensing
Saini, P. Sri; Prince, Shanthi
At present, there is a lot of interest in the functioning of the marine environment. Unmanned or Autonomous Underwater Vehicles (UUVs or AUVs) are used in the exploration of the underwater resources, pollution monitoring, disaster prevention etc. Underwater, where radio waves do not propagate, acoustic communication is being used. But, underwater communication is moving towards Optical Communication which has higher bandwidth when compared to Acoustic Communication but has shorter range comparatively. Underwater Optical Wireless Communication (OWC) is mainly affected by the absorption and scattering of the optical signal. In coastal waters, both inherent and apparent optical properties (IOPs and AOPs) are influenced by a wide array of physical, biological and chemical processes leading to optical variability. The scattering effect has two effects: the attenuation of the signal and the Inter-Symbol Interference (ISI) of the signal. However, the Inter-Symbol Interference is ignored in the present paper. Therefore, in order to have an efficient underwater OWC link it is necessary to model the channel efficiently. In this paper, the underwater optical channel is modeled using Monte-Carlo method. The Monte Carlo approach provides the most general and most flexible technique for numerically solving the equations of Radiative transfer. The attenuation co-efficient of the light signal is studied as a function of the absorption (a) and scattering (b) coefficients. It has been observed that for pure sea water and for less chlorophyll conditions blue wavelength is less absorbed whereas for chlorophyll rich environment red wavelength signal is absorbed less comparative to blue and green wavelength.
Hou, Kun; Zeng, Yicheng; Zhou, Cailong; Chen, Jiahui; Wen, Xiufang; Xu, Shouping; Cheng, Jiang; Lin, Yingguang; Pi, Pihui
A durable underwater superoleophobic mesh was conveniently prepared by layer-by-layer (LBL) assembly of poly (diallyldimethylammonium chloride) (PDDA) and halloysite nanotubes (HNTs) on a stainless steel mesh. The hierarchical structure and roughness of the PDDA/HNTs coating surface were controlled by adjusting the number of layer deposition cycles. When the PDDA/HNTs coating with 10 deposition cycles was decorated on the mesh with pore size of about 54 μm, the underwater superoleophobic mesh was obtained. The as-prepared underwater superoleophobic PDDA/HNTs decorated mesh exhibits outstanding oil-water separation performance with a separation efficiency of over 97% for various oil/water mixtures, which allowed water to pass through while repelled oil completely. In addition, the as-prepared decorated mesh still maintained high separation efficiency above 97% after repeated 20 separation times for hexane/water mixture or chloroform/water mixture. More importantly, the as-prepared decorated mesh is durable enough to resist chemical and mechanical challenges, such as strong alkaline, salt aqueous and sand abrasion. Therefore, the as-prepared decorated mesh has practical utility in oil-water separation due to its stable oil-water performance, remarkable chemical and mechanical durability and the facile and eco-friendly preparation process.
It is pointed out that the long-range antiship standoff missile is emerging as the foremost threat on the seas. Delivered by high speed bombers, surface ships, and submarines, a missile attack can be mounted against selected targets from any point on the compass. An investigation is conducted regarding the configuration of a system which could most efficiently identify and destroy standoff threats before they launch their weapons. It is found that by using ships for carrying and launching missiles, and employing aircraft with a powerful radar only for search and missile directing operations, aircraft cost and weight can be greatly reduced. The employment of V/STOL aircraft in preference to other types of aircraft makes it possible to use ships of smaller size for carrying the aircraft. However, in order to obtain an all-weather operational capability for the system, ships are selected which are still big enough to display the required stability in heavy seas.
This report presents the results of a study demonstrating an approach for using viscous computational fluid dynamic simulations to calculate the flow field and aerodynamic coefficients for a missile with grid fin...
Kan, Shirley A
...) in the proliferation of weapons of mass destruction (WMD) and the missiles that could deliver them. Recipients of China's technology include Pakistan and countries that the State Department says support terrorism, such as Iran, North Korea, and Libya...
Kan, Shirley A
...) in the proliferation of weapons of mass destruction (WMD) and missiles that could deliver them. Recipients of China's technology include Pakistan and countries that the State Department says support terrorism, such as Iran, North Korea, and Libya...
Kan, Shirley A
...) in the proliferation of weapons of mass destruction (WMD) and missiles that could deliver them. Recipients of China s technology include Pakistan and countries that the State Department says support terrorism, like Iran, North Korea, Libya, and Syria...
Adragna, Steven P.
Ballistic missile defense is discussed, and the rationale behind the proposal to place defensive weapons in space is examined. Strategic defense is a national security, political, and moral imperative. (RM)
Johnson, Celeste; Hall, Raymond
...) a constellation of space-based lasers. Note that the cost estimates CBO has prepared for individual systems should not be added together to yield an estimate of the total potential costs of national missile...
The audit objective was to determine whether the Ballistic Missile Defense Organization complied with legislation and DoD policy covering commercial potential requirements for Phase 1 of the SBIR program...
Gledhill, Irvy MA
Full Text Available missiles with generic configurations. It is shown that acceleration affects wave drag significantly. Also, it is shown that strake-generated vortices move significantly in turns. These results clearly show the necessity of including the acceleration effects...
.... Analysis of the Just War Criteria and the utilitarian justifications of deterrence present a moral obligation to pursue the alternative strategy of missile defense as a means of defending the United States...
.... After maintaining four days of silence, North Korean officials stated that the Western labeled MRBM flight test was not the test firing of a ballistic missile but was a three-stage rocket launch...
... of the highly turbulent flow field produced by a pulsed, lateral jet control thruster and the interaction of this jet with the supersonic free stream and missile boundary layer were completed for different...
Sugano, T.; Tsubota, H.; Kasai, Y.; Koshika, N.; Ohnuma, H.; Von Riesemann, W.A.; Bickel, D.C.; Parks, M.B.
Structural damage induced by an aircraft crashing into a reinforced concrete structure includes local damage caused by the deformable engines, and global damage caused by the entire aircraft. Local damage to the target may consist of spalling of concrete from its front face together with missile penetration into it, scabbing of concrete from its rear face, and perforation of missile through it. Until now, local damage to concrete structures has been mainly evaluated by rigid missile impact tests. Past research work regarding local damage caused by impact of deformable missiles has been limited. This paper presents the results of a series of impact tests of small-, intermediate-, and full-scale engine models into reinforced concrete panels. The purpose of the tests was to determine the local damage to a reinforced concrete structure caused by the impact of a deformable aircraft engine. (orig.)
Welch, Larry D; Briggs, David L; Bleach, R. D; Canavan, G. H; Clark-Sestak, S. L; Constantine, R. W; Cook, C. W; Fries, M. S; Frost, D. E; Graham, D. R; Keane, D. J; Kramer, S. D; Major, P. L; Primmerman, C. A; Ruddy, J. M; Schneiter, G. R; Seng, J. M; Stein, R. M; Weiner, S. D; Williams, J. D
...) was tasked by the Department of Defense to carry out an independent study to examine and make recommendations with respect to the long-term missions, roles, and structure of the Missile Defense Agency (MDA...
Feng, Gang; Yang, Zhiyong; Liu, Yongjin
The guided missiles flight control system is essential for guidance accuracy and kill probability. It is complicated and fragile. Since actuator faults and sensor faults could seriously affect the security and reliability of the system, fault detection for missiles flight control system is of great significance. This paper deals with the problem of fault detection for the closed-loop nonlinear model of the guided missiles flight control system in the presence of disturbance. First, set up the fault model of flight control system, and then design the residual generation based on the extended Kalman filter (EKF) for the Eulerian-discrete fault model. After that, the Chi-square test was selected for the residual evaluation and the fault detention task for guided missiles closed-loop system was accomplished. Finally, simulation results are provided to illustrate the effectiveness of the approach proposed in the case of elevator fault separately.
This paper describes the application of a method for technology concept selection to the design of a hypersonic high-speed standoff missile capable of achieving pin-point strike of long-range targets...
... management offices to commodity commands. The primary audit objective was to assess whether program management offices were transferring adequate funds and other resources to Military Department commodity commands for missile acquisition...
costly to be worth while." 111. Ballistic Missile Defense Organization, Advanced Planning Briefing for Industry (The Ritz - Carlton , Tysons Corner, VA...Ballistic Missile Defense Organization. Advanced Planning Briefing for Industry. The Ritz - Carlton , Tysons Corner, VA, Meeting #494, 1-2 March 1994...threat of global war. But history did not end with that victory and neither did threats to the United States, its people and its interests
Hatchell, Brian K.; Mauss, Fredrick J.; Amaya, Ivan A.; Skorpik, James R.; Silvers, Kurt L.; Marotta, Steve
Military missiles are exposed to many sources of mechanical vibration that can affect system reliability, safety, and mission effectiveness. The U. S. Army Aviation and Missile Research Development and Engineering Center (AMRDEC) has been developing missile health monitoring systems to assess and improve reliability, reduce life cycle costs, and increase system readiness. One of the most significant exposures to vibration occurs when the missile is being carried by a helicopter or other aviation platform, which is a condition known as captive carry. Recording the duration of captive carry exposure during the missile’s service life can enable the implementation of predictive maintenance and resource management programs. Since the vibration imparted by each class of helicopter varies in frequency and amplitude, tracking the vibration exposure from each helicopter separately can help quantify the severity and harmonic content of the exposure. Under the direction of AMRDEC staff, engineers at the Pacific Northwest National Laboratory have developed a Captive Carry Health Monitor (CCHM) for the Hellfire II missile. The CCHM is an embedded usage monitoring device installed on the outer skin of the Hellfire II missile to record the cumulative hours the host missile has been in captive carry mode. To classify the vibration by class of helicopter, the CCHM analyzes the amplitude and frequency content of the vibration with the Goertzel algorithm to detect the presence of distinctive rotor harmonics. Cumulative usage data are accessible in theater from an external display; monthly usage histograms are accessible through an internal download connector. This paper provides an overview of the CCHM electrical and package design, describes field testing and data analysis techniques used to monitor captive carry identify and the class of helicopter, and discusses the potential application of missile health and usage data for real-time reliability analysis and fleet management.
MONITOR’S REPORT NUMBER(S) 12. DISTRIBUTION /AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES 14...siles. Examples included the Nike Zeus and Nike -X anti-ballistic missiles (ABMs), which used nuclear warheads to destroy incoming missiles (a practice...the Soviets also explored) in their terminal phase of flight. Yet despite some successful tests, the Nike programs were never fully implemented
The proliferation of advanced military technology, and of ballistic missiles in particular, should be viewed as a phenomenon with potential strategic ramifications for both the U.S. and its allies. This paper examines these ramifications on three levels: military, politico-military, and geostratigic. Four broad policy approaches can be taken singly or in combination to deal with the ballistic missile threat. They are: arms control, deterrence, preemption, and defense
operational art cognitive foundation. It combines the theory of operational art with a case study analysis of the 1973 Arab Israeli War and an...current joint and service doctrine forms the basis of these criteria. A case study of the 1973 Arab -Israeli War provides specific historical air and...missile operational art lessons. Current joint and service air and missile defense doctrine is evaluated using lessons from the 1973 Arab -Israeli War
procuring the missiles.... 97 Rob Taylor, “U.S. and Australia to Cooperate on Asian Missile-Defense...scheduled to grow from 33 at the end of FY2016 to 49 at the end of FY2021. The figure for FY2020 may include up to four BMD-capable Aegis cruisers in...building, or are planning to build Aegis-equipped ships include Japan, South Korea, Australia , Spain, and Norway.2 Aegis BMD System3 Aegis ships
confrontation. The fi rst anti-ballistic missile system to emerge from the technological and political turmoil was the Nike -Zeus system. Elements of...such systems. The summer of 2006 was fraught with high-level political tension, as North Korea advertised their plan to test a long- range ballistic...warhead by direct impact versus detonation. The Army began to address national missile defense in the 1950’s with the NIKE -ZEUS project. The Zeus
Hering, S.; Doll, B.
The safety catching device consists of a steel wire passed in U-shape around the pipe to be caught and supported by two anchor ties embedded in the concrete of the missile shielding cylinder. This flexible catching device is to cause the energy released in case of a pipe rupture to be absorbed and no dangerous bending shesses to be transferred to the walls of the missile shielding cylinder. (UWI) [de
Security Service) GLCM Ground-Launched Cruise Missile GLONASS Global’naya Navigatsionnaya Sputnikovaya Sistema , or Global Navigation Satellite System...planned deployment of U.S. missile defense systems to Europe. The Figure 1 diagram offers a visual representation for what has been expressed above and...Global’naya Navigatsionnaya Sputnikovaya Sistema , or Global Navigation Satellite System).”111 Based on his review of events in Georgia, Vladimir
Nichols, J. O.
Most of the aerodynamic configurations considered are suitable for highly maneuverable air-to-air or surface-to-air missiles; however, data for a few air-to-surface, cruise missiles, and one projectile configuration are also presented. The Mach number range of the data is from about 0.2 to 4.63; however, data for most configurations cover only a portion of this range.
Prats, F.; Fernandez, M. C.
The tornado generated missiles are classified in three categories: piece of pipe, car and a solid sphere. These missiles can impact class structures outer areas of the plant, possibly causing damage. Specifically, can pierce tanks located within reach class and losing the required integrity of these structures. Therefore, in this paper we review the issue of the required thickness to ensure that no loss of integrity of the tanks. The paper focuses on the evaluation of the required thickness of steel sheets.
8217 ,;;::i’:’.w..:.v,:.’..’,;?.:.:. t OFFICE OF THE INSPECTOR GENERAL SMALL BUSINESS INNOVATION RESEARCH PROGRAM AT THE BALLISTIC...Ballistic Missile Defense Organization Small Business Innovation Research Accession Number: 3526 Publication Date: Mar 21, 1995 Title: Small... Business Innovation Research Program at the Ballistic Missile Defense Organization Corporate Author Or Publisher: DoD, Office of the Inspector General
W.V.W.W/.*.’ OFFICE OF THE INSPECTOR GENERAL SMALL BUSINESS ADMINISTRATION SECTION 8(A) SUPPORT SERVICES CONTRACTS AT THE BALLISTIC MISSILE...ORGANIZATION DIRECTOR, DEFENSE LOGISTICS AGENCY SUBJECT: Audit Report on Small Business Administration Section 8(a) Support Services Contracts at the...Project No. 2CH-5031.01) SMALL BUSINESS ADMINISTRATION SECTION 8(A) SUPPORT SERVICES CONTRACTS AT THE BALLISTIC MISSILE DEFENSE ORGANIZATION
The paper presents evaluation of the jet damping effect on spatial motion of a homing guided missile with variable mass. The mathematical model of motion including effects generated by the burning fuel are presented – changes of mass characteristics as well as the jet damping effect are taken into account. Both the influences of inertia forces/moments and changes of the position of mass center are calculated. The damping effect generating additional forces and moments acting on the missile is...
He Jing Feng
Full Text Available Target image processing requirements of the TV guided missile is high, and the speed is fast, and the quality of target image segmentation is high.In this paper, an improved genetic algorithm based on genetic algorithm is introduced, which is used in the image segmentation of the TV guided missile, and the processing effect is good and the calculation speed is fast.Simulation results show that the algorithm is effective.
This thesis evaluates the protection provided by towed decoys deployed by an aircraft during an engagement against an anti-air missile equipped with a monopulse seeker. The research emphasizes the use of passive decoys. Many of the operational parameters required before the deployment of towed-decoy are investigated, including the strength of reflection, the tether length, the direction of release, under different missile incoming directions. This thesis evaluated two reflection cases. One is...
.... In recent years, autonomous underwater vehicles (AUV) have emerged as a viable technology for conducting underwater search, survey, and clearance operations in support of the mine countermeasures (MCM) mission...
Bayrakdar, Y.; Meratnia, Nirvana; Kantarci, Aylin
Design of efficient routing protocols for underwater sensor networks is challenging because of the distinctive characteristics of the water medium. Currently, many routing protocols are available for terrestrial wireless sensor networks. However, specific properties of underwater medium such as
.... We constructed an underwater vehicle equipped with two pairs of mechanical pectoral fins and pectoral fin controllers to examine the swimming performance of the underwater vehicle in still water...
Lazauski, Colin J
A method is provided to predict the biological consequences to marine animals from exposure to multiple underwater impulsive sources by simulating underwater explosions over a defined period of time...
imbricata Hawksbill sea turtle E Lepidochelys olivacea Olive ridley sea turtle T Birds Oceanodroma castro Band-rumped storm-petrel C Phoebastria albatrus...mydas Green sea turtle T Dermochelys coriacea Leatherback sea turtle E Eretmochelys imbricata Hawksbill sea turtle E Lepidochelys olivacea Olive...Hawaiian Islands: the green, hawksbill, loggerhead (Caretta caretta), olive ridley ( Lepidochelys olivacea ), and leatherback sea turtles. 3-82 PMRF
Flint, Tim; Sellier, Mathieu
In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.
McKenna, Megan F; Ross, Donald; Wiggins, Sean M; Hildebrand, John A
Underwater radiated noise measurements for seven types of modern commercial ships during normal operating conditions are presented. Calibrated acoustic data (autonomous seafloor-mounted acoustic recorder were combined with ship passage information from the Automatic Identification System. This approach allowed for detailed measurements (i.e., source level, sound exposure level, and transmission range) on ships of opportunity. A key result was different acoustic levels and spectral shapes observed from different ship-types. A 54 kGT container ship had the highest broadband source level at 188 dB re 1 μPa@1m; a 26 kGT chemical tanker had the lowest at 177 dB re 1 μPa@1m. Bulk carriers had higher source levels near 100 Hz, while container ship and tanker noise was predominantly below 40 Hz. Simple models to predict source levels of modern merchant ships as a group from particular ship characteristics (e.g., length, gross tonnage, and speed) were not possible given individual ship-type differences. Furthermore, ship noise was observed to radiate asymmetrically. Stern aspect noise levels are 5 to 10 dB higher than bow aspect noise levels. Collectively, these results emphasize the importance of including modern ship-types in quantifying shipping noise for predictive models of global, regional, and local marine environments. © 2012 Acoustical Society of America.
Full Text Available The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism.
Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.
Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.
Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John
Pulsed laser holography in an extremely powerful technique for the study of particle fields as it allows instantaneous, non-invasive high- resolution recording of substantial volumes. By relaying the real image one can obtain the size, shape, position and - if multiple exposures are made - velocity of every object in the recorded field. Manual analysis of large volumes containing thousands of particles is, however, an enormous and time-consuming task, with operator fatigue an unpredictable source of errors. Clearly the value of holographic measurements also depends crucially on the quality of the reconstructed image: not only will poor resolution degrade the size and shape measurements, but aberrations such as coma and astigmatism can change the perceived centroid of a particle, affecting position and velocity measurements. For large-scale applications of particle field holography, specifically the in situ recording of marine plankton with Holocam, we have developed an automated data extraction system that can be readily switched between the in-line and off-axis geometries and provides optimised reconstruction from holograms recorded underwater. As a videocamera is automatically stepped through the 200 by 200 by 1000mm sample volume, image processing and object tracking routines locate and extract particle images for further classification by a separate software module.
Connell, Leonard W.; Edenburn, Michael W.; Fraley, Stanley K.; Trost, Lawrence C.
This paper presents a framework for evaluating the technical merits of strategic ballistic missile de-alerting measures, and it uses the framework to evaluate a variety of possible measures for silo-based, land-mobile, and submarine-based missiles. De-alerting measures are defined for the purpose of this paper as reversible actions taken to increase the time or effort required to launch a strategic ballistic missile. The paper does not assess the desirability of pursuing a de-alerting program. Such an assessment is highly context dependent. The paper postulates that if de-alerting is desirable and is used as an arms control mechanism, de-alerting measures should satisfy specific cirteria relating to force security, practicality, effectiveness, significant delay, and verifiability. Silo-launched missiles lend themselves most readily to de-alerting verification, because communications necessary for monitoring do not increase the vulnerabilty of the weapons by a significant amount. Land-mobile missile de-alerting measures would be more challenging to verify, because monitoring measures that disclose the launcher's location would potentially increase their vulnerability. Submarine-launched missile de-alerting measures would be extremely challlenging if not impossible to monitor without increasing the submarine's vulnerability.
Sakarya, Doǧan Uǧur
Drag force effect is an important aspect of range performance in missile applications especially for long flight time. However, old fashioned gimbal approaches force to increase missile diameter. This increase has negative aspect of rising in both drag force and radar cross sectional area. A new gimbal approach was proposed recently. It uses a beam steering optical arrangement. Therefore, it needs less volume envelope for same field of regard and same optomechanical assembly than the old fashioned gimbal approaches. In addition to longer range performance achieved with same fuel in the new gimbal approach, this method provides smaller cross sectional area which can be more invisible in enemies' radar. In this paper, the two gimbal approaches - the old fashioned one and the new one- are compared in order to decrease drag force and radar cross sectional area in missile application. In this study; missile parameters are assumed to generate gimbal and optical design parameters. Optical design is performed according to these missile criteria. Two gimbal configurations are designed with respect to modeled missile parameters. Also analyzes are performed to show decreased drag force and radar cross sectional area in the new approach for comparison.
Kakinami, Yoshihiro; Yamamoto, Masayuki; Chen, Chia-Hung; Watanabe, Shigeto; Lin, Charles; Liu, Jenn-Yanq; Habu, Hiroto
disturbances caused by a missile launched from North Korea on 12 December 2012 were investigated by using the GPS total electron content (TEC). The spatial characteristic of the front edge of V-shaped disturbances produced by missiles and rockets was first determined. Considering the launch direction and the height of estimated ionospheric points at which GPS radio signal pierces the ionosphere, the missile passed through the ionosphere at heights of 391, 425, and 435 km at 0056:30, 0057:00, and 0057:30 UT, respectively. The observed velocities of the missile were 2.8 and 3.2 km/s at that time, which was estimated from the traveling speed of the front edge of V-shaped disturbances. Westward and eastward V-shaped disturbances propagated at 1.8-2.6 km/s. The phase velocities of the westward and eastward V-shaped disturbances were much faster than the speed of acoustic waves reported in previous studies, suggesting that sources other than acoustic waves may have played an important role. Furthermore, the plasma density depletion that is often observed following missile and rocket launches was not found. This suggests that the depletion resulting from the missile's exhaust was not strong enough to be observed in the TEC distribution in the topside ionosphere.
Full Text Available Authors consider problem of maintenance and service of underwater vehicles. Usually, underwater station or accompanying ship is required for such operations. Docking is one of the most difficult tasks on the vehicle path from the outer space to the servicing bay. Algorithms allowing docking were presented in the earlier paper, and in this paper authors prove their stability. Movement control is based upon the path regulator. The stability of the closed-loop system according to Liapunov with the given control and limitations is proven. Equations, showing that vehicle will complete the positioning task with account to given limitations and staying stable are given. The criterion for switching movement and “positioning to point” algorithms is proposed. Achievement of the developed criterion was researched theoretically and in computer simulation. Experiments provide deviation of actual coordinates and velocity from the required ones and proved that achieving of criterion is enough to claim that system will be stable while performing algorithms with limitations for controls.
Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru
A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)
Sumit Kumar; Sunil Kumar; Chandan Deep Singh
This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the u...
Martinez, Jayson J; Myers, Josh R; Carlson, Thomas J; Deng, Z Daniel; Rohrer, John S; Caviggia, Kurt A; Woodley, Christa M; Weiland, Mark A
To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR) allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.
Christa M. Woodley
Full Text Available To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.
Zhao, Jianhu; Zhou, Fengnian; Zhang, Hongmei; Li, Juanjuan
In large-scope marine investigation, the traditional bathymetric measurement can not meet the requirement of rapid data acquisition with lower cost of financial and material resources, while remote sensing (RS) technology provides a perfect way in the work. RS can not only provide quickly and efficiently the information of underwater topography with respect to the traditional method, but also present corresponding underwater topography with different-period RS images. In this paper, we depict in detail the procedures and some key techniques in acquiring underwater topography by remote sensing inversion technology based on self-organization feature mapping (SOFM). Firstly, we introduce some basic theories about the acquisition of underwater topography by the RS inversion technology. Besides, we discuss the data acquisition and preparation in the work. Moreover, we implement correlation analysis and find out the sensitive bands used for building RS inversion model. In virtue of SOFM, we construct the mapping relation between water depth and the reflectivity of sensitive band in the studied area, and test the it in two experimental water areas. The model achieves satisfying accuracy and can meet the requirement of given bathymetric scale. Finally the mapping relation is used for the water depth inversion in the studied water area. We also use the water depth from the model to draw the underwater topographic map in the water area.
Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei
Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.
Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik
We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.
Full Text Available Mass spectrometers are versatile sensor systems, owing to their high sensitivity and ability to simultaneously measure multiple chemical species. Over the last two decades, traditional laboratory-based membrane inlet mass spectrometers have been adapted for underwater use. Underwater mass spectrometry has drastically improved our capability to monitor a broad suite of gaseous compounds (e.g., dissolved atmospheric gases, light hydrocarbons, and volatile organic compounds in the aquatic environment. Here we provide an overview of the progress made in the field of underwater mass spectrometry since its inception in the 1990s to the present. In particular, we discuss the approaches undertaken by various research groups in developing in situ mass spectrometers. We also provide examples to illustrate how underwater mass spectrometers have been used in the field. Finally, we present future trends in the field of in situ mass spectrometry. Most of these efforts are aimed at improving the quality and spatial and temporal scales of chemical measurements in the ocean. By providing up-to-date information on underwater mass spectrometry, this review offers guidance for researchers interested in adapting this technology as well as goals for future progress in the field.
This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.
Separating oil/water emulsions is significant for the ecosystem and the petroleum and processing industry. To this end, we prepared an underwater superoleophobic membrane inspired by unique wettability of the fish scales. This membrane was fabricated by a facile vacuum filtration process of sepiolite nanofibers and chitosan, and after the cross-linking via glutaraldehyde, a self-standing membrane was obtained. The as-prepared membrane exhibited excellent capability of separating both the surfactant-free and surfactant-stabilized oil-in-water emulsions with high efficiency. This sepiolite fibrous membrane offers a convenient, reliable and efficient way for the large-scale de-emulsification process.
Vallance, C.; Goulet, B.; Black, S.
The increasing age of the nuclear and non-nuclear power generating facilities requires extended inspection, repair and maintenance (IRM) activities to prolong the operation of these facilities past their original design life. Commercial divers are often utilized to perform critical work at nuclear power plants, fuel reprocessing plants, waste storage facilities, and research institutions. These various tasks include inspection, welding, mechanical modifications and repairs, coating applications, and work associated with plant decommissioning. Programs may take place in areas such as the reactor vessel, equipment pool, spent fuel pool, and suppression chamber using manned intervention and remotely operated vehicles. Some of these tasks can also be conducted using remotely operated vehicles (ROV's). Although specialist robots are not uncommon to the nuclear industry, the use of free-swimming vehicle's and remote systems for the inspection of underwater assets has increased due to improvements of the supporting technologies and information requirements needed to extend the life of these facilities. This paper will provide an overview of the procedures and equipment necessary to perform unique work tasks using manned and unmanned techniques. (author)
Oubei, Hassan M.
In this paper, we discuss about recent experimental advances in underwater wireless optical communications (UWOC) over various underwater channel water types using different modulation schemes as well as modelling and describing the statistical properties of turbulence-induced fading in underwater wireless optical channels using laser beam intensity fluctuations measurements.
...-AA00 Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY AGENCY: Coast Guard, DHS. ACTION... maritime public and safety of navigation from recently discovered underwater explosive hazards in Gravesend... published a notice of proposed rulemaking (NPRM) entitled ``Safety Zone; Underwater Hazard, Gravesend Bay...
Oubei, Hassan M.
Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels. The model shows an excellent agreement with the measured data under all channel conditions.
Federal Laboratory Consortium — FUNCTION: Performs Navy design and engineering of ship and submarine impressed current cathodic protection (ICCP) systems for underwater hull corrosion control and...
including long-range bombers and cruise missiles. The current Air Force concept for achieving this type of capability is the Global Strike Task Force ( GSTF ... GSTF is centered on early insertion of B-2 bombers equipped with conventional bombs, supported by F-22 escorts and advanced ISR to identify enemy...conventional cruise missiles. Plans to re- christen these ballistic missile submarines as SSGNs are underway, and may complement the GSTF program well
Department of Veterans Affairs — The facilities web service provides VA facility information. The VA facilities locator is a feature that is available across the enterprise, on any webpage, for the...
Full Text Available In this work, an enhanced differential chaos shift keying (DCSK, based on a first order hybrid chaotic system, is being proposed for a high reliability underwater acoustic communication system. It can be integrated into systems that use standard existing transducers. We show that a coherent operation between the received signal and the time reversal of the basis function in a first order hybrid chaotic system maximizes the signal to noise ratio at the receiver. Concurrently, DCSK configuration is used to resist the distortion caused by the complex underwater acoustic channel. Our simulation results show that the proposed method has lower bit error rate (BER. In addition, it shows higher communication reliability over underwater acoustic channel as compared to the conventional DCSK using logistic map and its variant forms such as Correlation Delay Shift Keying (CDSK, Phase-Separate DCSK (PS-DCSK, High Efficiency DCSK (HE-DCSK, and Reference Modulated DCSK (RM-DCSK.
Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.
Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.
Full Text Available In order to research the effect of turbulence on underwater imaging system and image restoration, the underwater turbulence model is simulated by computer fluid dynamics. This model is obtained in different underwater turbulence intensity, which contains the pressure data that influences refractive index distribution. When the pressure value is conversed to refractive index, the refractive index distribution can be received with the refraction formula. In the condition of same turbulent intensity, the distribution of refractive index presents gradient in the whole region, with disorder and mutations in the local region. With the turbulence intensity increase, the holistic variation of the refractive index in the image is larger, and the refractive index change more tempestuously in the local region. All the above are illustrated by the simulation results with he ray tracing method and turbulent refractive index model. According to different turbulence intensity analysis, it is proved that turbulence causes image distortion and increases noise.
Zhang, Rui; Zhang, Wendong; He, Changde; Zhang, Yongmei; Song, Jinlong; Xue, Chenyang
A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V) at 1 m. The -3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.
Full Text Available A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V at 1 m. The −3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.
Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.
Rao, Jionghui; Wei, Wei; Wang, Feng; Zhang, Xiaohui
Compared with other communication methods, optical wireless communication (OWC) holds the merits of higher transmitting rate and sufficient secrecy. So it is an efficacious communicating measure for data transmitting between underwater carriers. However, due to the water attenuation and the transmitter & the receiver (TX/RX) collimation, this application is restrained in underwater mobile carriers. A prototype for underwater OWC was developed, in which a high-powered green LED array was used as the light source which partly raveled the TX/RX collimation out. A small pumped-multiple-tube (PMT) was used as the detector to increase the communicating range, and FPGA chips were employed to code and decode the communicating data. The data rate of the prototype approached to 4 Mb/s at 8.4m and 1 Mb/s at 22m where voice and Morse communications were achieved in a scope of 30 degree TX/RX angle.
Su, Xiaoshi; Norris, Andrew N; Cushing, Colby W; Haberman, Michael R; Wilson, Preston S
An inhomogeneous acoustic metamaterial lens based on spatial variation of refractive index for broadband focusing of underwater sound is reported. The index gradient follows a modified hyperbolic secant profile designed to reduce aberration and suppress side lobes. The gradient index (GRIN) lens is comprised of transversely isotropic hexagonal microstructures with tunable quasi-static bulk modulus and mass density. In addition, the unit cells are impedance-matched to water and have in-plane shear modulus negligible compared to the effective bulk modulus. The flat GRIN lens is fabricated by cutting hexagonal centimeter scale hollow microstructures in aluminum plates, which are then stacked and sealed from the exterior water. Broadband focusing effects are observed within the homogenization regime of the lattice in both finite element simulations and underwater measurements (20-40 kHz). This design approach has potential applications in medical ultrasound imaging and underwater acoustic communications.
Full Text Available The unmanned surface vehicle (USV integrated with acoustic modems has some advantages such as easy integration, rapid placement, and low cost, which becomes a kind of selective novel node in the underwater acoustic (UWA communication network and a kind of underwater or overwater communication relay as well. However, it is difficult to ensure the communication quality among the nodes on the network due to the random underwater acoustic channel, the severe marine environment, and the complex mobile node system. Aiming to model the communication characteristics of the USV, the multipath effect and Doppler effect are main concerns for the UWA communication in this paper, so that the ray beam method is utilized, the channel transmission function and the channel gain are obtained, and the mobile communication quality evaluation model is built. The simulation and lake experiments verify that the built mobile UWA communication quality evaluation model on USV can provide preference and technique support for USV applications.
The purpose of this paper is to outline a course for the training of divers with a special interest in underwater surveying (e.g. surveyors, archaeologists, biologists, geologists, photographers/videographers). This outline presents: i) the Courses' Standards ii) the Learning Objectives for the related Knowledge Development, iii) the Skills that have to be conducted, iv) the Performance Requirements for the students and v) the Open Water Considerations for the Training Dives. It is expected that the resulting course outline will be used as a reference for the training of certified divers who want to become underwater surveyors, providing them basic knowledge and skills to survey adequate data for the detailed documentation of submerged features. Moreover the combination of knowledge (what) and the skills (how) that are presented during the proposed course attempt to define a protocol for the recording of underwater features in favor of mapping and 3D modeling.
Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh
Real time service and synchronization are very important to many underwater systems. But the time service and synchronization in existence cannot work well due to the multi-path propagation and random phase fluctuation of signals in the ocean channel. The time reversal mirror technique can realize energy concentration through self-matching of the ocean channel and has very good spatial and temporal focusing properties. Based on the TRM technique, we present the Time Reversal Mirror Real Time service and synchronization (TRMRT) method which can bypass the processing of multi-path on the server side and reduce multi-path contamination on the client side. So TRMRT can improve the accuracy of time service. Furthermore, as an efficient and precise method of time service, TRMRT could be widely used in underwater exploration activities and underwater navigation and positioning systems.
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.
Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-Marc; Deniset, François
Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.
Yu, Jian-Cheng; Zhang, Ai-Qun; Jin, Wen-Ming; Chen, Qi; Tian, Yu; Liu, Chong-Jie
Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang Institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.
Oil-water separation has recently become a global challenging task because of the frequent occurrence of oil spill accidents due to the offshore oil production and transportation, and there is an increasing demand for the development of effective and inexpensive approaches for the cleaning-up of the oily pollution in water system. In this study, a self-cleaning underwater superoleophobic mesh that can be used for oil-water separation is prepared by the layer-by-layer (LbL) assembly of sodium silicate and TiO2 nanoparticles on the stainless steel mesh. The integration of the self-cleaning property into the all-inorganic separation mesh by using TiO2 enables the convenient removal of the contaminants by ultraviolet (UV) illumination, and allows for the facile recovery of the separation ability of the contaminated mesh, making it promising for practial oil-water separation applications.
Federal Laboratory Consortium — The Biochemistry Facility provides expert services and consultation in biochemical enzyme assays and protein purification. The facility currently features 1) Liquid...
Muto, K.; Tachikawa, H.; Sugano, T.; Tsubota, H.; Kobayshi, H.; Kasai, Y.; Koshika, N.; Tsujimoto, T.
Structural damage induced by an accidental aircraft crash into a reinforced concrete structure includes local damage caused by the engine, the rigid portion of the aircraft, and the global elasto-plastic structural response caused by the entire aircraft. Local damage consists of spalling of concrete from the front face of the target together with missile penetration into the target, scabbing of concrete from the rear face of the target and perforation of the missile through the target. The engine is a soft missile that deforms during impact. An experimental research program has been planned and executed to establish a rational evaluation method of the local damage by the deformable engine missiles
von Lukas, Uwe Freiherr
Visual computing technologies have traditionally been developed for conventional setups where air is the surrounding medium for the user, the display, and/or the camera. However, given mankind's increasingly need to rely on the oceans to solve the problems of future generations (such as offshore oil and gas, renewable energies, and marine mineral resources), there is a growing need for mixed-reality applications for use in water. This article highlights the various research challenges when changing the medium from air to water, introduces the concept of underwater mixed environments, and presents recent developments in underwater visual computing applications.
Gaur, A.S.; Sundaresh; Tripati, S.
-1 Migration & Diffusion, Vol. 6, Issue Number 21, 2005 ANCIENT DWARKA: STUDY BASED ON RECENT UNDERWATER ARCHAEOLOGICAL INVESTIGATIONS by A.S. Gaur, Sundaresh and Sila Tripati Summary Dwarka, one of the best-studied underwater sites in India, has...). Dwarka has been the attraction for historians since the beginning of the 20th century. The ancient town Dwarka has been described as 56 Migration & Diffusion, Vol 6, Issue Number 21, 2005 Fig.l: Dwarka is headquarter of the Okhamandal taluka in Jamnagar...
J.E. van Aanhold
Full Text Available The response of a surface vessel to underwater shock has been calculated using an explicit finite element analysis. The analysis model is two-dimensional and contains the floating steel structure, a large surrounding water volume and the free surface. The underwater shock is applied in the form of a plane shock wave and cavitation is considered in the analysis. Advanced computer graphics, in particular video animations, provide a powerful and indispensable means for the presentation and evaluation of the analysis results.
Accessed April 26, 2015, http://www.state.gov/t/ avc /rls/2014/226073.html 24 Pacific Air Forces, PACAF establishes Pacific IAMD Center, Accessed April...U.S. Department of State. Gulf Cooperation Council and Ballistic Missile Defense. Accessed April 26, 2015. http://www.state.gov/t/ avc /rls/2014
This Underwater Maintenance Guide has been developed to provide utility plant personnel with a single-source reference to underwater services. These services, which include both manned diving and remotely-operated vehicle operations, are required to perform certain underwater maintenance functions at nuclear power generating stations. This Guide provides an introduction to those underwater services and their general operations, as well as overviews of specific work tasks which have been identified thus far. This information is intended to familiarize utility maintenance personnel with the general scope and capabilities of underwater services, without encroaching upon the contractor's flexibility to develop responses to individual maintenance tasks
China's opposition to U.S. ballistic missile defense was forcefully articulated officially and unofficially between 1991 and 2001. Vociferous opposition gave way to near silence following U.S. ABM Treaty withdrawal, raising a question about precisely whether and how China will respond to future U.S. deployments in both the political and military-operational realms. To gauge likely future responses, it is useful to put the experience of the 1991-2001 period into historical context. China's attitudes toward BMD have passed through a series of distinct phases since the beginning of the nuclear era, as China has been concerned alternately with the problems of strategic defense by both the Soviet Union and United States (and others) around its periphery. Throughout this era it has also pursued its own strategic defense capabilities. There are important elements of continuity in China's attitudes concerns about the viability of its own force and about strategic stability. These suggest the likelihood of significant responses to U.S. BMD even in the absence of sharp rhetoric. (author)
China's opposition to U.S. ballistic missile defense was forcefully articulated officially and unofficially between 1991 and 2001. Vociferous opposition gave way to near silence following U.S. ABM Treaty withdrawal, raising a question about precisely whether and how China will respond to future U.S. deployments in both the political and military-operational realms. To gauge likely future responses, it is useful to put the experience of the 1991-2001 period into historical context. China's attitudes toward BMD have passed through a series of distinct phases since the beginning of the nuclear era, as China has been concerned alternately with the problems of strategic defense by both the Soviet Union and United States (and others) around its periphery. Throughout this era it has also pursued its own strategic defense capabilities. There are important elements of continuity in China's attitudes concerns about the viability of its own force and about strategic stability. These suggest the likelihood of significant responses to U.S. BMD even in the absence of sharp rhetoric. (author)
Gallozzi-Ulmann, A.; Couturier, P.; Amgarou, K.; Rothan, D.; Menaa, N.; Chard, P.
Storage of spent fuel assemblies in cooling ponds requires careful control of the geometry and proximity of adjacent assemblies. Measurement of the fuel burnup makes it possible to optimise the storage arrangement of assemblies taking into account the effect of the burnup on the criticality safety margins ('burnup credit'). Canberra has developed a measurement system for underwater measurement of spent fuel assemblies. This system, known as 'SMOPY', performs burnup measurements based on gamma spectroscopy (collimated CZT detector) and neutron counting (fission chamber). The SMOPY system offers a robust and waterproof detection system as well as the needed capability of performing radiometric measurements in the harsh high dose - rate environments of the cooling ponds. The gamma spectroscopy functionality allows powerful characterization measurements to be performed, in addition to burnup measurement. Canberra has recently performed waste characterisation measurements at a Nuclear Power Plant. Waste activity assessment is important to control costs and risks of shipment and storage, to ensure that the activity level remains in the range allowed by the facility, and to declare activity data to authorities. This paper describes the methodology used for the SMOPY measurements and some preliminary results of a radiological characterisation of AIC control rods. After describing the features and normal operation of the SMOPY system, we describe the approach used for establishing an optimum control rod geometric scanning approach (optimum count time and speed) and the method of the gamma spectrometry measurements as well as neutron check measurements used to verify the absence of neutron sources in the waste. We discuss the results obtained including 60 Co, 110m Ag and 108m Ag activity profiles (along the length of the control rods) and neutron results including Total Measurement Uncertainty evaluations. Full self-consistency checks were performed and
Full Text Available The interpolation-reconstruction of local underwater terrain using the underwater digital terrain map (UDTM is an important step for building an underwater terrain matching unit and directly affects the accuracy of underwater terrain matching navigation. The Kriging method is often used in terrain interpolation, but, with this method, the local terrain features are often lost. Therefore, the accuracy cannot meet the requirements of practical application. Analysis of the geographical features is performed on the basis of the randomness and self-similarity of underwater terrain. We extract the fractal features of local underwater terrain with the fractal Brownian motion model, compensating for the possible errors of the Kriging method with fractal theory. We then put forward an improved Kriging interpolation method based on this fractal compensation. Interpolation-reconstruction tests show that the method can simulate the real underwater terrain features well and that it has good usability.
Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian
Images taken under underwater condition usually have color cast and serious loss of contrast and visibility. Degraded underwater images are inconvenient for observation and analysis. In order to address these problems, an underwater image-enhancement method is proposed. A simple yet effective underwater image color cast removal algorithm is first presented based on the optimization theory. Then, based on the minimum information loss principle and inherent relationship of medium transmission maps of three color channels in an underwater image, an effective visibility restoration algorithm is proposed to recover visibility, contrast, and natural appearance of degraded underwater images. To evaluate the performance of the proposed method, qualitative comparison, quantitative comparison, and color accuracy test are conducted. Experimental results demonstrate that the proposed method can effectively remove color cast, improve contrast and visibility, and recover natural appearance of degraded underwater images. Additionally, the proposed method is comparable to and even better than several state-of-the-art methods.
Full Text Available There are many tasks that require clear and easily recognizable images in the field of underwater robotics and marine science, such as underwater target detection and identification of robot navigation and obstacle avoidance. However, water turbidity makes the underwater image quality too low to recognize. This paper proposes the use of the dark channel prior model for underwater environment recognition, in which underwater reflection models are used to obtain enhanced images. The proposed approach achieves very good performance and multi-scene robustness by combining the dark channel prior model with the underwater diffuse model. The experimental results are given to show the effectiveness of the dark channel prior model in underwater scenarios.
Eguchi, Yuzuru; Murakami, Takahiro; Hirakuchi, Hiromaru; Sugimoto, Soichiro; Hattori, Yasuo [Nuclear Risk Research Center (External Natural Event Research Team), Central Research Institute of Electric Power Industry, Abiko (Japan)
An efficient evaluation method for the probability of a tornado missile strike without using the Monte Carlo method is proposed in this paper. A major part of the proposed probability evaluation is based on numerical results computed using an in-house code, Tornado-borne missile analysis code, which enables us to evaluate the liftoff and flight behaviors of unconstrained objects on the ground driven by a tornado. Using the Tornado-borne missile analysis code, we can obtain a stochastic correlation between local wind speed and flight distance of each object, and this stochastic correlation is used to evaluate the conditional strike probability, QV(r), of a missile located at position r, where the local wind speed is V. In contrast, the annual exceedance probability of local wind speed, which can be computed using a tornado hazard analysis code, is used to derive the probability density function, p(V). Then, we finally obtain the annual probability of tornado missile strike on a structure with the convolutional integration of product of QV(r) and p(V) over V. The evaluation method is applied to a simple problem to qualitatively confirm the validity, and to quantitatively verify the results for two extreme cases in which an object is located just in the vicinity of or far away from the structure.
Eguchi, Yuzuru; Murakami, Takahiro; Hirakuchi, Hiromaru; Sugimoto, Soichiro; Hattori, Yasuo
An efficient evaluation method for the probability of a tornado missile strike without using the Monte Carlo method is proposed in this paper. A major part of the proposed probability evaluation is based on numerical results computed using an in-house code, Tornado-borne missile analysis code, which enables us to evaluate the liftoff and flight behaviors of unconstrained objects on the ground driven by a tornado. Using the Tornado-borne missile analysis code, we can obtain a stochastic correlation between local wind speed and flight distance of each object, and this stochastic correlation is used to evaluate the conditional strike probability, QV(r), of a missile located at position r, where the local wind speed is V. In contrast, the annual exceedance probability of local wind speed, which can be computed using a tornado hazard analysis code, is used to derive the probability density function, p(V). Then, we finally obtain the annual probability of tornado missile strike on a structure with the convolutional integration of product of QV(r) and p(V) over V. The evaluation method is applied to a simple problem to qualitatively confirm the validity, and to quantitatively verify the results for two extreme cases in which an object is located just in the vicinity of or far away from the structure
Danilo V. Ćuk
Full Text Available This paper presents a comparison of three lateral acceleration autopilots for a surface-to-surface missile: three-loop conventional acceleration autopilot, and gamma-dot and three-loop acceleration autopilot based upon the inverse-dynamic control. The surface-to-surface missile motion is described by nonlinear differential equations whose parameters change rapidly over a very wide range due to variable velocity and altitude. The requirement for the accurate controlling of the missile in such an environment represents a challenge for the autopilot designer. The brief review of the calculation of the autopilot gains is given using the concept of the 'point' stability for the linear time-varying system with 'frozen' dynamic coefficients. The method of the inverse-dynamic control is presented in the next section for two types of the autopilots: gamma-dot and acceleration autopilot. Both of them require the design of the estimators for the variables used as inputs to the control law. Finally, six-degree-of-freedom simulation results of the missile response to the demanded command on the typical ballistic trajectory are presented. The comparison of three autopilots considers the steady state errors and the sensitivity of the response to the highly variable environment. It was shown that the inverse-dynamic control can be very effective in the controlling of the surface-to-surface missile.
Li, Huidong; Tian, Chuan; Lu, Jun; Myjak, Mitchell J.; Martinez, Jayson J.; Brown, Richard S.; Deng, Zhiqun
This paper presents a self-powered underwater acoustic transmitter using a piezoelectric beam to harvest the mechanical energy from fish swimming. This transmitter does not require a battery and is demonstrated in live fish. It transmits an acoustic waveform as the implanted fish swims. It enables long-term monitoring of aquatic animals.
Van Veen, Hans; Vashisht, Divya; Voesenek, Laurentius A C J; Sasidharan, Rashmi
Many plants experience flooding at some point during their life cycle. The underwater environment creates a carbon and energy crisis for the plant, for which two successful strategies have been identified, quiescence and escape. During quiescence, growth is actively reduced until the water levels
Marine protected areas (MPAs) play an important role in coastal conservation, but there is presently no uniformly applied methodology for monitoring the efficacy of coastal fish protection. Whereas underwater visual census and controlled angling surveys have been used, their skilled-labour requirements and environmental ...
Clark, James E
Exposure to the underwater environment for pleasure or work poses many challenges on the human body including thermal stress, barotraumas, decompression sickness as well as the acute effects of breathing gases under pressure. With the popularity of recreational self-contained underwater breathing apparatus (SCUBA) diving on the increase and deep inland dive sites becoming more accessible, it is important that we understand the effects of breathing pressurised gas at depth can have on the body. One of the common consequences of hyperbaric gas is the narcotic effect of inert gas. Nitrogen (a major component of air) under pressure can impede mental function and physical performance at depths of as little as 10 m underwater. With increased depth, symptoms can worsen to include confusion, disturbed coordination, lack of concentration, hallucinations and unconsciousness. Narcosis has been shown to contribute directly to up to 6% of deaths in divers and is likely to be indirectly associated with other diving incidents at depth. This article explores inert gas narcosis, the effect on divers' movement and function underwater and the proposed physiological mechanisms. Also discussed are some of the factors that affect the susceptibility of divers to the condition. In conclusion, understanding the cause of this potentially debilitating problem is important to ensure that safe diving practices continue.
Full Text Available 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.
Full Text Available Underwater images usually suffer from poor visibility, lack of contrast and colour casting, mainly due to light absorption and scattering. In literature, there are many algorithms aimed to enhance the quality of underwater images through different approaches. Our purpose was to identify an algorithm that performs well in different environmental conditions. We have selected some algorithms from the state of the art and we have employed them to enhance a dataset of images produced in various underwater sites, representing different environmental and illumination conditions. These enhanced images have been evaluated through some quantitative metrics. By analysing the results of these metrics, we tried to understand which of the selected algorithms performed better than the others. Another purpose of our research was to establish if a quantitative metric was enough to judge the behaviour of an underwater image enhancement algorithm. We aim to demonstrate that, even if the metrics can provide an indicative estimation of image quality, they could lead to inconsistent or erroneous evaluations.
Christensen-Dalsgaard, J; Elepfandt, A
Anesthetized clawed frogs (Xenopus laevis) were stimulated with underwater sound and the tympanic disk vibrations were studied using laser vibrometry. The tympanic disk velocities ranged from 0.01 to 0.5 mm/s (at a sound pressure of 2 Pa) in the frequency range of 0.4-4 kHz and were 20-40 dB higher...
D V A N Ravi Kumar
Jul 4, 2017 ... Abstract. Bearing-only passive target tracking is a well-known underwater defence issue dealt in the recent past with the conventional nonlinear estimators like extended Kalman filter (EKF) and unscented Kalman filter. (UKF). It is being treated now-a-days with the derivatives of EKF, UKF and a highly ...
Ort, C.M.; Beerens, S.P.; Theije, P.A.M. de
Although in most recent crises around the world it would appear from a superficial glance that there was no imminent underwater threat, a closer look shows differently. In the War on Iraq, for instance, a large allied effort was spent on eliminating the very real mine threat that endangered the
Aanhold, J.E.; Tuitman, J.T.; Trouwborst, W.; Vaders, J.A.A.
In order to satisfy the need for good quality UNDerwater EXplosion (UNDEX) response estimates of naval platforms, TNO developed two 3D simulation tools: the Simplified Interaction Tool (SIT) and the hydro/structural code 3DCAV. Both tools are an add-on to LS-DYNA. SIT is a module of user routines
Development of energy-efficient data collection and routing schemes for Underwater Wireless Sensor Networks (UWSNs) is a challenging issue due to the peculiarities of the underlying physical layer technology. Since the recharging or replacement of sensor nodes is almost impossible after deployment, the critical issue of ...
Bosschaart, C.; Jansen, H.W.; Jong, C.A.F. de; Basten, T.
A concept for underwater machinery noise mitigation of future civil and military ships is the application of a common deck structure, supporting multiple machines, which is installed on resilient mounts on the ship's foundation structure. TNO is addressing the availability and testing of tools to be
Pumphrey, Hugh C.; Crum, L. A.; Jensen, Leif Bjørnø
; the second occurs for some impacts but not others. A range of conditions is described in which a bubble is produced for every drop impact, and it is shown that these conditions are likely to be met by a significant fraction of the raindrops in a typical shower. Underwater sound produced by artificial as well...
Students from Stockbridge High School Robotics Team invention is a low cost underwater video and data capturing device. This system is capable of shooting time-lapse photography and/or video for up to 3 days of video at a time. It can be used in remote locations without having to change batteries or adding additional external hard drives for data storage. The video capturing device has a unique base and mounting system which houses a pi drive and a programmable raspberry pi with a camera module. This system is powered by two 12 volt batteries, which makes it easier for users to recharge after use. Our data capturing device has the same unique base and mounting system as the underwater camera. The data capturing device consists of an Arduino and SD card shield that is capable of collecting continuous temperature and pH readings underwater. This data will then be logged onto the SD card for easy access and recording. The low cost underwater video and data capturing device can reach depths up to 100 meters while recording 36 hours of video on 1 terabyte of storage. It also features night vision infrared light capabilities. The cost to build our invention is $500. The goal of this was to provide a device that can easily be accessed by marine biologists, teachers, researchers and citizen scientists to capture photographic and water quality data in marine environments over extended periods of time.
Huntsberger, Terrance L.
This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.
Simons, D.G.; Bergers, M.M.C.; Henrion, S.; Hulzenga, J.I.J.; Jutte, R.W.; Pas, W.M.G.; Van Schravendijk, M.; Vercruyssen, T.G.A.; Wilken, A.P.
An autonomous underwater vehicle with a biomechanical propulsion system is a possible answer to the demand for small, silent sensor platforms in many fields. The design of Galatea, a bio-mimetic AUV, involves four aspects: hydrodynamic shape, the propulsion, the motion control systems and payload.
Ainslie, M.A.; Jong, C.A.F. de
After centuries of speculation, punctuated by occasional theoretical or experimental advances, the first intensive research into underwater sound took place 100 years ago, applied initially to provide advance warning of icebergs after the loss of RMS Titanic in 1912, and later to counter the U-boat
Lin, Aobo; Tong, Zheng; Song, Yuhang; Kong, Meiwei; Xu, Jing
We demonstrate a self-designed underwater wireless optical communication system using blue LEDs. The performance of the transmitter and receiver was experimentally investigated. Four different square wave signals (10 KHz, 100 KHz, 500 KHz and 1 MHz) were successfully transmitted via a short water channel at the first phase.