WorldWideScience

Sample records for underwater passive navigation

  1. Quantum imaging for underwater arctic navigation

    Science.gov (United States)

    Lanzagorta, Marco

    2017-05-01

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

  2. Magnetic navigation and tracking of underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

    Teixeira, F.C.; Pascoal, A.M.

    for the navigation of AUVs has been proposed many years ago but the concept still requires practical demonstration. Implementation issues One of the advantages of mag- netic navigation consists in being passive and economical in terms of energy. Magnetic sensors do... like the present one, that require magnetic measurements with very high precision. A typical solution to this problem consists in the placement of magnetic sensors as far away as possible from the sources of noise but this may not be practical...

  3. Remarks on the observability of single beacon underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Ross, Andrew

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

  4. Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Francisco García-Córdova

    2013-04-01

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

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

    Science.gov (United States)

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

    2017-11-01

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

  6. Navigation System Fault Diagnosis for Underwater Vehicle

    DEFF Research Database (Denmark)

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

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Xin Yuan

    2017-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Juan David Hernández

    2016-07-01

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

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

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2018-03-01

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

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

    OpenAIRE

    Kia, Chua; Arshad, Mohd Rizal

    2006-01-01

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

  11. Construction Method of the Topographical Features Model for Underwater Terrain Navigation

    Directory of Open Access Journals (Sweden)

    Wang Lihui

    2015-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Kun Xie

    2018-03-01

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

  13. Terrain aided navigation for autonomous underwater vehicles with coarse maps

    International Nuclear Information System (INIS)

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian

    2016-01-01

    Terrain aided navigation (TAN) is a form of geophysical localization technique for autonomous underwater vehicles (AUVs) operating in GPS-denied environments. TAN performance on sensor-rich AUVs has been evaluated in sea trials. However, many challenges remain before TAN can be successfully implemented on sensor-limited AUVs, especially with coarse maps. To improve TAN performance over coarse maps, a Gaussian process (GP) is proposed for the modeling of bathymetric terrain and integrated into the particle filter (GP-PF). GP is applied to provide not only the bathymetric value prediction through learning a set of bathymetric data from coarse maps but also the variance of the prediction. As a measurement update, calculated on bathymetric deviation is performed through the PF to obtain absolute and bounded positioning accuracy. Through the analysis of TAN performance on experimental data for two different terrains with map resolutions of 10–50 m, both the ability of the proposed model to represent the actual bathymetric terrain with accuracy and the effect of the GP-PF for TAN on sensor-limited systems in suited terrain are demonstrated. The experiment results further verify that there is an inverse relationship between the coarseness of the map and the overall TAN accuracy in rough terrains, but there is hardly any relationship between them in relatively flat terrains. (paper)

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

    Directory of Open Access Journals (Sweden)

    Zheping Yan

    2018-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Andrew eStuntz

    2016-04-01

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

  16. Particle Filter for Fault Diagnosis and Robust Navigation of Underwater Robot

    DEFF Research Database (Denmark)

    Zhao, Bo; Skjetne, Roger; Blanke, Mogens

    2014-01-01

    A particle filter based robust navigation with fault diagnosis is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switchingmode hidden Markov model. By extensively running a particle...... filter on the model, the fault diagnosis and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods...

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

    Directory of Open Access Journals (Sweden)

    Chua Kia

    2005-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Chua Kia

    2008-11-01

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

  19. An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

    Science.gov (United States)

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

    2017-03-25

    Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

  20. Underwater navigation using diffusion-based trajectory observers

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Opderbecke, Jan

    2007-01-01

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

  1. Navigation with a passive brain based interface

    NARCIS (Netherlands)

    Erp, J.B.F. van; Werkhoven, P.J.; Thurlings, M.E.; Brouwer, A.-M.

    2009-01-01

    In this paper, we describe a Brain Computer Interface (BCI) for navigation. The system is based on detecting brain signals that are elicited by tactile stimulation on the torso indicating the desired direction.

  2. An algebraic perspective to single-transponder underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Reger, Johann

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

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

    Science.gov (United States)

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

    2011-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Tianhong Yan

    2011-11-01

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

  5. Passive aquatic listener (PAL): An adoptive underwater acoustic recording system for the marine environment

    International Nuclear Information System (INIS)

    Anagnostou, Marios N.; Nystuen, Jeffrey A.; Anagnostou, Emmanouil N.; Papadopoulos, Anastasios; Lykousis, Vassilios

    2011-01-01

    The ambient sound field in the ocean is a combination of natural and manmade sounds. Consequently, the interpretation of the ambient sound field can be used to quantify these processes. In the frequency range from 1 to 50 kHz, the general character of ocean ambient sound is a slowly changing background that is closely associated with local wind speed, interspersed with shorter time scale events such as rain storms, ships and animal calls. At lower frequencies the underwater ambient sound budget includes geologically generated sound activities including underwater volcanic eruptions, seismic and seepage faults that generate bubbles, etc. that can also potentially be classified and quantified. Acoustic data are collected on hydrophones. Hydrophones are simple, robust sensors that can be deployed on most ocean instrumentation systems including surface or sub-surface moorings, bottom mounted systems, drifters, ARGO floats or autonomous underwater platforms. A dedicated oceanic underwater recorder called a passive acoustic listener (PAL) has been developed. A principal issue is to accurately distinguish different sound sources so that they can be quantified as part of a sound budget, and then quantified if appropriate. Based on ongoing data collected from the Poseidon II network the retrieval potential of multi-parameters from underwater sound, including meteorological (i.e., precipitation and winds) and in general geophysical, anthropogenetic (i.e., ships, submarines, etc.) and biological (whales, etc.) sources is presented.

  6. Passive aquatic listener (PAL): An adoptive underwater acoustic recording system for the marine environment

    Energy Technology Data Exchange (ETDEWEB)

    Anagnostou, Marios N., E-mail: managnostou@ath.hcmr.g [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Nystuen, Jeffrey A. [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Applied Physics Laboratory, University of Washington, Seattle, WA (United States); Anagnostou, Emmanouil N. [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Department of Civil and Environmental Engineering, University of Connecticut, CT (United States); Papadopoulos, Anastasios [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Lykousis, Vassilios [Hellenic Center for Marine Research, Department of Oceanography, Anavissos (Greece)

    2011-01-21

    The ambient sound field in the ocean is a combination of natural and manmade sounds. Consequently, the interpretation of the ambient sound field can be used to quantify these processes. In the frequency range from 1 to 50 kHz, the general character of ocean ambient sound is a slowly changing background that is closely associated with local wind speed, interspersed with shorter time scale events such as rain storms, ships and animal calls. At lower frequencies the underwater ambient sound budget includes geologically generated sound activities including underwater volcanic eruptions, seismic and seepage faults that generate bubbles, etc. that can also potentially be classified and quantified. Acoustic data are collected on hydrophones. Hydrophones are simple, robust sensors that can be deployed on most ocean instrumentation systems including surface or sub-surface moorings, bottom mounted systems, drifters, ARGO floats or autonomous underwater platforms. A dedicated oceanic underwater recorder called a passive acoustic listener (PAL) has been developed. A principal issue is to accurately distinguish different sound sources so that they can be quantified as part of a sound budget, and then quantified if appropriate. Based on ongoing data collected from the Poseidon II network the retrieval potential of multi-parameters from underwater sound, including meteorological (i.e., precipitation and winds) and in general geophysical, anthropogenetic (i.e., ships, submarines, etc.) and biological (whales, etc.) sources is presented.

  7. Geomagnetic Navigation of Autonomous Underwater Vehicle Based on Multi-objective Evolutionary Algorithm.

    Science.gov (United States)

    Li, Hong; Liu, Mingyong; Zhang, Feihu

    2017-01-01

    This paper presents a multi-objective evolutionary algorithm of bio-inspired geomagnetic navigation for Autonomous Underwater Vehicle (AUV). Inspired by the biological navigation behavior, the solution was proposed without using a priori information, simply by magnetotaxis searching. However, the existence of the geomagnetic anomalies has significant influence on the geomagnetic navigation system, which often disrupts the distribution of the geomagnetic field. An extreme value region may easily appear in abnormal regions, which makes AUV lost in the navigation phase. This paper proposes an improved bio-inspired algorithm with behavior constraints, for sake of making AUV escape from the abnormal region. First, the navigation problem is considered as the optimization problem. Second, the environmental monitoring operator is introduced, to determine whether the algorithm falls into the geomagnetic anomaly region. Then, the behavior constraint operator is employed to get out of the abnormal region. Finally, the termination condition is triggered. Compared to the state-of- the-art, the proposed approach effectively overcomes the disturbance of the geomagnetic abnormal. The simulation result demonstrates the reliability and feasibility of the proposed approach in complex environments.

  8. A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing

    CERN Document Server

    Gelin, Chrystel

    2013-01-01

    Dead-Reckoning aided with Doppler velocity measurement has been the most common method for underwater navigation for small vehicles. Unfortunately DR requires frequent position recalibrations and underwater vehicle navigation systems are limited to periodic position update when they surface. Finally standard Global Positioning System (GPS) receivers are unable to provide the rate or precision required when used on a small vessel. To overcome this, a low cost high rate motion measurement system for an Unmanned Surface Vehicle (USV) with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. The proposed data fusion technique integrates the sensors and develops an embeddable software package, using real time data fusion method...

  9. Hausdorff-Based RC and IESIL Combined Positioning Algorithm for Underwater Geomagnetic Navigation

    Directory of Open Access Journals (Sweden)

    Lin Yi

    2010-01-01

    Full Text Available This paper presents a primitive solution with novel scheme and algorithm for Underwater geoMagnetic Navigation (UMN, which now occurs as the hot-point in the research field of navigation. UMN as an independent or supplementary technique can theoretically supply accurate locations for marine vehicles, but in practice there are plenty of restrictions for UMN's application (e.g., geomagnetic daily variation. After analysis of the theoretical model of geomagnetic positioning in the correlation-matching mode from the viewpoint of pattern recognition, this paper proposed an appropriate matching scenario and a combined positioning algorithm for UMN. The subalgorithm of Hausdorff-based Relative Correlation (RC corresponding to the pattern classification module implements the coarse positioning, and the subalgorithm of Isograms Equidistance-Segmenting theIntersection Lines (IESILs associated with the module of feature extraction continues the fine positioning. The experiments based on the simulation platform and the real-surveyed data both validate the new algorithm, and its efficiency and accuracy are also discussed. It can be concluded that the work introduced in this paper gives an initial and real validation of UMN's potentiality.

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

    Directory of Open Access Journals (Sweden)

    G. Bianco

    2012-09-01

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

  11. A GPS-free passive acoustic localization scheme for underwater wireless sensor networks

    KAUST Repository

    Mirza, Mohammed

    2011-10-01

    Seaweb is an acoustic communication technology that enables communication between sensor nodes. Seaweb interconnects the underwater nodes through digital signal processing (DSP)-based modem by using acoustic links between the neighbouring sensors. In this paper, we design and investigate a global positioning system (GPS)-free passive localization protocol using seaweb technology. This protocol uses the range data and planar trigonometry to estimate the positions of the discovered nodes. We take into consideration the small displacement of sensor nodes due to watch circles and placement of sensor nodes on non-uniform underwater surface, for precise localization. Once the nodes are localized, we divide the whole network .eld into circular levels that minimizes the traf.c complexity and thereby increases the lifetime of the sensor network .eld. We then form the mesh network inside each of the circular levels that increases the reliability. The algorithm is designed in such a way that it overcomes the ambiguous nodes errata and re.ected paths and makes the algorithm more robust. The synthetic network geometries are so designed which can evaluate the algorithm in the presence of perfect or imperfect ranges or in case of incomplete data. A comparative study is made with the existing algorithms which proves our newly proposed algorithm to be more effective. © 2011 IEEE.

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

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  13. Signal processing for passive detection and classification of underwater acoustic signals

    Science.gov (United States)

    Chung, Kil Woo

    2011-12-01

    This dissertation examines signal processing for passive detection, classification and tracking of underwater acoustic signals for improving port security and the security of coastal and offshore operations. First, we consider the problem of passive acoustic detection of a diver in a shallow water environment. A frequency-domain multi-band matched-filter approach to swimmer detection is presented. The idea is to break the frequency contents of the hydrophone signals into multiple narrow frequency bands, followed by time averaged (about half of a second) energy calculation over each band. Then, spectra composed of such energy samples over the chosen frequency bands are correlated to form a decision variable. The frequency bands with highest Signal/Noise ratio are used for detection. The performance of the proposed approach is demonstrated for experimental data collected for a diver in the Hudson River. We also propose a new referenceless frequency-domain multi-band detector which, unlike other reference-based detectors, does not require a diver specific signature. Instead, our detector matches to a general feature of the diver spectrum in the high frequency range: the spectrum is roughly periodic in time and approximately flat when the diver exhales. The performance of the proposed approach is demonstrated by using experimental data collected from the Hudson River. Moreover, we present detection, classification and tracking of small vessel signals. Hydroacoustic sensors can be applied for the detection of noise generated by vessels, and this noise can be used for vessel detection, classification and tracking. This dissertation presents recent improvements aimed at the measurement and separation of ship DEMON (Detection of Envelope Modulation on Noise) acoustic signatures in busy harbor conditions. Ship signature measurements were conducted in the Hudson River and NY Harbor. The DEMON spectra demonstrated much better temporal stability compared with the full ship

  14. A GPS-free passive acoustic localization scheme for underwater wireless sensor networks

    KAUST Repository

    Mirza, Mohammed; Shakir, Muhammad; Alouini, Mohamed-Slim

    2011-01-01

    Seaweb is an acoustic communication technology that enables communication between sensor nodes. Seaweb interconnects the underwater nodes through digital signal processing (DSP)-based modem by using acoustic links between the neighbouring sensors

  15. The development of controller and navigation algorithm for underwater wall crawler

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Hyung Suck; Kim, Kyung Hoon; Kim, Min Young [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-01-01

    In this project, the control system of a underwater robotic vehicle(URV) for underwater wall inspection in the nuclear reactor pool or the related facilities has been developed. The following 4-sub projects have been studied for this project: (1) Development of the controller and motor driver for the URV (2) Development of the control algorithm for the tracking control of the URV (3) Development of the localization system (4) Underwater experiments of the developed system. First, the dynamic characteristic of thruster with the DC servo-motor was analyzed experimentally. Second the controller board using the INTEL 80C196 was designed and constructed, and the software for the communication and motor control is developed. Third the PWM motor-driver was developed. Fourth the localization system using the laser scanner and inclinometer was developed and tested in the pool. Fifth the dynamics of the URV was studied and the proper control algorithms for the URV was proposed. Lastly the validation of the integrated system was experimentally performed. (author). 27 refs., 51 figs., 8 tabs.

  16. High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders.

    Science.gov (United States)

    Huang, Haoqian; Chen, Xiyuan; Zhang, Bo; Wang, Jian

    2017-01-01

    The underwater navigation system, mainly consisting of MEMS inertial sensors, is a key technology for the wide application of underwater gliders and plays an important role in achieving high accuracy navigation and positioning for a long time of period. However, the navigation errors will accumulate over time because of the inherent errors of inertial sensors, especially for MEMS grade IMU (Inertial Measurement Unit) generally used in gliders. The dead reckoning module is added to compensate the errors. In the complicated underwater environment, the performance of MEMS sensors is degraded sharply and the errors will become much larger. It is difficult to establish the accurate and fixed error model for the inertial sensor. Therefore, it is very hard to improve the accuracy of navigation information calculated by sensors. In order to solve the problem mentioned, the more suitable filter which integrates the multi-model method with an EKF approach can be designed according to different error models to give the optimal estimation for the state. The key parameters of error models can be used to determine the corresponding filter. The Adams explicit formula which has an advantage of high precision prediction is simultaneously fused into the above filter to achieve the much more improvement in attitudes estimation accuracy. The proposed algorithm has been proved through theory analyses and has been tested by both vehicle experiments and lake trials. Results show that the proposed method has better accuracy and effectiveness in terms of attitudes estimation compared with other methods mentioned in the paper for inertial navigation applied to underwater gliders. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

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

    Science.gov (United States)

    2017-09-01

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

  18. The Design of a Navigator for a Testbed Autonomous Underwater Vehicle

    Science.gov (United States)

    1989-12-01

    AD-A231 733 NAVAL POSTGRADUATE SCHOOL Monterey, California DTC C ’S B’- i I A VDI ELECTE 1i EB 0 6 991| D THESIS E THE DESIGN OF A NAVIGATOR FOR A...255,255,0); /* yellow (512-1023) * for (i= 1024; i< 2048 ; ++i) mapcolor(i,255 ,0,255); 1* magenta (1024-2047 )*/ color(BLACK); clearo; swapbufferso; 1

  19. 3D photo mosaicing of Tagiri shallow vent field by an autonomous underwater vehicle (3rd report) - Mosaicing method based on navigation data and visual features -

    Science.gov (United States)

    Maki, Toshihiro; Ura, Tamaki; Singh, Hanumant; Sakamaki, Takashi

    Large-area seafloor imaging will bring significant benefits to various fields such as academics, resource survey, marine development, security, and search-and-rescue. The authors have proposed a navigation method of an autonomous underwater vehicle for seafloor imaging, and verified its performance through mapping tubeworm colonies with the area of 3,000 square meters using the AUV Tri-Dog 1 at Tagiri vent field, Kagoshima bay in Japan (Maki et al., 2008, 2009). This paper proposes a post-processing method to build a natural photo mosaic from a number of pictures taken by an underwater platform. The method firstly removes lens distortion, invariances of color and lighting from each image, and then ortho-rectification is performed based on camera pose and seafloor estimated by navigation data. The image alignment is based on both navigation data and visual characteristics, implemented as an expansion of the image based method (Pizarro et al., 2003). Using the two types of information realizes an image alignment that is consistent both globally and locally, as well as making the method applicable to data sets with little visual keys. The method was evaluated using a data set obtained by the AUV Tri-Dog 1 at the vent field in Sep. 2009. A seamless, uniformly illuminated photo mosaic covering the area of around 500 square meters was created from 391 pictures, which covers unique features of the field such as bacteria mats and tubeworm colonies.

  20. Masking of Time-Frequency Patterns in Applications of Passive Underwater Target Detection

    Directory of Open Access Journals (Sweden)

    Jüri Sildam

    2010-01-01

    Full Text Available Spectrogram analysis of acoustical sounds for underwater target classification is utilized when loud nonstationary interference sources overlap with a signal of interest in time but can be separated in time-frequency (TF domain. We propose a signal masking method which in a TF plane combines local statistical and morphological features of the signal of interest. A dissimilarity measure D of adjacent TF cells is used for local estimation of entropy H, followed by estimation of ΔH=Htc−Hfc entropy difference, where Hfc is calculated along the time axis at a mean frequency fc and Htc is calculated along the frequency axis at a mean time tc of the TF window, respectively. Due to a limited number of points used in ΔH estimation, the number of possible ΔH values, which define a primary mask, is also limited. A secondary mask is defined using morphological operators applied to, for example, H and ΔH. We demonstrate how primary and secondary masks can be used for signal detection and discrimination, respectively. We also show that the proposed approach can be generalized within the framework of Genetic Programming.

  1. A Low-Cost, Passive Navigation Training System for Image-Guided Spinal Intervention.

    Science.gov (United States)

    Lorias-Espinoza, Daniel; Carranza, Vicente González; de León, Fernando Chico-Ponce; Escamirosa, Fernando Pérez; Martinez, Arturo Minor

    2016-11-01

    Navigation technology is used for training in various medical specialties, not least image-guided spinal interventions. Navigation practice is an important educational component that allows residents to understand how surgical instruments interact with complex anatomy and to learn basic surgical skills such as the tridimensional mental interpretation of bidimensional data. Inexpensive surgical simulators for spinal surgery, however, are lacking. We therefore designed a low-cost spinal surgery simulator (Spine MovDigSys 01) to allow 3-dimensional navigation via 2-dimensional images without altering or limiting the surgeon's natural movement. A training system was developed with an anatomical lumbar model and 2 webcams to passively digitize surgical instruments under MATLAB software control. A proof-of-concept recognition task (vertebral body cannulation) and a pilot test of the system with 12 neuro- and orthopedic surgeons were performed to obtain feedback on the system. Position, orientation, and kinematic variables were determined and the lateral, posteroanterior, and anteroposterior views obtained. The system was tested with a proof-of-concept experimental task. Operator metrics including time of execution (t), intracorporeal length (d), insertion angle (α), average speed (v¯), and acceleration (a) were obtained accurately. These metrics were converted into assessment metrics such as smoothness of operation and linearity of insertion. Results from initial testing are shown and the system advantages and disadvantages described. This low-cost spinal surgery training system digitized the position and orientation of the instruments and allowed image-guided navigation, the generation of metrics, and graphic recording of the instrumental route. Spine MovDigSys 01 is useful for development of basic, noninnate skills and allows the novice apprentice to quickly and economically move beyond the basics. Copyright © 2016 Elsevier Inc. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    Haoqian Huang

    2014-12-01

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

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

    Science.gov (United States)

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

    2014-12-03

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

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

    Science.gov (United States)

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

    2014-01-01

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

  5. ULTOR(Registered TradeMark) Passive Pose and Position Engine For Spacecraft Relative Navigation

    Science.gov (United States)

    Hannah, S. Joel

    2008-01-01

    The ULTOR(Registered TradeMark) Passive Pose and Position Engine (P3E) technology, developed by Advanced Optical Systems, Inc (AOS), uses real-time image correlation to provide relative position and pose data for spacecraft guidance, navigation, and control. Potential data sources include a wide variety of sensors, including visible and infrared cameras. ULTOR(Registered TradeMark) P3E has been demonstrated on a number of host processing platforms. NASA is integrating ULTOR(Registerd TradeMark) P3E into its Relative Navigation System (RNS), which is being developed for the upcoming Hubble Space Telescope (HST) Servicing Mission 4 (SM4). During SM4 ULTOR(Registered TradeMark) P3E will perform realtime pose and position measurements during both the approach and departure phases of the mission. This paper describes the RNS implementation of ULTOR(Registered TradeMark) P3E, and presents results from NASA's hardware-in-the-loop simulation testing against the HST mockup.

  6. Automated gravity gradient tensor inversion for underwater object detection

    International Nuclear Information System (INIS)

    Wu, Lin; Tian, Jinwen

    2010-01-01

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

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

    Science.gov (United States)

    2016-09-25

    Printed on recycled paper Approved for public release; distribution is unlimited. SITE SPECIFIC REPORT SSR-NAVFAC-EXWC-EV-1702 SEPTEMBER 2016...NOAA’s Coral Reef Ecosystem Division. The EAR is an autonomous underwater recorder controlled by a Persistor CF2 microcontroller that may be

  8. Passive perception system for day/night autonomous off-road navigation

    Science.gov (United States)

    Rankin, Arturo L.; Bergh, Charles F.; Goldberg, Steven B.; Bellutta, Paolo; Huertas, Andres; Matthies, Larry H.

    2005-05-01

    Passive perception of terrain features is a vital requirement for military related unmanned autonomous vehicle operations, especially under electromagnetic signature management conditions. As a member of Team Raptor, the Jet Propulsion Laboratory developed a self-contained passive perception system under the DARPA funded PerceptOR program. An environmentally protected forward-looking sensor head was designed and fabricated in-house to straddle an off-the-shelf pan-tilt unit. The sensor head contained three color cameras for multi-baseline daytime stereo ranging, a pair of cooled mid-wave infrared cameras for nighttime stereo ranging, and supporting electronics to synchronize captured imagery. Narrow-baseline stereo provided improved range data density in cluttered terrain, while wide-baseline stereo provided more accurate ranging for operation at higher speeds in relatively open areas. The passive perception system processed stereo images and outputted over a local area network terrain maps containing elevation, terrain type, and detected hazards. A novel software architecture was designed and implemented to distribute the data processing on a 533MHz quad 7410 PowerPC single board computer under the VxWorks real-time operating system. This architecture, which is general enough to operate on N processors, has been subsequently tested on Pentium-based processors under Windows and Linux, and a Sparc based-processor under Unix. The passive perception system was operated during FY04 PerceptOR program evaluations at Fort A. P. Hill, Virginia, and Yuma Proving Ground, Arizona. This paper discusses the Team Raptor passive perception system hardware and software design, implementation, and performance, and describes a road map to faster and improved passive perception.

  9. Modal Analysis of 27 mm Piezo Electric Plate for Small-Scale Underwater Sonar-Based Navigation

    Directory of Open Access Journals (Sweden)

    M. O. Afolayan

    2013-01-01

    Full Text Available This work presents progress towards the development of a small-scale, purely sonar-based navigation device for a robotic fish (~394 mm long. Aperture overloading of small (5 mm diameter ultrasonic transmitters does not allow them to be used effectively inside water. A test on a 27 mm diameter buzzer piezo plate shows promising performance under water at frequencies from 4.5 kHz to 80 kHz. ANSYS-based simulation was therefore used to find modal frequencies at higher frequencies so as to optimize this encouraging result. The simulation process also discovered several antiresonant frequencies such as 38.5 kHz, 54 kHz, and 57.5 kHz. All frequencies above the 8th harmonic (10,589.02 Hz are out of phase with the input load except a resonance frequency of 42.5 kHz and an antiresonance frequency of 56.5 kHz. Also, the first harmonic (1,648.73 Hz is the only frequency that gave a nodal deformation.

  10. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

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

  11. Active and passive spatial learning in human navigation: acquisition of survey knowledge.

    Science.gov (United States)

    Chrastil, Elizabeth R; Warren, William H

    2013-09-01

    It seems intuitively obvious that active exploration of a new environment would lead to better spatial learning than would passive visual exposure. It is unclear, however, which components of active learning contribute to spatial knowledge, and previous literature is decidedly mixed. This experiment tests the contributions of 4 components to metric survey knowledge: visual, vestibular, and podokinetic information and cognitive decision making. In the learning phase, 6 groups of participants learned the locations of 8 objects in a virtual hedge maze by (a) walking, (b) being pushed in a wheelchair, or (c) watching a video, crossed with (1) making decisions about their path or (2) being guided through the maze. In the test phase, survey knowledge was assessed by having participants walk a novel shortcut from a starting object to the remembered location of a test object, with the maze removed. Performance was slightly better than chance in the passive video condition. The addition of vestibular information did not improve performance in the wheelchair condition, but the addition of podokinetic information significantly improved angular accuracy in the walking condition. In contrast, there was no effect of decision making in any condition. The results indicate that visual and podokinetic information significantly contribute to survey knowledge, whereas vestibular information and decision making do not. We conclude that podokinetic information is the primary component of active learning for the acquisition of metric survey knowledge. PsycINFO Database Record (c) 2013 APA, all rights reserved.

  12. Active and passive spatial learning in human navigation: acquisition of graph knowledge.

    Science.gov (United States)

    Chrastil, Elizabeth R; Warren, William H

    2015-07-01

    It is known that active exploration of a new environment leads to better spatial learning than does passive visual exposure. We ask whether specific components of active learning differentially contribute to particular forms of spatial knowledge-the exploration-specific learning hypothesis. Previously, we found that idiothetic information during walking is the primary active contributor to metric survey knowledge (Chrastil & Warren, 2013). In this study, we test the contributions of 3 components to topological graph and route knowledge: visual information, idiothetic information, and cognitive decision making. Four groups of participants learned the locations of 8 objects in a virtual hedge maze by (a) walking or (b) watching a video, crossed with (1) either making decisions about their path or (2) being guided through the maze. Route and graph knowledge were assessed by walking in the maze corridors from a starting object to the remembered location of a test object, with frequent detours. Decision making during exploration significantly contributed to subsequent route finding in the walking condition, whereas idiothetic information did not. Participants took novel routes and the metrically shortest routes on the majority of both direct and barrier trials, indicating that labeled graph knowledge-not merely route knowledge-was acquired. We conclude that, consistent with the exploration-specific learning hypothesis, decision making is the primary component of active learning for the acquisition of topological graph knowledge, whereas idiothetic information is the primary component for metric survey knowledge. (c) 2015 APA, all rights reserved.

  13. Underwater robots

    CERN Document Server

    Antonelli, Gianluca

    2014-01-01

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

  14. Passive Imagery Navigation

    Science.gov (United States)

    1980-12-15

    SEASONAL CHANGES Unusually shaped wooded areas in winter. Open country and frozen lakes in winter unless Dry river beds if they contrast with in forested...representation or image chips for correlation matching o Processing Techniques (Indication of threshold settings, and which low-level processing techniques are...2U.9AY O LCHE lCA , OPIO LMSC-D767313 Next, the areas of the first image which were covered by landmarks are blocked out and interesting

  15. Underwater Ranging

    OpenAIRE

    S. P. Gaba

    1984-01-01

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

  16. Radar and electronic navigation

    CERN Document Server

    Sonnenberg, G J

    2013-01-01

    Radar and Electronic Navigation, Sixth Edition discusses radar in marine navigation, underwater navigational aids, direction finding, the Decca navigator system, and the Omega system. The book also describes the Loran system for position fixing, the navy navigation satellite system, and the global positioning system (GPS). It reviews the principles, operation, presentations, specifications, and uses of radar. It also describes GPS, a real time position-fixing system in three dimensions (longitude, latitude, altitude), plus velocity information with Universal Time Coordinated (UTC). It is accur

  17. Visual feedback navigation for cable tracking by autonomous underwater vehicles; Jiritsugata kaichu robot no gazo shori ni motozuku cable jido tsuiju

    Energy Technology Data Exchange (ETDEWEB)

    Takai, M.; Ura, T. [The University of Tokyo, Tokyo (Japan). Institute of Industrial Science; Balasuriya, B.; Lam, W. [The University of Tokyo, Tokyo (Japan); Kuroda, Y. [Meiji Univ., Tokyo (Japan)

    1997-08-01

    A vision processing unit was introduced into autonomous underwater vehicles (AUV) to judge the visual situation and to construct an environmental observation platform that can collect wide-range and high-precision measurement data. The cable optionally installed at the bottom of the sea was recognized by vision processing to propose automatic tracking technique. An estimator that compensates for the hough conversion or time delay and a PSA controller that is used as a target value set mechanism or lower-level controller were introduced as the factor technology required for automatic tracking. The feature of the automatic tracking is that a general-purpose platform which can observe the prescribed range environmentally in high precision and density can be constructed because the observation range required by the observer can be prescribed near the sea-bottom surface using a cable. The verification result off Omi Hachiman at Lake Biwa showed that AUV can be used for the high-precision environmental survey in the range prescribed near the sea-bottom surface using a cable. 8 refs., 8 figs., 1 tab.

  18. An Investigation Into the Feasibility of Using a Modern Gravity Gradient Instrument for Passive Aircraft Navigation and Terrain Avoidance

    Science.gov (United States)

    2009-03-01

    the research objectives for this study are presented. It should be noted that sensor cost was not considered for this study. Additionally, further...development costs ) for gravity compensation require- ments of its trident submarine inertial navigation systems and by the Air Force Geo- physics...52]: T (r, φ, λ) = GM ae Nmax∑ n=2 n∑ m=0 (a r )n+1 (Cnm cosmλ+ Snm sinmλ)P nm(cos φ) (31) 44 where r, φ, λ are the geocentric distance, lattitude and

  19. Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    M. Fauzi Nor Shah

    2011-08-01

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

  20. Survivability design for a hybrid underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-03-10

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

  1. Survivability design for a hybrid underwater vehicle

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  2. Contributions to Automated Realtime Underwater Navigation

    Science.gov (United States)

    2012-02-01

    Woods Hole Academic Programs Office. Reproduction in whole or in part is permitted for any purpose of the United States Government. This thesis...Nelson, E. E. Peacock , and S. C. Bagby, “Asphalt volcanoes as a potential source of methane to late Pleistocene coastal waters,” Nature Geoscience

  3. Blind equalization for underwater communications

    NARCIS (Netherlands)

    Blom, K.C.H.

    2014-01-01

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

  4. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    Science.gov (United States)

    2016-09-20

    Acoustical transducer arrays can reflect a sound signal in reverse to the sender which can be used for echo location devices. [0008] In Jiang...States Patent No. 8,494,187) a sound wave generator is disclosed which includes a carbon nanotube structure and an insulating reinforcement structure... acoustic device that includes an electrode layer and a sound wave generator. The sound wave generator is disposed on a surface of the electrode

  5. Passive Localization of Underwater Acoustic Beacons

    Science.gov (United States)

    1993-09-01

    maxtime) TickCounto; aborto ; FSRead(gASerRefln,&numCharln,&addressBuf); TalkSail(’O); iistart the PTR’s data collecticn DrawString(w\\p: H) I display a...34); aborto ; EventLoopO; II main execution loop RAMSDClose(sPortA); HI must close the RAM Drivers before shutdown 193 free(gw); //must release the...kNumExp+l),sizeof(double)); if(wtrue ==NULL) DrawString("\\pCan’t allocate memory for data collection!!! ); aborto ; Nvmeas = calloc(3L*(kStep~kNumExp+l

  6. Underwater welding of steel

    International Nuclear Information System (INIS)

    Ibarra, S.; Olson, D.L.

    1992-01-01

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

  7. Underwater Scene Composition

    Science.gov (United States)

    Kim, Nanyoung

    2009-01-01

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

  8. Underwater Acoustic Networking Techniques

    CERN Document Server

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

    2012-01-01

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

  9. Underwater Acoustic Tracer System

    Science.gov (United States)

    2009-03-13

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

  10. Underwater image mosaicking and visual odometry

    Science.gov (United States)

    Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

    2017-05-01

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

  11. Underwater Rocks - USACE IENC

    Data.gov (United States)

    Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

  12. Design of underwater work systems

    International Nuclear Information System (INIS)

    Lovelace, R.B.

    1980-01-01

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

  13. Underwater 3D filming

    Directory of Open Access Journals (Sweden)

    Roberto Rinaldi

    2014-12-01

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

  14. Underwater wireless communication system

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  15. Smelling and Tasting Underwater.

    Science.gov (United States)

    Atema, Jelle

    1980-01-01

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

  16. Autonomous Underwater Gliders

    OpenAIRE

    Wood,; Stephen,

    2009-01-01

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

  17. Underwater Gliders: A Review

    OpenAIRE

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

    2014-01-01

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

  18. Resources for Underwater Robotics Education

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

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

  19. Acoustic Communications and Navigation for Mobile Under-Ice Sensors

    Science.gov (United States)

    2017-02-04

    contact below the ice. 15. SUBJECT TERMS Arctic Ocean , Undersea Workstations & Vehicles, Signal Processing, Navigation , Underwater Acoustics 16...Partan, Peter Koski, and Sandipa Singh, "Long Range Acoustic Communications and Navigation in the Arctic", Proc. IEEE/MTS Oceans Conf., Washington, DC...Oct. 2015. Freitag, L., P. Koski, A. Morozov, S. Singh, J. Partan, "Acoustic Communications and Navigation Under Arctic Ice", OCEANS , 2012

  20. Underwater 3D filming

    OpenAIRE

    Rinaldi, Roberto

    2014-01-01

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

  1. Underwater Time Service and Synchronization Based on Time Reversal Technique

    Science.gov (United States)

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

    2010-09-01

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

  2. SEATURTLE: Sustained Engagement Autonomous Tracking of Underwater RepTiLEs

    OpenAIRE

    Budd, Johnathan

    2015-01-01

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

  3. Passive Thermal Design Approach for the Space Communications and Navigation (SCaN) Testbed Experiment on the International Space Station (ISS)

    Science.gov (United States)

    Siamidis, John; Yuko, Jim

    2014-01-01

    The Space Communications and Navigation (SCaN) Program Office at NASA Headquarters oversees all of NASAs space communications activities. SCaN manages and directs the ground-based facilities and services provided by the Deep Space Network (DSN), Near Earth Network (NEN), and the Space Network (SN). Through the SCaN Program Office, NASA GRC developed a Software Defined Radio (SDR) testbed experiment (SCaN testbed experiment) for use on the International Space Station (ISS). It is comprised of three different SDR radios, the Jet Propulsion Laboratory (JPL) radio, Harris Corporation radio, and the General Dynamics Corporation radio. The SCaN testbed experiment provides an on-orbit, adaptable, SDR Space Telecommunications Radio System (STRS) - based facility to conduct a suite of experiments to advance the Software Defined Radio, Space Telecommunications Radio Systems (STRS) standards, reduce risk (Technology Readiness Level (TRL) advancement) for candidate Constellation future space flight hardware software, and demonstrate space communication links critical to future NASA exploration missions. The SCaN testbed project provides NASA, industry, other Government agencies, and academic partners the opportunity to develop and field communications, navigation, and networking technologies in the laboratory and space environment based on reconfigurable, software defined radio platforms and the STRS Architecture.The SCaN testbed is resident on the P3 Express Logistics Carrier (ELC) on the exterior truss of the International Space Station (ISS). The SCaN testbed payload launched on the Japanese Aerospace Exploration Agency (JAXA) H-II Transfer Vehicle (HTV) and was installed on the ISS P3 ELC located on the inboard RAM P3 site. The daily operations and testing are managed out of NASA GRC in the Telescience Support Center (TSC).

  4. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

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

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

    Directory of Open Access Journals (Sweden)

    A. E. Yilmaz

    2009-12-01

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

  6. Colour reconstruction of underwater images

    OpenAIRE

    Hoth, Julian; Kowalczyk, Wojciech

    2017-01-01

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

  7. Underwater Welding Techniques

    OpenAIRE

    Esam F. Alajmi; Ahmad A. Alqenaei

    2017-01-01

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

  8. Underwater Gliders: A Review

    Directory of Open Access Journals (Sweden)

    Javaid Muhammad Yasar

    2014-07-01

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

  9. Recent Developments in SOBEK Passive Sonar Technology

    NARCIS (Netherlands)

    Hunter, A.J.; Fillinger, L.; Zampolli, M.; Clarijs, M.C.

    2012-01-01

    Surveillance of waterside locations for protection against threats from small fast surface vessels and underwater intruders is a very relevant but challenging problem. For this reason, the Netherlands Organisation for Applied Scientific Research (TNO) is developing SOBEK – a family of passive sonar

  10. Modeling the kinematics of an autonomous underwater vehicle for range-bearing Simultaneous Localization and Mapping

    CSIR Research Space (South Africa)

    Matsebe, O

    2008-12-01

    Full Text Available . Dissanayaki and H.D. Whyte, “Autonomous underwater navigation and control”. Robotica, vol.19,No.5, pp.481-496, 2001. [5] H.D. Whyte, “Introduction to estimation and the kalman filter”, 2001, unpublished. [6] H. Choset et al. Principles of robot motion...

  11. ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

    Science.gov (United States)

    Huntsberger, Terrance L.

    2013-01-01

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

  12. Underwater Acoustic Signal Processing

    National Research Council Canada - National Science Library

    Culver, Richard L; Sibul, Leon H; Bradley, David L

    2007-01-01

    .... The research is directed toward passive sonar detection and classification, continuous wave (CW) and broadband signals, shallow water operation, both platform-mounted and distributed systems, and frequencies below 1 kHz...

  13. Underwater running device

    International Nuclear Information System (INIS)

    Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

    1996-01-01

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

  14. Passive safety; Passive Sicherheit

    Energy Technology Data Exchange (ETDEWEB)

    Rueckert, J. [Skoda Auto a.s., Mlada Boleslav (Czech Republic). Interieurentwicklung und Versuche; Hau, M. [Skoda Auto a.s., Mlada Boleslav (Czech Republic). Koordination der Fahrzeugsicherung

    2004-05-01

    The specifications for passive safety are partly based on the legal requirements for all export markets combined with the strict internal standards of Volkswagen Group. The Euro NCAP tests and their precisely defined testing methods using the new point assessment are very important. (orig.)

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

    International Nuclear Information System (INIS)

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

    2012-01-01

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

  16. OFDM for underwater acoustic communications

    CERN Document Server

    Zhou, Shengli

    2014-01-01

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

  17. Ecodesign Navigator

    DEFF Research Database (Denmark)

    Simon, M; Evans, S.; McAloone, Timothy Charles

    The Ecodesign Navigator is the product of a three-year research project called DEEDS - DEsign for Environment Decision Support. The initial partners were Manchester Metropolitan University, Cranfield University, Engineering 6 Physical Sciences Resaech Council, Electrolux, ICL, and the Industry...

  18. Interferometric inversion for passive imaging and navigation

    Science.gov (United States)

    2017-05-01

    7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Massachusetts Institute of Technology 77 Massachusetts Avenue, Room 2-247 Cambridge , MA 01239...Final performance report for AFOSR program manager Arje Nachman PI: Laurent Demanet Department of Mathematics Massachusetts Institute of Technology...performance of those methods can be mathematically understood and certified. Blind deconvolution is a major open question in signal processing, with

  19. Underwater plasma arc cutting

    International Nuclear Information System (INIS)

    Leautier, R.; Pilot, G.

    1991-01-01

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

  20. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  1. Active Visual SLAM with Exploration for Autonomous Underwater Navigation

    Science.gov (United States)

    2012-01-01

    tourism. Reconstruction of Notre Dame de Paris (Snavely et al., 2006). (c) Web-scale landmark recognition engine (Zheng et al., 2009). eters for an...structures, such as Notre Dame Cathedral in Paris and the Great Wall of China (Figure 1.3(b)), using photographs compiled from the Internet. Given the...Exhibition, vol. 3, pp. 378–383, Brest , France. Brown, M., and D. G. Lowe (2005), Unsupervised 3D object recognition and reconstruction in unordered

  2. Underwater Inspection of Navigation Structures with an Acoustic Camera

    Science.gov (United States)

    2013-08-01

    the camera with a slow angular speed while recording the images. 5. After the scanning has been performed, review recorded data to determine the...Core x86) or newer  2GB RAM  120GB disc space Operating system requirements  Windows XP, Vista, Windows 7, 32/64 bit Java requirements  Sun... Java JDK, Version 1.6, Update 16 or newer, for installation Limitations and tips for proper scanning  Best results are achieved when scanning in

  3. Navigation of autonomous underwater vehicle using extended kalman filter

    Digital Repository Service at National Institute of Oceanography (India)

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

    -1 In "Trends in intelligent robotics". 13th FIRA Robot World Congress, FIRA 2010, Bangalore, India, September 15-17, 2010. Proceedings. eds. by: Vadakkepat, P.; Kim, J.-H.; Jesse, N.; Al Mamun, A.; Kiong, T.K.; Baltes, J.; Anderson, J.; Verner, I.; Ahlgren, D...

  4. Large-Area Visually Augmented Navigation for Autonomous Underwater Vehicles

    National Research Council Canada - National Science Library

    Eustice, Ryan M

    2005-01-01

    ...., unstructured terrain, low-overlap imagery, moving light source). Our large area SLAM algorithm recursively incorporates relative-pose constraints using a view-based representation that exploits exact sparsity in the Gaussian canonical...

  5. Recent advances in navigation of underwater remotely operated vehicles

    Directory of Open Access Journals (Sweden)

    Blanca Viviana Martínez Carvajal

    2013-01-01

    Full Text Available Se presenta una revisión de las publicaciones técnicas más significativas sobre la navegación de vehículos submarinos operados remotamente, con especial interés en la navegación inercial asistida. Se definen los sensores que se utilizan para su implementación, los algoritmos de estimación y los modelos que describen los sistemas de navegación. Con esta revisión, se concluye que la implementación de un estimador basado en los modelos cinemático y dinámico del vehículo ayuda a limitar el crecimiento del error de estimación, incluso cuando sólo está disponible la información proporcionada por una unidad de medición inercial.

  6. An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System.

    Science.gov (United States)

    Yao, Yiqing; Xu, Xiaosu; Xu, Xiang

    2017-09-05

    Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.

  7. Underwater radiation measuring device

    International Nuclear Information System (INIS)

    Seki, Noriyuki; Suzuki, Yasuo

    1998-01-01

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

  8. An underwater shear compactor

    International Nuclear Information System (INIS)

    Biver, E.; Sims, J.

    1997-01-01

    This paper, originally presented at the WM'96 Conference in Tucson Arizona, describes a concept of a specialised decommissioning tool designed to operate underwater and to reduce the volume of radioactive components by shearing and compacting. The shear compactor was originally conceived to manage the size reduction of a variety of decommissioned stainless steel tubes stored within a reactor fuel cooling pond and which were consuming a substantial volume of the pond. The main objective of this tool was to cut the long tubes into shorter lengths and to compact them into a flat rectangular form which could be stacked on the pond floor, thus saving valuable space. The development programme, undertaken on this project, investigated a wide range of factors which could contribute to an extended cutting blade performance, ie: materials of construction, cutting blade shape and cutting loads required, shock effects, etc. The second phase was to review other aspects of the design, such as radiological protection, cutting blade replacement, maintenance, pond installation and resultant wall loads, water hydraulics, collection of products of shearing/compacting operations, corrosion of the equipment, control system, operational safety and the ability of the equipment to operate in dry environments. The paper summarises the extended work programme involved with this shear compactor tool. (author)

  9. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

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

  10. Development of underwater laser cutting technology

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  11. Surgical Navigation

    DEFF Research Database (Denmark)

    Azarmehr, Iman; Stokbro, Kasper; Bell, R. Bryan

    2017-01-01

    Purpose: This systematic review investigates the most common indications, treatments, and outcomes of surgical navigation (SN) published from 2010 to 2015. The evolution of SN and its application in oral and maxillofacial surgery have rapidly developed over recent years, and therapeutic indicatio...

  12. Responsibility navigator

    NARCIS (Netherlands)

    Kuhlmann, Stefan; Edler, Jakob; Ordonez Matamoros, Hector Gonzalo; Randles, Sally; Walhout, Bart; Walhout, Bart; Gough, Clair; Lindner, Ralf; Lindner, Ralf; Kuhlmann, Stefan; Randles, Sally; Bedsted, Bjorn; Gorgoni, Guido; Griessler, Erich; Loconto, Allison; Mejlgaard, Niels

    2016-01-01

    Research and innovation activities need to become more responsive to societal challenges and concerns. The Responsibility Navigator, developed in the Res-AGorA project, supports decision-makers to govern such activities towards more conscious responsibility. What is considered “responsible” will

  13. Cislunar navigation

    Science.gov (United States)

    Cesarone, R. J.; Burke, J. D.; Hastrup, R. C.; Lo, M. W.

    2003-01-01

    In the future, navigation and communication in Earth-Moon space and on the Moon will differ from past practice due to evolving technology and new requirements. Here we describe likely requirements, discuss options for meeting them, and advocate steps that can be taken now to begin building the navcom systems needed in coming years for exploring and using the moon.

  14. Underwater Gliders by Dr. Kevin Smith [video

    OpenAIRE

    Naval Postgraduate School Physics

    2015-01-01

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

  15. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

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

  16. UNDERWATER COATINGS FOR CONTAMINATION CONTROL

    International Nuclear Information System (INIS)

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

    2004-01-01

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

  17. Operational experience in underwater photogrammetry

    Science.gov (United States)

    Leatherdale, John D.; John Turner, D.

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

  18. Underwater laser imaging system (UWLIS)

    Energy Technology Data Exchange (ETDEWEB)

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

    1994-11-15

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

  19. Autonomous Vehicles Navigation with Visual Target Tracking: Technical Approaches

    Directory of Open Access Journals (Sweden)

    Zhen Jia

    2008-12-01

    Full Text Available This paper surveys the developments of last 10 years in the area of vision based target tracking for autonomous vehicles navigation. First, the motivations and applications of using vision based target tracking for autonomous vehicles navigation are presented in the introduction section. It can be concluded that it is very necessary to develop robust visual target tracking based navigation algorithms for the broad applications of autonomous vehicles. Then this paper reviews the recent techniques in three different categories: vision based target tracking for the applications of land, underwater and aerial vehicles navigation. Next, the increasing trends of using data fusion for visual target tracking based autonomous vehicles navigation are discussed. Through data fusion the tracking performance is improved and becomes more robust. Based on the review, the remaining research challenges are summarized and future research directions are investigated.

  20. Underwater noise due to precipitation

    DEFF Research Database (Denmark)

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

    1989-01-01

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

  1. Underwater nuclear power plant structure

    International Nuclear Information System (INIS)

    Severs, S.; Toll, H.V.

    1982-01-01

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

  2. Underwater Robots Surface in Utah

    Science.gov (United States)

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

    2015-01-01

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

  3. Development and application of underwater robot vehicle for close inspection of spent fuels

    Energy Technology Data Exchange (ETDEWEB)

    Yun, J. S.; Park, B. S.; Song, T. G.; Kim, S. H.; Cho, M. W.; Ahn, S. H.; Lee, J. Y.; Oh, S. C.; Oh, W. J.; Shin, K. W.; Woo, D. H.; Kim, H. G.; Park, J. S

    1999-12-01

    The research and development efforts of the underwater robotic vehicle for inspection of spent fuels are focused on the development of an robotic vehicle which inspects spent fuels in the storage pool through remotely controlled actuation. For this purpose, a self balanced vehicle actuated by propellers is designed and fabricated, which consists of a radiation resistance camera, two illuminators, a pressure transducer and a manipulator. the algorithm for autonomous navigation is developed and its performance is tested at the swimming pool. The results of the underwater vehicle shows that the vehicle can easily navigate into the arbitrary directions while maintaining its balanced position. The camera provides a clear view of working environment by using the macro and zoom functions. The camera tilt device provides a wide field of view which is enough for monitoring the operation of manipulator. Also, the manipulator can pick up the dropped objects up to 4 kgf of weight. (author)

  4. Design and Experimental Validation of a USBL Underwater Acoustic Positioning System.

    Science.gov (United States)

    Reis, Joel; Morgado, Marco; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos

    2016-09-14

    This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance.

  5. Design and Experimental Validation of a USBL Underwater Acoustic Positioning System

    Directory of Open Access Journals (Sweden)

    Joel Reis

    2016-09-01

    Full Text Available This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance.

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

    DEFF Research Database (Denmark)

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

    2018-01-01

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

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

    OpenAIRE

    Yao, Xuliang; Yang, Guangyi

    2016-01-01

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

  8. Aspect-dependent radiated noise analysis of an underway autonomous underwater vehicle.

    Science.gov (United States)

    Gebbie, John; Siderius, Martin; Allen, John S

    2012-11-01

    This paper presents an analysis of the acoustic emissions emitted by an underway REMUS-100 autonomous underwater vehicle (AUV) that were obtained near Honolulu Harbor, HI using a fixed, bottom-mounted horizontal line array (HLA). Spectral analysis, beamforming, and cross-correlation facilitate identification of independent sources of noise originating from the AUV. Fusion of navigational records from the AUV with acoustic data from the HLA allows for an aspect-dependent presentation of calculated source levels of the strongest propulsion tone.

  9. Passive Education

    Science.gov (United States)

    Bojesen, Emile

    2018-01-01

    This paper does not present an advocacy of a passive education as opposed to an active education nor does it propose that passive education is in any way 'better' or more important than active education. Through readings of Maurice Blanchot, Jacques Derrida and B.S. Johnson, and gentle critiques of Jacques Rancière and John Dewey, passive…

  10. Integrated Optimization of Long-Range Underwater Signal Detection, Feature Extraction, and Classification for Nuclear Treaty Monitoring

    NARCIS (Netherlands)

    Tuma, M.; Rorbech, V.; Prior, M.; Igel, C.

    2016-01-01

    We designed and jointly optimized an integrated signal processing chain for detection and classification of long-range passive-acoustic underwater signals recorded by the global geophysical monitoring network of the Comprehensive Nuclear-Test-Ban Treaty Organization. Starting at the level of raw

  11. Cooperative OFDM underwater acoustic communications

    CERN Document Server

    Cheng, Xilin; Cheng, Xiang

    2016-01-01

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

  12. International Conference on Underwater Environment

    CERN Document Server

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

    2016-01-01

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

  13. Cutting method and device underwater

    International Nuclear Information System (INIS)

    Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

    1998-01-01

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

  14. Decentralized Single-beacon Acoustic Navigation: Combined Communication and Navigation for Underwater Vehicles

    Science.gov (United States)

    2010-06-01

    update equations that the update is a linear combination of the previous state estimate and the measurement: µk|k = Aµk|k−1 + Kzk (B.10) 151 APPENDIX B...LINEAR KALMAN FILTER DERIVATION where both A and K are unknown. Using equation B.4 to solve for A: 0 = E[xk − µk|k] (B.11) = E[xk −Aµk|k−1 − Kzk ] = E...k−1 − Kzk ) = cov(xk − µk|k−1 + KHµk|k−1 −KHxk −Kvk) = cov((I − KH)(xk − µk|k−1)−Kvk) = cov((I − KH)(xk − µk|k−1)) + cov(Kvk) = (I − KH)cov(xk − µk|k−1

  15. Deep sea AUV navigation using multiple acoustic beacons

    Science.gov (United States)

    Ji, Da-xiong; Song, Wei; Zhao, Hong-yu; Liu, Jian

    2016-04-01

    Navigation is a critical requirement for the operation of Autonomous Underwater Vehicles (AUVs). To estimate the vehicle position, we present an algorithm using an extended Kalman filter (EKF) to integrate dead-reckoning position with acoustic ranges from multiple beacons pre-deployed in the operating environment. Owing to high latency, variable sound speed multipath transmissions and unreliability in acoustic measurements, outlier recognition techniques are proposed as well. The navigation algorithm has been tested by the recorded data of deep sea AUV during field operations in a variety of environments. Our results show the improved performance over prior techniques based on position computation.

  16. Taiwan's underwater cultural heritage documentation management

    Science.gov (United States)

    Tung, Y.-Y.

    2015-09-01

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

  17. Navigation by light polarization in clear and turbid waters

    Science.gov (United States)

    Lerner, Amit; Sabbah, Shai; Erlick, Carynelisa; Shashar, Nadav

    2011-01-01

    Certain terrestrial animals use sky polarization for navigation. Certain aquatic species have also been shown to orient according to a polarization stimulus, but the correlation between underwater polarization and Sun position and hence the ability to use underwater polarization as a compass for navigation is still under debate. To examine this issue, we use theoretical equations for per cent polarization and electric vector (e-vector) orientation that account for the position of the Sun, refraction at the air–water interface and Rayleigh single scattering. The polarization patterns predicted by these theoretical equations are compared with measurements conducted in clear and semi-turbid coastal sea waters at 2 m and 5 m depth over sea floors of 6 m and 28 m depth. We find that the per cent polarization is correlated with the Sun's elevation only in clear waters. We furthermore find that the maximum value of the e-vector orientation angle equals the angle of refraction only in clear waters, in the horizontal viewing direction, over the deeper sea floor. We conclude that navigation by use of underwater polarization is possible under restricted conditions, i.e. in clear waters, primarily near the horizontal viewing direction, and in locations where the sea floor has limited effects on the light's polarization. PMID:21282170

  18. Navigation Lights - USACE IENC

    Data.gov (United States)

    Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

  19. Underwater Coatings for Contamination Control

    International Nuclear Information System (INIS)

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

    2004-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Xin Liu

    2018-01-01

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

  1. Reviving a neglected celestial underwater polarization compass for aquatic animals.

    Science.gov (United States)

    Waterman, Talbot H

    2006-02-01

    Substantial in situ measurements on clear days in a variety of marine environments at depths in the water down to 200 m have demonstrated the ubiquitous daytime presence of sun-related e-vector (=plane of polarization) patterns. In most lines of sight the e-vectors tilt from horizontal towards the sun at angles equal to the apparent underwater refracted zenith angle of the sun. A maximum tilt-angle of approximately 48.5 degrees , is reached in horizontal lines of sight at 90 degrees to the sun's bearing (the plane of incidence). This tilt limit is set by Snell's window, when the sun is on the horizon. The biological literature since the 1980s has been pervaded with assumptions that daytime aquatic e-vectors are mainly horizontal. This review attempts to set the record straight concerning the potential use of underwater e-vectors as a visual compass and to reopen the field to productive research on aquatic animals' orientation and navigation.

  2. ROV Based Underwater Blurred Image Restoration

    Institute of Scientific and Technical Information of China (English)

    LIU Zhishen; DING Tianfu; WANG Gang

    2003-01-01

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

  3. LAKE BAIKAL: Underwater neutrino detector

    International Nuclear Information System (INIS)

    Anon.

    1991-01-01

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

  4. Towards Safe Navigation by Formalizing Navigation Rules

    Directory of Open Access Journals (Sweden)

    Arne Kreutzmann

    2013-06-01

    Full Text Available One crucial aspect of safe navigation is to obey all navigation regulations applicable, in particular the collision regulations issued by the International Maritime Organization (IMO Colregs. Therefore, decision support systems for navigation need to respect Colregs and this feature should be verifiably correct. We tackle compliancy of navigation regulations from a perspective of software verification. One common approach is to use formal logic, but it requires to bridge a wide gap between navigation concepts and simple logic. We introduce a novel domain specification language based on a spatio-temporal logic that allows us to overcome this gap. We are able to capture complex navigation concepts in an easily comprehensible representation that can direcly be utilized by various bridge systems and that allows for software verification.

  5. Distributed estimation of sensors position in underwater wireless sensor network

    Science.gov (United States)

    Zandi, Rahman; Kamarei, Mahmoud; Amiri, Hadi

    2016-05-01

    In this paper, a localisation method for determining the position of fixed sensor nodes in an underwater wireless sensor network (UWSN) is introduced. In this simple and range-free scheme, the node localisation is achieved by utilising an autonomous underwater vehicle (AUV) that transverses through the network deployment area, and that periodically emits a message block via four directional acoustic beams. A message block contains the actual known AUV position as well as a directional dependent marker that allows a node to identify the respective transmit beam. The beams form a fixed angle with the AUV body. If a node passively receives message blocks, it could calculate the arithmetic mean of the coordinates existing in each messages sequence, to find coordinates at two different time instants via two different successive beams. The node position can be derived from the two computed positions of the AUV. The major advantage of the proposed localisation algorithm is that it is silent, which leads to energy efficiency for sensor nodes. The proposed method does not require any synchronisation among the nodes owing to being silent. Simulation results, using MATLAB, demonstrated that the proposed method had better performance than other similar AUV-based localisation methods in terms of the rates of well-localised sensor nodes and positional root mean square error.

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

    Science.gov (United States)

    2017-06-01

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

  7. Localization with a mobile beacon in underwater acoustic sensor networks.

    Science.gov (United States)

    Lee, Sangho; Kim, Kiseon

    2012-01-01

    Localization is one of the most important issues associated with underwater acoustic sensor networks, especially when sensor nodes are randomly deployed. Given that it is difficult to deploy beacon nodes at predetermined locations, localization schemes with a mobile beacon on the sea surface or along the planned path are inherently convenient, accurate, and energy-efficient. In this paper, we propose a new range-free Localization with a Mobile Beacon (LoMoB). The mobile beacon periodically broadcasts a beacon message containing its location. Sensor nodes are individually localized by passively receiving the beacon messages without inter-node communications. For location estimation, a set of potential locations are obtained as candidates for a node's location and then the node's location is determined through the weighted mean of all the potential locations with the weights computed based on residuals.

  8. Localization with a Mobile Beacon in Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Sangho Lee

    2012-04-01

    Full Text Available Localization is one of the most important issues associated with underwater acoustic sensor networks, especially when sensor nodes are randomly deployed. Given that it is difficult to deploy beacon nodes at predetermined locations, localization schemes with a mobile beacon on the sea surface or along the planned path are inherently convenient, accurate, and energy-efficient. In this paper, we propose a new range-free Localization with a Mobile Beacon (LoMoB. The mobile beacon periodically broadcasts a beacon message containing its location. Sensor nodes are individually localized by passively receiving the beacon messages without inter-node communications. For location estimation, a set of potential locations are obtained as candidates for a node’s location and then the node’s location is determined through the weighted mean of all the potential locations with the weights computed based on residuals.

  9. Dynamics and Control of Underwater Gliders I: Steady Motions

    OpenAIRE

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

    2007-01-01

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

  10. 4th Pacific Rim Underwater Acoustics Conference

    CERN Document Server

    Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

    2016-01-01

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

  11. A swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamics.

    Science.gov (United States)

    Jaffe, Jules S; Franks, Peter J S; Roberts, Paul L D; Mirza, Diba; Schurgers, Curt; Kastner, Ryan; Boch, Adrien

    2017-01-24

    Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (swarm of 16 independent vehicles whose 3D trajectories are measured near-continuously, underwater. As the vehicles drift with the ambient flow or execute preprogrammed vertical behaviours, the simultaneous measurements at multiple, known locations resolve the details of the flow within the swarm. We describe the design, construction, control and underwater navigation of the M-AUE. A field programme in the coastal ocean using a swarm of these robots programmed with a depth-holding behaviour provides a unique test of a physical-biological interaction leading to plankton patch formation in internal waves. The performance of the M-AUE vehicles illustrates their novel capability for measuring submesoscale dynamics.

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

    Directory of Open Access Journals (Sweden)

    Naus Krzysztof

    2016-12-01

    Full Text Available The article describes a study of problem of estimating the position coordinates of Autonomous Biomimetic Underwater Vehicle (ABUV using two methods: dead reckoning (DR and extended Kalman filter (EKF. In the first part of the paper, navigation system of ABUV is described and scientific problem with underwater positioning is formulated. The main part describes a way of estimating the position coordinates using DR and EKF and a numerical experiment involving motion of ABUV along the predetermined test distance. The final part of the paper contains a comparative statistical analysis of the results, carried out for assessing the accuracy of estimation of the position coordinates using DR and EKF methods. It presents the generalized conclusions from the research and the problems relating to the proper placement of the components of the system measuring distances.

  13. Experimental demonstration of remote, passive acousto-optic sensing.

    Science.gov (United States)

    Antonelli, Lynn; Blackmon, Fletcher

    2004-12-01

    Passively detecting underwater sound from the air can allow aircraft and surface vessels to monitor the underwater acoustic environment. Experimental research into an optical hydrophone is being conducted for remote, aerial detection of underwater sound. A laser beam is directed onto the water surface to measure the velocity of the vibrations occurring as the underwater acoustic signal reaches the water surface. The acoustically generated surface vibrations modulate the phase of the laser beam. Sound detection occurs when the laser is reflected back towards the sensor. Therefore, laser alignment on the specularly reflecting water surface is critical. As the water surface moves, the laser beam is reflected away from the photodetector and no signal is obtained. One option to mitigate this problem is to continually steer the laser onto a spot on the water surface that provides a direct back-reflection. Results are presented from a laboratory test that investigates the feasibility of the acousto-optic sensor detection on hydrostatic and hydrodynamic surfaces using a laser Doppler vibrometer in combination with a laser-based, surface normal glint tracker for remotely detecting underwater sound. This paper outlines the acousto-optic sensor and tracker concepts and presents experimental results comparing sensor operation under various sea surface conditions.

  14. A mission executor for an autonomous underwater vehicle

    Science.gov (United States)

    Lee, Yuh-Jeng; Wilkinson, Paul

    1991-01-01

    The Naval Postgraduate School has been conducting research into the design and testing of an Autonomous Underwater Vehicle (AUV). One facet of this research is to incrementally design a software architecture and implement it in an advanced testbed, the AUV II. As part of the high level architecture, a Mission Executor is being constructed using CLIPS (C Language Integrated Production System) version 5.0. The Mission Executor is an expert system designed to oversee progress from the AUV launch point to a goal area and back to the origin. It is expected that the executor will make informed decisions about the mission, taking into account the navigational path, the vehicle subsystem health, and the sea environment, as well as the specific mission profile which is downloaded from an offboard mission planner. Heuristics for maneuvering, avoidance of uncharted obstacles, waypoint navigation, and reaction to emergencies (essentially the expert knowledge of a submarine captain) are required. Many of the vehicle subsystems are modeled as objects using the CLIPS Object Oriented Language (COOL) embedded in CLIPS 5.0. Also, truth maintenance is applied to the knowledge base to keep configurations updated.

  15. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

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

  16. Underwater photogrammetry successful in Spain and France

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

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

  17. 3D Laser Scanner for Underwater Manipulation

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2018-04-01

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

  18. 3D Laser Scanner for Underwater Manipulation.

    Science.gov (United States)

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

    2018-04-04

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

  19. Underwater welding and repair technologies applied in PWR environment

    International Nuclear Information System (INIS)

    Scandella, Fabrice; Carpreau, Jean-Michel

    2012-01-01

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

  20. Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis.

    Science.gov (United States)

    Bernardina, Gustavo R D; Cerveri, Pietro; Barros, Ricardo M L; Marins, João C B; Silvatti, Amanda P

    2016-01-01

    Action sport cameras (ASC) are currently adopted mainly for entertainment purposes but their uninterrupted technical improvements, in correspondence of cost decreases, are going to disclose them for three-dimensional (3D) motion analysis in sport gesture study and athletic performance evaluation quantitatively. Extending this technology to sport analysis however still requires a methodologic step-forward to making ASC a metric system, encompassing ad-hoc camera setup, image processing, feature tracking, calibration and 3D reconstruction. Despite traditional laboratory analysis, such requirements become an issue when coping with both indoor and outdoor motion acquisitions of athletes. In swimming analysis for example, the camera setup and the calibration protocol are particularly demanding since land and underwater cameras are mandatory. In particular, the underwater camera calibration can be an issue affecting the reconstruction accuracy. In this paper, the aim is to evaluate the feasibility of ASC for 3D underwater analysis by focusing on camera setup and data acquisition protocols. Two GoPro Hero3+ Black (frequency: 60Hz; image resolutions: 1280×720/1920×1080 pixels) were located underwater into a swimming pool, surveying a working volume of about 6m3. A two-step custom calibration procedure, consisting in the acquisition of one static triad and one moving wand, carrying nine and one spherical passive markers, respectively, was implemented. After assessing camera parameters, a rigid bar, carrying two markers at known distance, was acquired in several positions within the working volume. The average error upon the reconstructed inter-marker distances was less than 2.5mm (1280×720) and 1.5mm (1920×1080). The results of this study demonstrate that the calibration of underwater ASC is feasible enabling quantitative kinematic measurements with accuracy comparable to traditional motion capture systems.

  1. Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis.

    Directory of Open Access Journals (Sweden)

    Gustavo R D Bernardina

    Full Text Available Action sport cameras (ASC are currently adopted mainly for entertainment purposes but their uninterrupted technical improvements, in correspondence of cost decreases, are going to disclose them for three-dimensional (3D motion analysis in sport gesture study and athletic performance evaluation quantitatively. Extending this technology to sport analysis however still requires a methodologic step-forward to making ASC a metric system, encompassing ad-hoc camera setup, image processing, feature tracking, calibration and 3D reconstruction. Despite traditional laboratory analysis, such requirements become an issue when coping with both indoor and outdoor motion acquisitions of athletes. In swimming analysis for example, the camera setup and the calibration protocol are particularly demanding since land and underwater cameras are mandatory. In particular, the underwater camera calibration can be an issue affecting the reconstruction accuracy. In this paper, the aim is to evaluate the feasibility of ASC for 3D underwater analysis by focusing on camera setup and data acquisition protocols. Two GoPro Hero3+ Black (frequency: 60Hz; image resolutions: 1280×720/1920×1080 pixels were located underwater into a swimming pool, surveying a working volume of about 6m3. A two-step custom calibration procedure, consisting in the acquisition of one static triad and one moving wand, carrying nine and one spherical passive markers, respectively, was implemented. After assessing camera parameters, a rigid bar, carrying two markers at known distance, was acquired in several positions within the working volume. The average error upon the reconstructed inter-marker distances was less than 2.5mm (1280×720 and 1.5mm (1920×1080. The results of this study demonstrate that the calibration of underwater ASC is feasible enabling quantitative kinematic measurements with accuracy comparable to traditional motion capture systems.

  2. Design and Analysis of Underwater Acoustic Networks with Reflected Links

    Science.gov (United States)

    Emokpae, Lloyd

    Underwater acoustic networks (UWANs) have applications in environmental state monitoring, oceanic profile measurements, leak detection in oil fields, distributed surveillance, and navigation. For these applications, sets of nodes are employed to collaboratively monitor an area of interest and track certain events or phenomena. In addition, it is common to find autonomous underwater vehicles (AUVs) acting as mobile sensor nodes that perform search-and-rescue missions, reconnaissance in combat zones, and coastal patrol. These AUVs are to work cooperatively to achieve a desired goal and thus need to be able to, in an ad-hoc manner, establish and sustain communication links in order to ensure some desired level of quality of service. Therefore, each node is required to adapt to environmental changes and be able to overcome broken communication links caused by external noise affecting the communication channel due to node mobility. In addition, since radio waves are quickly absorbed in the water medium, it is common for most underwater applications to rely on acoustic (or sound) rather than radio channels for mid-to-long range communications. However, acoustic channels pose multiple challenging issues, most notably the high transmission delay due to slow signal propagation and the limited channel bandwidth due to high frequency attenuation. Moreover, the inhomogeneous property of the water medium affects the sound speed profile while the signal surface and bottom reflections leads to multipath effects. In this dissertation, we address these networking challenges by developing protocols that take into consideration the underwater physical layer dynamics. We begin by introducing a novel surface-based reflection scheme (SBR), which takes advantage of the multipath effects of the acoustic channel. SBR works by using reflections from the water surface, and bottom, to establish non-line-of-sight (NLOS) communication links. SBR makes it possible to incorporate both line

  3. Human Injury Criteria for Underwater Blasts.

    Directory of Open Access Journals (Sweden)

    Rachel M Lance

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

  4. Compositional properties of passivity

    NARCIS (Netherlands)

    Kerber, Florian; van der Schaft, Arjan

    2011-01-01

    The classical passivity theorem states that the negative feedback interconnection of passive systems is again passive. The converse statement, - passivity of the interconnected system implies passivity of the subsystems -, turns out to be equally valid. This result implies that among all feasible

  5. An acoustic system for autonomous navigation and tracking of marine fauna

    KAUST Repository

    De la Torre, Pedro

    2014-08-01

    A marine acoustic system for underwater target tracking is described. This system is part of the Integrated Satellite and Acoustic Telemetry (iSAT) project to study marine fauna. It is a microcontroller-based underwater projector and receiver. A narrow-band, passive sonar detection architecture is described from signal generation, through transduction, reception, signal processing and up to tone extraction. Its circuit and operation principles are described. Finally, a comparison between the current energy detection method versus an alternative matched filter approach is included.

  6. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

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

    2013-01-01

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

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

    NARCIS (Netherlands)

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

    2012-01-01

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

  8. Is the Venice Lagoon Noisy? First Passive Listening Monitoring of the Venice Lagoon: Possible Effects on the Typical Fish Community.

    Science.gov (United States)

    Bolgan, Marta; Picciulin, Marta; Codarin, Antonio; Fiorin, Riccardo; Zucchetta, Matteo; Malavasi, Stefano

    2016-01-01

    Three passive listening surveys have been carried out in two of the three Venice lagoon tide inlets and inside the Venice island. The spectral content and the intensity level of the underwater noise as well as the presence or absence of Sciaena umbra and the distribution of its different sound patterns have been investigated in all the recording sites. The passive listening proved to be successful in detecting S. umbra drumming sounds in both Venice lagoon tide inlets. Our results indicate that the spectral content and the level of underwater noise pollution in the Venice lagoon could affect fish acoustic communication.

  9. Underwater Calibration of Dome Port Pressure Housings

    Science.gov (United States)

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

    2016-03-01

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

  10. Underwater Topography Detection in Coastal Areas Using Fully Polarimetric SAR Data

    Directory of Open Access Journals (Sweden)

    Xiaolin Bian

    2017-06-01

    Full Text Available Fully polarimetric synthetic aperture radar (SAR can provide detailed information on scattering mechanisms that could enable the target or structure to be identified. This paper presents a method to detect underwater topography in coastal areas using high resolution fully polarimetric SAR data, while less prior information is required. The method is based on the shoaling and refraction of long surface gravity waves as they propagate shoreward. First, the surface scattering component is obtained by polarization decomposition. Then, wave fields are retrieved from the two-dimensional (2D spectra by the Fast Fourier Transformation (FFT. Finally, shallow water depths are estimated from the dispersion relation. Applicability and effectiveness of the proposed methodology are tested by using C-band fine quad-polarization mode RADARSAT-2 SAR data over the near-shore area of the Hainan province, China. By comparing with the values from an official electronic navigational chart (ENC, the estimated water depths are in good agreement with them. The average relative error of the detected results from the scattering mechanisms based method and single polarization SAR data are 9.73% and 11.53% respectively. The validation results indicate that the scattering mechanisms based methodology is more effective than only using the single polarization SAR data for underwater topography detection, and will inspire further research on underwater topography detection with fully polarimetric SAR data.

  11. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  12. Indoor wayfinding and navigation

    CERN Document Server

    2015-01-01

    Due to the widespread use of navigation systems for wayfinding and navigation in the outdoors, researchers have devoted their efforts in recent years to designing navigation systems that can be used indoors. This book is a comprehensive guide to designing and building indoor wayfinding and navigation systems. It covers all types of feasible sensors (for example, Wi-Fi, A-GPS), discussing the level of accuracy, the types of map data needed, the data sources, and the techniques for providing routes and directions within structures.

  13. Application of underwater radon measurements in geology

    Energy Technology Data Exchange (ETDEWEB)

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

    1988-01-01

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

  14. Survey of computer vision technology for UVA navigation

    Science.gov (United States)

    Xie, Bo; Fan, Xiang; Li, Sijian

    2017-11-01

    Navigation based on computer version technology, which has the characteristics of strong independence, high precision and is not susceptible to electrical interference, has attracted more and more attention in the filed of UAV navigation research. Early navigation project based on computer version technology mainly applied to autonomous ground robot. In recent years, the visual navigation system is widely applied to unmanned machine, deep space detector and underwater robot. That further stimulate the research of integrated navigation algorithm based on computer version technology. In China, with many types of UAV development and two lunar exploration, the three phase of the project started, there has been significant progress in the study of visual navigation. The paper expounds the development of navigation based on computer version technology in the filed of UAV navigation research and draw a conclusion that visual navigation is mainly applied to three aspects as follows.(1) Acquisition of UAV navigation parameters. The parameters, including UAV attitude, position and velocity information could be got according to the relationship between the images from sensors and carrier's attitude, the relationship between instant matching images and the reference images and the relationship between carrier's velocity and characteristics of sequential images.(2) Autonomous obstacle avoidance. There are many ways to achieve obstacle avoidance in UAV navigation. The methods based on computer version technology ,including feature matching, template matching, image frames and so on, are mainly introduced. (3) The target tracking, positioning. Using the obtained images, UAV position is calculated by using optical flow method, MeanShift algorithm, CamShift algorithm, Kalman filtering and particle filter algotithm. The paper expounds three kinds of mainstream visual system. (1) High speed visual system. It uses parallel structure, with which image detection and processing are

  15. Underwater laser cutting of metallic structures

    International Nuclear Information System (INIS)

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

    1993-01-01

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

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

    Science.gov (United States)

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

    2018-03-15

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

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

    Directory of Open Access Journals (Sweden)

    Bessios Anthony G.

    1996-01-01

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

  18. An inexpensive underwater mine countermeasures simulator with real-time 3D after action review

    Directory of Open Access Journals (Sweden)

    Robert Stone

    2016-10-01

    Full Text Available This paper presents the results of a concept capability demonstration pilot study, the aim of which was to investigate how inexpensive gaming software and hardware technologies could be exploited in the development and evaluation of a simulator prototype for training Royal Navy mine clearance divers, specifically focusing on the detection and accurate reporting of the location and condition of underwater ordnance. The simulator was constructed using the Blender open source 3D modelling toolkit and game engine, and featured not only an interactive 3D editor for underwater scenario generation by instructors, but also a real-time, 3D After Action Review (AAR system for formative assessment and feedback. The simulated scenarios and AAR architecture were based on early human factors observations and briefings conducted at the UK's Defence Diving School (DDS, an organisation that provides basic military diving training for all Royal Navy and Army (Royal Engineers divers. An experimental pilot study was undertaken to determine whether or not basic navigational and mine detection components of diver performance could be improved as a result of exposing participants to the AAR system, delivered between simulated diving scenarios. The results suggest that the provision of AAR was accompanied by significant performance improvements in the positive identification of simulated underwater ordnance (in contrast to non-ordnance objects and on participants' description of their location, their immediate in-water or seabed context and their structural condition. Only marginal improvements were found with participants' navigational performance in terms of their deviation accuracies from a pre-programmed expert search path. Overall, this project contributes to the growing corpus of evidence supporting the development of simulators that demonstrate the value of exploiting open source gaming software and the significance of adopting established games design

  19. High spatial resolution mapping of water quality and bathymetry with an autonomous underwater vehicle

    Science.gov (United States)

    Pampalone, Vincenzo; Milici, Barbara

    2015-12-01

    The drone Ecomapper AUV (Autonomous Underwater Vehicle) is a rare example of highly technological instrument in the environmental coastal monitoring field. The YSI EcoMapper is a one-man deployable, Autonomous Underwater Vehicle (AUV) designed to collect bathymetry and water quality data. The submarine-like vehicle follows a programmed course and employs sensors mounted in the nose to record pertinent information. Once the vehicle has started its mission, it operates independently of the user and utilizes GPS waypoints navigation to complete its programmed course. Throughout the course, the vehicle constantly steers toward the line drawn in the mission planning software (VectorMap), essentially following a more accurate road of coordinates instead of transversing waypoint-to-waypoint. It has been equipped with a Doppler Velocity Log (DVL) to increase its underwater navigation accuracy. Potential EcoMapper applications include baseline environmental mapping in freshwater, estuarine or near-coastal environments, bathymetric mapping, dissolved oxygen studies, event monitoring (algal blooms, storm impacts, low dissolved oxygen), non-point source studies, point-source dispersion mapping, security, search & rescue, inspection, shallow water mapping, thermal dissipation mapping of cooling outfalls, trace-dye studies. The AUV is used in the coastal area of the Augusta Bay (Italy), located in the eastern part of Sicily. Due to the heavy contamination generated by the several chemical and petrochemical industries active in the zone, the harbour was declared a Contaminated Site of National Interest. The ecomapper allows for a simultaneous data collection of water quality and bathymetric data providing a complete environmental mapping system of the Harbour.

  20. A Qualitative Approach to Mobile Robot Navigation Using RFID

    International Nuclear Information System (INIS)

    Hossain, M; Rashid, M M; Bhuiyan, M M I; Ahmed, S; Akhtaruzzaman, M

    2013-01-01

    Radio Frequency Identification (RFID) system allows automatic identification of items with RFID tags using radio-waves. As the RFID tag has its unique identification number, it is also possible to detect a specific region where the RFID tag lies in. Recently it is widely been used in mobile robot navigation, localization, and mapping both in indoor and outdoor environment. This paper represents a navigation strategy for autonomous mobile robot using passive RFID system. Conventional approaches, such as landmark or dead-reckoning with excessive number of sensors, have complexities in establishing the navigation and localization process. The proposed method satisfies less complexity in navigation strategy as well as estimation of not only the position but also the orientation of the autonomous robot. In this research, polar coordinate system is adopted on the navigation surface where RFID tags are places in a grid with constant displacements. This paper also presents the performance comparisons among various grid architectures through simulation to establish a better solution of the navigation system. In addition, some stationary obstacles are introduced in the navigation environment to satisfy the viability of the navigation process of the autonomous mobile robot

  1. Model-base visual navigation of a mobile robot

    International Nuclear Information System (INIS)

    Roening, J.

    1992-08-01

    The thesis considers the problems of visual guidance of a mobile robot. A visual navigation system is formalized consisting of four basic components: world modelling, navigation sensing, navigation and action. According to this formalization an experimental system is designed and realized enabling real-world navigation experiments. A priori knowledge of the world is used for global path finding, aiding scene analysis and providing feedback information to the close the control loop between planned and actual movements. Two world models were developed. The first approach was a map-based model especially designed for low-level description of indoor environments. The other was a higher level and more symbolic representation of the surroundings utilizing the spatial graph concept. Two passive vision approaches were developed to extract navigation information. With passive three- camera stereovision a sparse depth map of the scene was produced. Another approach employed a fish-eye lens to map the entire scene of the surroundings without camera scanning. The local path planning of the system is supported by three-dimensional scene interpreter providing a partial understanding of scene contents. The interpreter consists of data-driven low-level stages and a model-driven high-level stage. Experiments were carried out in a simulator and test vehicle constructed in the laboratory. The test vehicle successfully navigated indoors

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

    Science.gov (United States)

    2011-03-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1998-07-01

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

  4. A Leapfrog Navigation System

    Science.gov (United States)

    Opshaug, Guttorm Ringstad

    There are times and places where conventional navigation systems, such as the Global Positioning System (GPS), are unavailable due to anything from temporary signal occultations to lack of navigation system infrastructure altogether. The goal of the Leapfrog Navigation System (LNS) is to provide localized positioning services for such cases. The concept behind leapfrog navigation is to advance a group of navigation units teamwise into an area of interest. In a practical 2-D case, leapfrogging assumes known initial positions of at least two currently stationary navigation units. Two or more mobile units can then start to advance into the area of interest. The positions of the mobiles are constantly being calculated based on cross-range distance measurements to the stationary units, as well as cross-ranges among the mobiles themselves. At some point the mobile units stop, and the stationary units are released to move. This second team of units (now mobile) can then overtake the first team (now stationary) and travel even further towards the common goal of the group. Since there always is one stationary team, the position of any unit can be referenced back to the initial positions. Thus, LNS provides absolute positioning. I developed navigation algorithms needed to solve leapfrog positions based on cross-range measurements. I used statistical tools to predict how position errors would grow as a function of navigation unit geometry, cross-range measurement accuracy and previous position errors. Using this knowledge I predicted that a 4-unit Leapfrog Navigation System using 100 m baselines and 200 m leap distances could travel almost 15 km before accumulating absolute position errors of 10 m (1sigma). Finally, I built a prototype leapfrog navigation system using 4 GPS transceiver ranging units. I placed the 4 units in the vertices a 10m x 10m square, and leapfrogged the group 20 meters forwards, and then back again (40 m total travel). Average horizontal RMS position

  5. Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

    Science.gov (United States)

    Huntsberger, Terry; Woodward, Gail

    2011-01-01

    As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.

  6. Passive solar technology

    Energy Technology Data Exchange (ETDEWEB)

    Watson, D

    1981-04-01

    The present status of passive solar technology is summarized, including passive solar heating, cooling and daylighting. The key roles of the passive solar system designer and of innovation in the building industry are described. After definitions of passive design and a summary of passive design principles are given, performance and costs of passive solar technology are discussed. Passive energy design concepts or methods are then considered in the context of the overall process by which building decisions are made to achieve the integration of new techniques into conventional design. (LEW).

  7. Underwater noise generated by offshore pile driving

    NARCIS (Netherlands)

    Tsouvalas, A.

    2015-01-01

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

  8. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  9. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    Science.gov (United States)

    2015-01-01

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

  10. MOSES, development of an Underwater Warfare Testbed

    NARCIS (Netherlands)

    Lentze, S.G.

    2001-01-01

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

  11. Human Injury Criteria for Underwater Blasts

    Science.gov (United States)

    2014-09-08

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

  12. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

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

    2016-01-01

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

  13. Restricted Navigation Areas - USACE IENC

    Data.gov (United States)

    Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

  14. Communication and cooperation in underwater acoustic networks

    Science.gov (United States)

    Yerramalli, Srinivas

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

  15. Getting Lost Through Navigation

    DEFF Research Database (Denmark)

    Debus, Michael S.

    2017-01-01

    In this presentation, I argued two things. First, that it is navigation that lies at the core of contemporary (3D-) videogames and that its analysis is of utmost importance. Second, that this analysis needs a more rigorous differentiation between specific acts of navigation. Considering the Oxford...... in videogames is a configurational rather than an interpretational one (Eskelinen 2001). Especially in the case of game spaces, navigation appears to be of importance (Wolf 2009; Flynn 2008). Further, it does not only play a crucial role for the games themselves, but also for the experience of the player...

  16. Inertial navigation without accelerometers

    Science.gov (United States)

    Boehm, M.

    The Kennedy-Thorndike (1932) experiment points to the feasibility of fiber-optic inertial velocimeters, to which state-of-the-art technology could furnish substantial sensitivity and accuracy improvements. Velocimeters of this type would obviate the use of both gyros and accelerometers, and allow inertial navigation to be conducted together with vehicle attitude control, through the derivation of rotation rates from the ratios of the three possible velocimeter pairs. An inertial navigator and reference system based on this approach would probably have both fewer components and simpler algorithms, due to the obviation of the first level of integration in classic inertial navigators.

  17. Fundamental studies of passivity and passivity breakdown

    International Nuclear Information System (INIS)

    Macdonald, D.D.; Urquidi-Macdonald, M.; Song, H.; Biaggio-Rocha, S.; Searson, P.

    1991-11-01

    This report summarizes the findings of our fundamental research program on passivity and passivity breakdown. During the past three and one half years in this program (including the three year incrementally-funded grant prior to the present grant), we developed and experimentally tested various physical models for the growth and breakdown of passive films on metal surfaces. These models belong to a general class termed ''point defects models'' (PDMs), in which the growth and breakdown of passive films are described in terms of the movement of anion and cation vacancies

  18. Stability analysis of hybrid-driven underwater glider

    Science.gov (United States)

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

    2017-10-01

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

  19. Laboratory Evaluation of Underwater Grouting of CPP-603 Basins

    International Nuclear Information System (INIS)

    Johnson, V.J.; Pao, J.H.; Demmer, R.L.; Tripp, J.L.

    2002-01-01

    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

  20. Model-based processing for underwater acoustic arrays

    CERN Document Server

    Sullivan, Edmund J

    2015-01-01

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

  1. Semiotic resources for navigation

    DEFF Research Database (Denmark)

    Due, Brian Lystgaard; Lange, Simon Bierring

    2018-01-01

    This paper describes two typical semiotic resources blind people use when navigating in urban areas. Everyone makes use of a variety of interpretive semiotic resources and senses when navigating. For sighted individuals, this especially involves sight. Blind people, however, must rely on everything...... else than sight, thereby substituting sight with other modalities and distributing the navigational work to other semiotic resources. Based on a large corpus of fieldwork among blind people in Denmark, undertaking observations, interviews, and video recordings of their naturally occurring practices...... of walking and navigating, this paper shows how two prototypical types of semiotic resources function as helpful cognitive extensions: the guide dog and the white cane. This paper takes its theoretical and methodological perspective from EMCA multimodal interaction analysis....

  2. USACE Navigation Channels 2012

    Data.gov (United States)

    California Natural Resource Agency — This dataset represents both San Francisco and Los Angeles District navigation channel lines. All San Francisco District channel lines were digitized from CAD files...

  3. Visual Guided Navigation

    National Research Council Canada - National Science Library

    Banks, Martin

    1999-01-01

    .... Similarly, the problem of visual navigation is the recovery of an observer's self-motion with respect to the environment from the moving pattern of light reaching the eyes and the complex of extra...

  4. Tinnitus Patient Navigator

    Science.gov (United States)

    ... Cure About Us Initiatives News & Events Professional Resources Tinnitus Patient Navigator Want to get started on the ... unique and may require a different treatment workflow. Tinnitus Health-Care Providers If you, or someone you ...

  5. Evaluation of navigation interfaces in virtual environments

    Science.gov (United States)

    Mestre, Daniel R.

    2014-02-01

    When users are immersed in cave-like virtual reality systems, navigational interfaces have to be used when the size of the virtual environment becomes larger than the physical extent of the cave floor. However, using navigation interfaces, physically static users experience self-motion (visually-induced vection). As a consequence, sensorial incoherence between vision (indicating self-motion) and other proprioceptive inputs (indicating immobility) can make them feel dizzy and disoriented. We tested, in two experimental studies, different locomotion interfaces. The objective was twofold: testing spatial learning and cybersickness. In a first experiment, using first-person navigation with a flystick ®, we tested the effect of sensorial aids, a spatialized sound or guiding arrows on the ground, attracting the user toward the goal of the navigation task. Results revealed that sensorial aids tended to impact negatively spatial learning. Moreover, subjects reported significant levels of cybersickness. In a second experiment, we tested whether such negative effects could be due to poorly controlled rotational motion during simulated self-motion. Subjects used a gamepad, in which rotational and translational displacements were independently controlled by two joysticks. Furthermore, we tested first- versus third-person navigation. No significant difference was observed between these two conditions. Overall, cybersickness tended to be lower, as compared to experiment 1, but the difference was not significant. Future research should evaluate further the hypothesis of the role of passively perceived optical flow in cybersickness, but manipulating the virtual environment'sperrot structure. It also seems that video-gaming experience might be involved in the user's sensitivity to cybersickness.

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

    Directory of Open Access Journals (Sweden)

    Shaorong XIE

    2014-02-01

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

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

    Directory of Open Access Journals (Sweden)

    Safdar Hussain Bouk

    2016-01-01

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

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

    KAUST Repository

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

    2017-01-01

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

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

    Digital Repository Service at National Institute of Oceanography (India)

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

  10. Target Detection Based on EBPSK Satellite Passive Radar

    Directory of Open Access Journals (Sweden)

    Lu Zeyuan

    2015-05-01

    Full Text Available Passive radar is a topic anti stealth technology with simple structure, and low cost. Radiation source model, signal transmission model, and target detection are the key points of passive radar technology research. The paper analyzes the characteristics of EBPSK signal modulation and target detection method aspect of spaceborne radiant source. By comparison with other satellite navigation and positioning system, the characteristics of EBPSK satellite passive radar system are analyzed. It is proved that the maximum detection range of EBPSK satellite signal can satisfy the needs of the proposed model. In the passive radar model, sparse representation is used to achieve high resolution DOA detection. The comparison with the real target track by simulation demonstrates that effective detection of airborne target using EBPSK satellite passive radar system based on sparse representation is efficient.

  11. Underwater laser beam welding of Alloy 690

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  12. Cymbal and BB underwater transducers and arrays

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-09-01

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

  13. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-02-15

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

  14. Underwater noise modelling for environmental impact assessment

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  15. Ocean Research Enabled by Underwater Gliders.

    Science.gov (United States)

    Rudnick, Daniel L

    2016-01-01

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

  16. Equipment and appliances for underwater operations. Pt. 2

    International Nuclear Information System (INIS)

    Krueger, P.

    1976-01-01

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

  17. MEDITERRANEAN: Underwater neutrinos get off the ground

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

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

  18. Inspecting the inside of underwater hull

    Science.gov (United States)

    Valkovic, Vladivoj; Sudac, Davorin

    2009-05-01

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

  19. Underwater bipedal locomotion by octopuses in disguise.

    Science.gov (United States)

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

    2005-03-25

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

  20. Role of Confined Water in Underwater Adhesion

    Science.gov (United States)

    Dhinojwala, Ali

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

  1. INS integrated motion analysis for autonomous vehicle navigation

    Science.gov (United States)

    Roberts, Barry; Bazakos, Mike

    1991-01-01

    The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

  2. Immunizations: Active vs. Passive

    Science.gov (United States)

    ... Issues Health Issues Health Issues Conditions Injuries & Emergencies Vaccine Preventable Diseases ... Children > Safety & Prevention > Immunizations > Immunizations: Active vs. Passive Safety & ...

  3. Study on underwater plasma arc cutting technology

    International Nuclear Information System (INIS)

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

    1980-01-01

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

  4. Underwater Acoustic Target Tracking: A Review

    Science.gov (United States)

    Han, Ying; Fan, Liying

    2018-01-01

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

  5. Underwater detection by using ultrasonic sensor

    Science.gov (United States)

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

    2017-09-01

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

  6. Afocal viewport optics for underwater imaging

    Science.gov (United States)

    Slater, Dan

    2014-09-01

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

  7. Environmental effects on underwater optical transmission

    Science.gov (United States)

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

    2017-05-01

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

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

    International Nuclear Information System (INIS)

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

    1994-01-01

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

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

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  10. Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Sarton, Christopher

    2003-01-01

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

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

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

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

  12. Hydrogenation of passivated contacts

    Energy Technology Data Exchange (ETDEWEB)

    Nemeth, William; Yuan, Hao-Chih; LaSalvia, Vincenzo; Stradins, Pauls; Page, Matthew R.

    2018-03-06

    Methods of hydrogenation of passivated contacts using materials having hydrogen impurities are provided. An example method includes applying, to a passivated contact, a layer of a material, the material containing hydrogen impurities. The method further includes subsequently annealing the material and subsequently removing the material from the passivated contact.

  13. The attack navigator

    DEFF Research Database (Denmark)

    Probst, Christian W.; Willemson, Jan; Pieters, Wolter

    2016-01-01

    The need to assess security and take protection decisions is at least as old as our civilisation. However, the complexity and development speed of our interconnected technical systems have surpassed our capacity to imagine and evaluate risk scenarios. This holds in particular for risks...... that are caused by the strategic behaviour of adversaries. Therefore, technology-supported methods are needed to help us identify and manage these risks. In this paper, we describe the attack navigator: a graph-based approach to security risk assessment inspired by navigation systems. Based on maps of a socio...

  14. Navigating in higher education

    DEFF Research Database (Denmark)

    Thingholm, Hanne Balsby; Reimer, David; Keiding, Tina Bering

    Denne rapport er skrevet på baggrund af spørgeskemaundersøgelsen – Navigating in Higher Education (NiHE) – der rummer besvarelser fra 1410 bachelorstuderende og 283 undervisere fordelt på ni uddannelser fra Aarhus Universitet: Uddannelsesvidenskab, Historie, Nordisk sprog og litteratur, Informati......Denne rapport er skrevet på baggrund af spørgeskemaundersøgelsen – Navigating in Higher Education (NiHE) – der rummer besvarelser fra 1410 bachelorstuderende og 283 undervisere fordelt på ni uddannelser fra Aarhus Universitet: Uddannelsesvidenskab, Historie, Nordisk sprog og litteratur...

  15. Navigating ‘riskscapes’

    DEFF Research Database (Denmark)

    Gee, Stephanie; Skovdal, Morten

    2017-01-01

    This paper draws on interview data to examine how international health care workers navigated risk during the unprecedented Ebola outbreak in West Africa. It identifies the importance of place in risk perception, including how different spatial localities give rise to different feelings of threat...... or safety, some from the construction of physical boundaries, and others mediated through aspects of social relations, such as trust, communication and team dynamics. Referring to these spatial localities as ‘riskscapes’, the paper calls for greater recognition of the role of place in understanding risk...... perception, and how people navigate risk....

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

    Directory of Open Access Journals (Sweden)

    Filippo Arrichiello

    2013-11-01

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

  17. Compliance Monitoring of Underwater Blasting for Rock Removal at Warrior Point, Columbia River Channel Improvement Project, 2009/2010

    Energy Technology Data Exchange (ETDEWEB)

    Carlson, Thomas J.; Johnson, Gary E.; Woodley, Christa M.; Skalski, J. R.; Seaburg, Adam

    2011-05-10

    The U.S. Army Corps of Engineers, Portland District (USACE) conducted the 20-year Columbia River Channel Improvement Project (CRCIP) to deepen the navigation channel between Portland, Oregon, and the Pacific Ocean to allow transit of fully loaded Panamax ships (100 ft wide, 600 to 700 ft long, and draft 45 to 50 ft). In the vicinity of Warrior Point, between river miles (RM) 87 and 88 near St. Helens, Oregon, the USACE conducted underwater blasting and dredging to remove 300,000 yd3 of a basalt rock formation to reach a depth of 44 ft in the Columbia River navigation channel. The purpose of this report is to document methods and results of the compliance monitoring study for the blasting project at Warrior Point in the Columbia River.

  18. Satellite Imagery Assisted Road-Based Visual Navigation System

    Science.gov (United States)

    Volkova, A.; Gibbens, P. W.

    2016-06-01

    There is a growing demand for unmanned aerial systems as autonomous surveillance, exploration and remote sensing solutions. Among the key concerns for robust operation of these systems is the need to reliably navigate the environment without reliance on global navigation satellite system (GNSS). This is of particular concern in Defence circles, but is also a major safety issue for commercial operations. In these circumstances, the aircraft needs to navigate relying only on information from on-board passive sensors such as digital cameras. An autonomous feature-based visual system presented in this work offers a novel integral approach to the modelling and registration of visual features that responds to the specific needs of the navigation system. It detects visual features from Google Earth* build a feature database. The same algorithm then detects features in an on-board cameras video stream. On one level this serves to localise the vehicle relative to the environment using Simultaneous Localisation and Mapping (SLAM). On a second level it correlates them with the database to localise the vehicle with respect to the inertial frame. The performance of the presented visual navigation system was compared using the satellite imagery from different years. Based on comparison results, an analysis of the effects of seasonal, structural and qualitative changes of the imagery source on the performance of the navigation algorithm is presented. * The algorithm is independent of the source of satellite imagery and another provider can be used

  19. Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring

    Directory of Open Access Journals (Sweden)

    Petter Norgren

    2014-10-01

    Full Text Available Due to the receding sea-ice extent in the Arctic, and the potentially large undiscovered petroleum resources present north of the Arctic circle, offshore activities in ice-infested waters are increasing. Due to the presence of drifting sea-ice and icebergs, ice management (IM becomes an important part of the offshore operation, and an important part of an IM system is the ability to reliably monitor the ice conditions. An autonomous underwater vehicle (AUV has a unique capability of high underwater spatial and temporal coverage, making it suitable for monitoring applications. Since the first Arctic AUV deployment in 1972, AUV technology has matured and has been used in complex under-ice operations. This paper motivates the use of AUVs as an ice-monitoring sensor platform. It discusses relevant sensor capabilities and challenges related to communication and navigation. This paper also presents experiences from a field campaign that took place in Ny-Aalesund at Svalbard in January 2014, where a REMUS 100 AUV was used for sea-floor mapping and collection of oceanographic parameters. Based on this, we discuss the experiences related to using AUVs for ice-monitoring. We conclude that AUVs are highly applicable for ice-monitoring, but further research is needed.

  20. Navigating on handheld displays: Dynamic versus Static Keyhole Navigation

    NARCIS (Netherlands)

    Mehra, S.; Werkhoven, P.; Worring, M.

    2006-01-01

    Handheld displays leave little space for the visualization and navigation of spatial layouts representing rich information spaces. The most common navigation method for handheld displays is static peephole navigation: The peephole is static and we move the spatial layout behind it (scrolling). A

  1. Improving Canada's Marine Navigation System through e-Navigation

    Directory of Open Access Journals (Sweden)

    Daniel Breton

    2016-06-01

    The conclusion proposed is that on-going work with key partners and stakeholders can be used as the primary mechanism to identify e-Navigation related innovation and needs, and to prioritize next steps. Moving forward in Canada, implementation of new e-navigation services will continue to be stakeholder driven, and used to drive improvements to Canada's marine navigation system.

  2. High–Level Control System for Biomimetic Autonomous Under-water Vehicle

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2017-01-01

    Full Text Available Usually, a rough software architecture designed for a robot can be can be shortly presented in the form of layers. The lowest layer is responsible for direct control of the hardware, i.e. engines, energy system, sensors, navigation devices, etc. A next layer is a low–level control which knows how to use the hardware in order to achieve a desired state of the robot, e.g. to stay on a desired course. And the last layer, the layer which is the nearest to the human–operator, is a high–level control which decides how to use the low–level control and sometimes also individual pieces of the hardware to achieve predefined objectives. The paper describes architecture, tasks and operation of the high–level control system (HLCS designed for Biomimetic Autonomous Underwater Vehicle (BAUV.

  3. Robust controller with adaptation within the boundary layer: application to nuclear underwater inspection robot

    International Nuclear Information System (INIS)

    Park, Gee Yong; Yoon, Ji Sup; Hong, Dong Hee; Jeong, Jae Hoo

    2002-01-01

    In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improve control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer. Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement

  4. WODA technical guidance on underwater sound from dredging

    NARCIS (Netherlands)

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

    2016-01-01

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

  5. Evaluating the SCC resistance of underwater welds in sodium tetrathionate

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  6. Underwater laser cladding and seal welding for INCONEL 52

    International Nuclear Information System (INIS)

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

    2007-01-01

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

  7. Underwater methods for study of salmonids in the Intermountain West

    Science.gov (United States)

    Russell F. Thurow

    1994-01-01

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

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

    NARCIS (Netherlands)

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

    2013-01-01

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

  9. Nautical Navigation Aids (NAVAID) Locations

    Data.gov (United States)

    Department of Homeland Security — Structures intended to assist a navigator to determine position or safe course, or to warn of dangers or obstructions to navigation. This dataset includes lights,...

  10. Inland Electronic Navigational Charts (IENC)

    Data.gov (United States)

    Army Corps of Engineers, Department of the Army, Department of Defense — These Inland Electronic Navigational Charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

  11. Navigating ECA-Zones

    DEFF Research Database (Denmark)

    Hansen, Carsten Ørts; Grønsedt, Peter; Hendriksen, Christian

    This report examines the effect that ECA-zone regulation has on the optimal vessel fuel strategies for compliance. The findings of this report are trifold, and this report is coupled with a calculation tool which is released to assist ship-owners in the ECA decision making. The first key insight...... much time their operated vessels navigate the ECA in the future....

  12. A man-made object detection for underwater TV

    Science.gov (United States)

    Cheng, Binbin; Wang, Wenwu; Chen, Yao

    2018-03-01

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

  13. Acquisition and tracking for underwater optical communications

    Science.gov (United States)

    Williams, Andrew J.; Laycock, Leslie L.; Griffith, Michael S.; McCarthy, Andrew G.; Rowe, Duncan P.

    2017-10-01

    There is a growing requirement to transfer large volumes of data between underwater platforms. As seawater is transmissive in the visible band, underwater optical communications is an active area of interest since it offers the potential for power efficient, covert and high bandwidth datalinks at short to medium ranges. Short range systems have been successfully demonstrated using sources with low directionality. To realise higher data rates and/or longer ranges, the use of more efficient directional beams is required; by necessity, these must be sufficiently aligned to achieve the required link margin. For mobile platforms, the acquisition and tracking of each node is therefore critical in order to establish and maintain an optical datalink. This paper describes work undertaken to demonstrate acquisition and tracking in a 3D underwater environment. A range of optical sources, beam steering technologies, and tracking sensors have been assessed for suitability. A novel scanning strategy exploiting variable beam divergence was developed to provide robust acquisition whilst minimising acquisition time. A prototype system was assembled and demonstrated in a large water tank. This utilised custom quadrant detectors based on Silicon PhotoMultiplier (SiPM) arrays for fine tracking, and a Wide Field of View (WFoV) sCMOS camera for link acquisition. Fluidic lenses provided dynamic control of beam divergence, and AC modulation/filtering enabled background rejection. The system successfully demonstrated robust optical acquisition and tracking between two nodes with only nanowatt received optical powers. The acquisition time was shown to be dependent on the initial conditions and the transmitted optical power.

  14. Navigation studies based on the ubiquitous positioning technologies

    Science.gov (United States)

    Ye, Lei; Mi, Weijie; Wang, Defeng

    2007-11-01

    This paper summarized the nowadays positioning technologies, such as absolute positioning methods and relative positioning methods, indoor positioning and outdoor positioning, active positioning and passive positioning. Global Navigation Satellite System (GNSS) technologies were introduced as the omnipresent out-door positioning technologies, including GPS, GLONASS, Galileo and BD-1/2. After analysis of the shortcomings of GNSS, indoor positioning technologies were discussed and compared, including A-GPS, Cellular network, Infrared, Electromagnetism, Computer Vision Cognition, Embedded Pressure Sensor, Ultrasonic, RFID (Radio Frequency IDentification), Bluetooth, WLAN etc.. Then the concept and characteristics of Ubiquitous Positioning was proposed. After the ubiquitous positioning technologies contrast and selection followed by system engineering methodology, a navigation system model based on Incorporate Indoor-Outdoor Positioning Solution was proposed. And this model was simulated in the Galileo Demonstration for World Expo Shanghai project. In the conclusion, the prospects of ubiquitous positioning based navigation were shown, especially to satisfy the public location information acquiring requirement.

  15. Oral and maxillofacial surgery with computer-assisted navigation system.

    Science.gov (United States)

    Kawachi, Homare; Kawachi, Yasuyuki; Ikeda, Chihaya; Takagi, Ryo; Katakura, Akira; Shibahara, Takahiko

    2010-01-01

    Intraoperative computer-assisted navigation has gained acceptance in maxillofacial surgery with applications in an increasing number of indications. We adapted a commercially available wireless passive marker system which allows calibration and tracking of virtually every instrument in maxillofacial surgery. Virtual computer-generated anatomical structures are displayed intraoperatively in a semi-immersive head-up display. Continuous observation of the operating field facilitated by computer assistance enables surgical navigation in accordance with the physician's preoperative plans. This case report documents the potential for augmented visualization concepts in surgical resection of tumors in the oral and maxillofacial region. We report a case of T3N2bM0 carcinoma of the maxillary gingival which was surgically resected with the assistance of the Stryker Navigation Cart System. This system was found to be useful in assisting preoperative planning and intraoperative monitoring.

  16. Leakage warning system for flexible underwater pipelines

    Energy Technology Data Exchange (ETDEWEB)

    Moeller, E; Bernstein, L

    1985-08-01

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

  17. Underwater Sound Propagation from Marine Pile Driving.

    Science.gov (United States)

    Reyff, James A

    2016-01-01

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

  18. Underwater photography - A visual survey method

    Digital Repository Service at National Institute of Oceanography (India)

    Sharma, R.

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

  19. Water waves generated by underwater explosion

    CERN Document Server

    Mehaute, Bernard Le

    1996-01-01

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

  20. Radon dynamics in underwater thermal radon therapy

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  1. Underwater Activities in the Soviet Union

    Science.gov (United States)

    1975-03-01

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

  2. Hydraulic lifter for an underwater drilling rig

    Energy Technology Data Exchange (ETDEWEB)

    Garan' ko, Yu L

    1981-01-15

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

  3. Forecast of Remote Underwater Sensing Technology.

    Science.gov (United States)

    1980-07-01

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

  4. Working underwater: deepwater drilling support by ROV

    Energy Technology Data Exchange (ETDEWEB)

    1958-01-01

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

  5. Determining spherical lens correction for astronaut training underwater.

    Science.gov (United States)

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

    2011-09-01

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

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

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  7. Control algorithms for autonomous robot navigation

    International Nuclear Information System (INIS)

    Jorgensen, C.C.

    1985-01-01

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced

  8. A scalable global positioning system-free localization scheme for underwater wireless sensor networks

    KAUST Repository

    Mohammed, A.M.

    2013-05-07

    Seaweb is an acoustic communication technology that enables communication between sensor nodes. Seaweb technology utilizes the commercially available telesonar modems that has developed link and network layer firmware to provide a robust undersea communication capability. Seaweb interconnects the underwater nodes through digital signal processing-based modem by using acoustic links between the neighboring sensors. In this paper, we design and investigate a global positioning system-free passive localization protocol by integrating the innovations of levelling and localization with the Seaweb technology. This protocol uses the range data and planar trigonometry principles to estimate the positions of the underwater sensor nodes. Moreover, for precise localization, we consider more realistic conditions namely, (a) small displacement of sensor nodes due to watch circles and (b) deployment of sensor nodes over non-uniform water surface. Once the nodes are localized, we divide the whole network field into circular levels and sectors to minimize the traffic complexity and thereby increases the lifetime of the sensor nodes in the network field. We then form the mesh network inside each of the sectors that increases the reliability. The algorithm is designed in such a way that it overcomes the ambiguous nodes errata and reflected paths and therefore makes the algorithm more robust. The synthetic network geometries are so designed which can evaluate the algorithm in the presence of perfect or imperfect ranges or in case of incomplete data. A comparative study is made with the existing algorithms which proves the efficiency of our newly proposed algorithm. 2013 Mohammed et al.

  9. Underwater sediment-contact radiation survey method

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  10. Underwater inspection training in intense radiation field

    International Nuclear Information System (INIS)

    Taniguchi, Ryoichi

    2017-01-01

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

  11. Underwater noise from a wave energy converter

    DEFF Research Database (Denmark)

    Tougaard, Jakob

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

  12. Hybrid Underwater Vehicle: ARV Design and Development

    Directory of Open Access Journals (Sweden)

    Zhigang DENG

    2014-02-01

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

  13. An explanatory model of underwater adaptation

    Directory of Open Access Journals (Sweden)

    Joaquín Colodro

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

  14. Modelling cavitating flow around underwater missiles

    Directory of Open Access Journals (Sweden)

    Fabien Petitpas

    2011-12-01

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

  15. Towards Visual Navigation of an Autonomous Underwater Vehicle in Areas with Posidonia Oceanica

    Directory of Open Access Journals (Sweden)

    Francisco Bonin-Font

    2017-12-01

    Full Text Available This paper presents an exhaustive, extensive and detailed experimental assessment of different types of visual key-points in terms of robustness, stability and traceability, in images taken in marine areas densely colonized with Posidonia Oceanica (P.O.. This work has been focused mainly in two issues: a evaluating the  capacity of several image color and contrast enhancing preprocessing techniques to increase the image quality and the number of stable features, and b finding the pair feature detector/descriptor, from a wide range of different combinations, that maximizes the number of inlier correspondences in consecutive frames or frames that close a loop (images that overlap, taken at distant time instants, from different viewpoints or even with different environmental conditions. Conclusions extracted from both evaluations will affect directly the quality of visual odometers and/or the image registration processes involved in visual SLAM approaches.

  16. Advanced Unmanned Search System (AUSS) Surface Navigation, Underwater Tracking, and Transponder Network Calibration

    Science.gov (United States)

    1992-09-01

    5 ENTER PULSE REP PERIOD ................................ 900 ENTER RETURN TO TOP LEVEL C-5 26. SBS1 RECEIVER ----- HYDROPHONE ----- HYDRI ...HYDROPHONE ----- HYDRI PRECISION RETURN 1 LEVEL 29. HEADING INPUT ------ GYRO 1 ------ CONTINUE RANGE GATE OFF ----- FILTER OFF RETURN TO TOP LEVEL 30...700 ENTER RETURN TO TOP LEVEL 12. SBSI RECEIVER ------ HYDROPHONE ------ HYDRI PRECISION RETURN 1 LEVEL 13. HEADING INPUT ------ GYRO 1

  17. A spiral wave front beacon for underwater navigation: transducer prototypes and testing.

    Science.gov (United States)

    Dzikowicz, Benjamin R; Hefner, Brian T

    2012-05-01

    Transducers for acoustic beacons which can produce outgoing signals with wave fronts whose horizontal cross sections are circular or spiral are studied experimentally. A remote hydrophone is used to determine its aspect relative to the transducers by comparing the phase of the circular signal to the phase of the spiral signal. The transducers for a "physical-spiral" beacon are made by forming a strip of 1-3 piezocomposite transducer material around either a circular or spiral backing. A "phased-spiral" beacon is made from an array of transducer elements which can be driven either in phase or staggered out of phase so as to produce signals with either a circular or spiral wave front. Measurements are made to study outgoing signals and their usefulness in determining aspect angle. Vertical beam width is also examined and phase corrections applied when the hydrophone is out of the horizontal plane of the beacon. While numerical simulations indicate that the discontinuity in the physical-spiral beacon introduces errors into the measured phase, damping observed at the ends of the piezocomposite material is a more significant source of error. This damping is also reflected in laser Doppler vibrometer measurements of the transducer's surface velocity.

  18. Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Andersen, Jens Christian

    2007-01-01

    the current position to a desired destination. This thesis presents and experimentally validates solutions for road classification, obstacle avoidance and mission execution. The road classification is based on laser scanner measurements and supported at longer ranges by vision. The road classification...... is sufficiently sensitive to separate the road from flat roadsides, and to distinguish asphalt roads from gravelled roads. The vision-based road detection uses a combination of chromaticity and edge detection to outline the traversable part of the road based on a laser scanner classified sample area....... The perception of these two sensors are utilised by a path planner to allow a number of drive modes, and especially the ability to follow road edges are investigated. The navigation mission is controlled by a script language. The navigation script controls route sequencing, junction detection, junction crossing...

  19. Underwater cladding with laser beam and plasma arc welding

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  20. The influence of underwater turbulence on optical phase measurements

    Science.gov (United States)

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

    2016-05-01

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

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

    International Nuclear Information System (INIS)

    Takayama, Kazuhiko.

    1997-01-01

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

  2. Passive magnetic bearing configurations

    Science.gov (United States)

    Post, Richard F [Walnut Creek, CA

    2011-01-25

    A journal bearing provides vertical and radial stability to a rotor of a passive magnetic bearing system when the rotor is not rotating and when it is rotating. In the passive magnetic bearing system, the rotor has a vertical axis of rotation. Without the journal bearing, the rotor is vertically and radially unstable when stationary, and is vertically stable and radially unstable when rotating.

  3. New Navigation Post-Processing Tools for Oceanographic Submersibles

    Science.gov (United States)

    Kinsey, J. C.; Whitcomb, L. L.; Yoerger, D. R.; Howland, J. C.; Ferrini, V. L.; Hegrenas, O.

    2006-12-01

    We report the development of Navproc, a new set of software tools for post-processing oceanographic submersible navigation data that exploits previously reported improvements in navigation sensing and estimation (e.g. Eos Trans. AGU, 84(46), Fall Meet. Suppl., Abstract OS32A- 0225, 2003). The development of these tools is motivated by the need to have post-processing software that allows users to compensate for errors in vehicle navigation, recompute the vehicle position, and then save the results for use with quantitative science data (e.g. bathymetric sonar data) obtained during the mission. Navproc does not provide real-time navigation or display of data nor is it capable of high-resolution, three dimensional (3D) data display. Navproc supports the ASCII data formats employed by the vehicles of the National Deep Submergence Facility (NDSF) operated by the Woods Hole Oceanographic Institution (WHOI). Post-processing of navigation data with Navproc is comprised of three tasks. First, data is converted from the logged ASCII file to a binary Matlab file. When loaded into Matlab, each sensor has a data structure containing the time stamped data sampled at the native update rate of the sensor. An additional structure contains the real-time vehicle navigation data. Second, the data can be displayed using a Graphical User Interface (GUI), allowing users to visually inspect the quality of the data and graphically extract portions of the data. Third, users can compensate for errors in the real-time vehicle navigation. Corrections include: (i) manual filtering and median filtering of long baseline (LBL) ranges; (ii) estimation of the Doppler/gyro alignment using previously reported methodologies; and (iii) sound velocity, tide, and LBL transponder corrections. Using these corrections, the Doppler and LBL positions can be recomputed to provide improved estimates of the vehicle position compared to those computed in real-time. The data can be saved in either binary or ASCII

  4. 33 CFR 2.36 - Navigable waters of the United States, navigable waters, and territorial waters.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Navigable waters of the United States, navigable waters, and territorial waters. 2.36 Section 2.36 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY GENERAL JURISDICTION Jurisdictional Terms § 2.36 Navigable waters...

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  6. Passive solar construction handbook

    Energy Technology Data Exchange (ETDEWEB)

    Levy, E.; Evans, D.; Gardstein, C.

    1981-08-01

    Many of the basic elements of passive solar design are reviewed. The unique design constraints presented in passive homes are introduced and many of the salient issues influencing design decisions are described briefly. Passive solar construction is described for each passive system type: direct gain, thermal storage wall, attached sunspace, thermal storage roof, and convective loop. For each system type, important design and construction issues are discussed and case studies illustrating designed and built examples of the system type are presented. Construction details are given and construction and thermal performance information is given for the materials used in collector components, storage components, and control components. Included are glazing materials, framing systems, caulking and sealants, concrete masonry, concrete, brick, shading, reflectors, and insulators. The Load Collector Ratio method for estimating passive system performance is appended, and other analysis methods are briefly summarized. (LEW)

  7. Summary of the guideline on underwater laser beam repair welding

    International Nuclear Information System (INIS)

    Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

    2013-01-01

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

  8. A Secure Communication Suite for Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Angelica Lo Duca

    2012-11-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-09-01

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

  10. WODA Technical Guidance on Underwater Sound from Dredging.

    Science.gov (United States)

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

    2016-01-01

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

  11. Development of underwater laser cladding and underwater laser seal welding techniques for reactor components

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Tanaka, Yoshimi; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Matsunaga, Keiji

    2009-01-01

    Stress corrosion cracking (SCC) has been reported at the aged components in many nuclear power plants. Toshiba has been developing the underwater laser welding. This welding technique can be conducted without draining the water in the reactor vessel. It is beneficial for workers not to exposure the radiation. The welding speed can be attaining twice as fast as that of Gas Tungsten Arc Welding (GTAW). The susceptibility of SCC can also be lower than the Alloy 600 base metal. (author)

  12. Development of a submersible gravimeter on underwater vehicles

    Science.gov (United States)

    Yamada, T.; Kanazawa, T.; Fujimoto, H.; Shinohara, M.; Ishihara, T.; Araya, A.; Iizasa, K.; Tsukioka, S.

    2012-12-01

    Gravity is one of the powerful indices to profile underground structures. Surface ship gravimeters are popular tool for the purpose of collecting gravity values in marine region. They enable you to obtain gravity values from large area easily, while the resolutions are relatively low because of the distance between the sea surface and bottom. Otherwise, ocean bottom gravimeters are able to be observed gravity with high resolution, but they have still covered few limited sites so that they are designed to do observation in quiet only. In some cases, such as hydrothermal deposit survey, the medium performance both in resolution and size of survey area are required. This paper describes a gravimeter we have been developing for satisfying the requirements. Our target is to detect gravity anomalies less than 1 mgal by using an underwater vehicle. This setting is roughly equivalent to find a typical hydrothermal deposit with a dimension of 0.5 km x 0.5 km x 10 m and a density contrast of 1 g/cm3 when we set the sensor at 50 m high from the seafloor. There are some issues such as noise reduction, robustness and downsizing to clear the target. A gravity sensor (Micro-g LaCoste S-174) is mounted on a gimbal control unit with an inertial navigation sensor for the problems. These are stored in a sphere vessel made of titanium alloy (125 kgf in air, 32 kgf in water) and it is available in 3500 m below sea surface. Furthermore, in order to reduce high frequency noise due to mainly the vehicle motion through a low-pass filter, data are able to be stored at sampling rates of approximately 100 Hz. The logging system and control unit for communication to/from ship is stored another canister (22 kgf in air, 10 kgf in water). We made gravity measurement experiments to examine the effectiveness of the gimbal system and filtering application. The gravimeter was set on a machine simulating pitch and roll motions with a period of 16 s and an amplitude of 7.5 degrees, which is greater

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

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

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

  14. Electrolocation-based underwater obstacle avoidance using wide-field integration methods

    International Nuclear Information System (INIS)

    Dimble, Kedar D; Faddy, James M; Humbert, J Sean

    2014-01-01

    Weakly electric fish are capable of efficiently performing obstacle avoidance in dark and navigationally challenging aquatic environments using electrosensory information. This sensory modality enables extraction of relevant proximity information about surrounding obstacles by interpretation of perturbations induced to the fish’s self-generated electric field. In this paper, reflexive obstacle avoidance is demonstrated by extracting relative proximity information using spatial decompositions of the perturbation signal, also called an electric image. Electrostatics equations were formulated for mathematically expressing electric images due to a straight tunnel to the electric field generated with a planar electro-sensor model. These equations were further used to design a wide-field integration based static output feedback controller. The controller was implemented in quasi-static simulations for environments with complicated geometries modelled using finite element methods to demonstrate sense and avoid behaviours. The simulation results were confirmed by performing experiments using a computer operated gantry system in environments lined with either conductive or non-conductive objects acting as global stimuli to the field of the electro-sensor. The proposed approach is computationally inexpensive and readily implementable, making underwater autonomous navigation in real-time feasible. (paper)

  15. Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints

    Directory of Open Access Journals (Sweden)

    Ricard Campos

    2016-03-01

    Full Text Available Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project.

  16. Passivity and Evolutionary Game Dynamics

    KAUST Repository

    Park, Shinkyu; Shamma, Jeff S.; Martins, Nuno C.

    2018-01-01

    This paper investigates an energy conservation and dissipation -- passivity -- aspect of dynamic models in evolutionary game theory. We define a notion of passivity using the state-space representation of the models, and we devise systematic methods to examine passivity and to identify properties of passive dynamic models. Based on the methods, we describe how passivity is connected to stability in population games and illustrate stability of passive dynamic models using numerical simulations.

  17. Passivity and Evolutionary Game Dynamics

    KAUST Repository

    Park, Shinkyu

    2018-03-21

    This paper investigates an energy conservation and dissipation -- passivity -- aspect of dynamic models in evolutionary game theory. We define a notion of passivity using the state-space representation of the models, and we devise systematic methods to examine passivity and to identify properties of passive dynamic models. Based on the methods, we describe how passivity is connected to stability in population games and illustrate stability of passive dynamic models using numerical simulations.

  18. The NESTOR underwater neutrino telescope project

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-04-11

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

  19. Transducers and arrays for underwater sound

    CERN Document Server

    Butler, John L

    2016-01-01

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

  20. Collision Detection for Underwater ROV Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Satja Sivčev

    2018-04-01

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

  1. The NESTOR underwater neutrino telescope project

    International Nuclear Information System (INIS)

    Rapidis, Petros A.

    2009-01-01

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

  2. Silent Localization of Underwater Sensors Using Magnetometers

    Directory of Open Access Journals (Sweden)

    Jonas Callmer

    2010-01-01

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

  3. Indoor navigation by image recognition

    Science.gov (United States)

    Choi, Io Teng; Leong, Chi Chong; Hong, Ka Wo; Pun, Chi-Man

    2017-07-01

    With the progress of smartphones hardware, it is simple on smartphone using image recognition technique such as face detection. In addition, indoor navigation system development is much slower than outdoor navigation system. Hence, this research proves a usage of image recognition technique for navigation in indoor environment. In this paper, we introduced an indoor navigation application that uses the indoor environment features to locate user's location and a route calculating algorithm to generate an appropriate path for user. The application is implemented on Android smartphone rather than iPhone. Yet, the application design can also be applied on iOS because the design is implemented without using special features only for Android. We found that digital navigation system provides better and clearer location information than paper map. Also, the indoor environment is ideal for Image recognition processing. Hence, the results motivate us to design an indoor navigation system using image recognition.

  4. Underwater colorectal EMR: remodeling endoscopic mucosal resection.

    Science.gov (United States)

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

    2015-05-01

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

  5. Morphing hull implementation for unmanned underwater vehicles

    Science.gov (United States)

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

    2013-11-01

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

  6. Morphing hull implementation for unmanned underwater vehicles

    International Nuclear Information System (INIS)

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

    2013-01-01

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

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

    KAUST Repository

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2017-10-01

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

  9. Digital sonar design in underwater acoustics principles and applications

    CERN Document Server

    Li, Qihu

    2012-01-01

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

  10. Trade-off Analysis of Underwater Acoustic Sensor Networks

    Science.gov (United States)

    Tuna, G.; Das, R.

    2017-09-01

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

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

    KAUST Repository

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

    2017-01-01

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

  12. Study of archaeological underwater finds: deterioration and conservation

    Science.gov (United States)

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

    2010-09-01

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

  13. Wireless Underwater Monitoring Systems Based on Energy Harvestings

    Directory of Open Access Journals (Sweden)

    Sea-Hee HWANGBO

    2013-01-01

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

  14. Underwater target positioning with a single acoustic sensor

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  15. Filming Underwater in 3d Respecting Stereographic Rules

    Science.gov (United States)

    Rinaldi, R.; Hordosch, H.

    2015-04-01

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

  16. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    Directory of Open Access Journals (Sweden)

    R. Rinaldi

    2015-04-01

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

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

    Directory of Open Access Journals (Sweden)

    Ahmed Hawass

    2015-12-01

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

  18. Low-contrast underwater living fish recognition using PCANet

    Science.gov (United States)

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

    2018-04-01

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

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

    Science.gov (United States)

    Hu, Han

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

  20. Object detection from images obtained through underwater turbulence medium

    Science.gov (United States)

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

    2017-09-01

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

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

    Sep 7, 2017 ... existing models to assess their effectiveness and to investigate the trade-offs. Results show ... coverage drops below a predefined threshold and (vi) connectivity is .... Cost Clustering Protocol (MCCP), Distributed Underwater.

  2. Passive mapping and intermittent exploration for mobile robots

    Science.gov (United States)

    Engleson, Sean P.

    1994-01-01

    An adaptive state space architecture is combined with diktiometric representation to provide the framework for designing a robot mapping system with flexible navigation planning tasks. This involves indexing waypoints described as expectations, geometric indexing, and perceptual indexing. Matching and updating the robot's projected position and sensory inputs with indexing waypoints involves matchers, dynamic priorities, transients, and waypoint restructuring. The robot's map learning can be opganized around the principles of passive mapping.

  3. China Satellite Navigation Conference

    CERN Document Server

    Liu, Jingnan; Fan, Shiwei; Wang, Feixue

    2016-01-01

    These Proceedings present selected research papers from CSNC2016, held during 18th-20th May in Changsha, China. The theme of CSNC2016 is Smart Sensing, Smart Perception. These papers discuss the technologies and applications of the Global Navigation Satellite System (GNSS), and the latest progress made in the China BeiDou System (BDS) especially. They are divided into 12 topics to match the corresponding sessions in CSNC2016, which broadly covered key topics in GNSS. Readers can learn about the BDS and keep abreast of the latest advances in GNSS techniques and applications.

  4. China Satellite Navigation Conference

    CERN Document Server

    Liu, Jingnan; Yang, Yuanxi; Fan, Shiwei; Yu, Wenxian

    2017-01-01

    These proceedings present selected research papers from CSNC2017, held during 23th-25th May in Shanghai, China. The theme of CSNC2017 is Positioning, Connecting All. These papers discuss the technologies and applications of the Global Navigation Satellite System (GNSS), and the latest progress made in the China BeiDou System (BDS) especially. They are divided into 12 topics to match the corresponding sessions in CSNC2017, which broadly covered key topics in GNSS. Readers can learn about the BDS and keep abreast of the latest advances in GNSS techniques and applications.

  5. Understanding satellite navigation

    CERN Document Server

    Acharya, Rajat

    2014-01-01

    This book explains the basic principles of satellite navigation technology with the bare minimum of mathematics and without complex equations. It helps you to conceptualize the underlying theory from first principles, building up your knowledge gradually using practical demonstrations and worked examples. A full range of MATLAB simulations is used to visualize concepts and solve problems, allowing you to see what happens to signals and systems with different configurations. Implementation and applications are discussed, along with some special topics such as Kalman Filter and Ionosphere. W

  6. Aktiv kontra passiv forvaltning

    DEFF Research Database (Denmark)

    Bechmann, Ken L.; Pedersen, Lasse Heje

    2017-01-01

    Fordele og ulemper ved aktiv og passiv forvaltning har fået fornyet opmærksomhed blandt andet i forbindelse med den forestående implementering af MiFID II. Som bidrag til denne diskussion indeholder dette nummer af Finans/Invest tre artikler, der behandler aktiv og passiv forvaltning fra...... forskellige vinkler. Denne leder forklarer, hvorfor valget mellem aktiv og passiv forvaltning er mere kompliceret, end hvad man kunne tro ved første øjekast, og konkluderer, at der vil være plads til - og behov for - begge typer forvaltning....

  7. Most energetic passive states.

    Science.gov (United States)

    Perarnau-Llobet, Martí; Hovhannisyan, Karen V; Huber, Marcus; Skrzypczyk, Paul; Tura, Jordi; Acín, Antonio

    2015-10-01

    Passive states are defined as those states that do not allow for work extraction in a cyclic (unitary) process. Within the set of passive states, thermal states are the most stable ones: they maximize the entropy for a given energy, and similarly they minimize the energy for a given entropy. Here we find the passive states lying in the other extreme, i.e., those that maximize the energy for a given entropy, which we show also minimize the entropy when the energy is fixed. These extremal properties make these states useful to obtain fundamental bounds for the thermodynamics of finite-dimensional quantum systems, which we show in several scenarios.

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

    OpenAIRE

    Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih

    2015-01-01

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

  9. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    OpenAIRE

    R. Rinaldi; H. Hordosch

    2015-01-01

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

  10. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, Walter David

    1999-01-01

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

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

    Institute of Scientific and Technical Information of China (English)

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

    2007-01-01

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

  12. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

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

  13. The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

    Science.gov (United States)

    1997-04-01

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

  14. Monterey Bay ambient noise profiles using underwater gliders

    OpenAIRE

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

    2013-01-01

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

  15. Multitarget Approaches to Robust Navigation

    Data.gov (United States)

    National Aeronautics and Space Administration — The performance, stability, and statistical consistency of a vehicle's navigation algorithm are vitally important to the success and safety of its mission....

  16. Advancements in Optical Navigation Capabilities

    Data.gov (United States)

    National Aeronautics and Space Administration — The Goddard Image Analysis and Navigation Tool (GIANT) is a tool that was developed for the Origins, Spectral Interpretation, Resource Identification,...

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

    Directory of Open Access Journals (Sweden)

    Gang Hu

    2018-01-01

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

  18. Optimal Node Placement in Underwater Acoustic Sensor Network

    KAUST Repository

    Felemban, Muhamad

    2011-10-01

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

  19. Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

    Science.gov (United States)

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

    2014-10-01

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

  20. Collision Avoidance from Multiple Passive Agents with Partially Predictable Behavior

    Directory of Open Access Journals (Sweden)

    Khalil Muhammad Zuhaib

    2017-09-01

    Full Text Available Navigating a robot in a dynamic environment is a challenging task, especially when the behavior of other agents such as pedestrians, is only partially predictable. Also, the kinodynamic constraints on robot motion add an extra challenge. This paper proposes a novel navigational strategy for collision avoidance of a kinodynamically constrained robot from multiple moving passive agents with partially predictable behavior. Specifically, this paper presents a new approach to identify the set of control inputs to the robot, named control obstacle, which leads it towards a collision with a passive agent moving along an arbitrary path. The proposed method is developed by generalizing the concept of nonlinear velocity obstacle (NLVO, which is used to avoid collision with a passive agent, and takes into account the kinodynamic constraints on robot motion. Further, it formulates the navigational problem as an optimization problem, which allows the robot to make a safe decision in the presence of various sources of unmodelled uncertainties. Finally, the performance of the algorithm is evaluated for different parameters and is compared to existing velocity obstacle-based approaches. The simulated experiments show the excellent performance of the proposed approach in term of computation time and success rate.

  1. Learning for Autonomous Navigation

    Science.gov (United States)

    Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

    2005-01-01

    Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

  2. Techniques for active passivation

    Science.gov (United States)

    Roscioli, Joseph R.; Herndon, Scott C.; Nelson, Jr., David D.

    2016-12-20

    In one embodiment, active (continuous or intermittent) passivation may be employed to prevent interaction of sticky molecules with interfaces inside of an instrument (e.g., an infrared absorption spectrometer) and thereby improve response time. A passivation species may be continuously or intermittently applied to an inlet of the instrument while a sample gas stream is being applied. The passivation species may have a highly polar functional group that strongly binds to either water or polar groups of the interfaces, and once bound presents a non-polar group to the gas phase in order to prevent further binding of polar molecules. The instrument may be actively used to detect the sticky molecules while the passivation species is being applied.

  3. Passive radon daughter dosimeters

    International Nuclear Information System (INIS)

    McElroy, R.G.C.; Johnson, J.R.

    1986-03-01

    On the basis of an extensive review of the recent literature concerning passive radon daughter dosimeters, we have reached the following conclusions: 1) Passive dosimeters for measuring radon are available and reliable. 2) There does not presently exist an acceptable passive dosimeter for radon daughters. There is little if any hope for the development of such a device in the foreseeable future. 3) We are pessimistic about the potential of 'semi-passive dosimeters' but are less firm about stating categorically that these devices cannot be developed into a useful radon daughter dosimeter. This report documents and justifies these conclusions. It does not address the question of the worker's acceptance of these devices because at the present time, no device is sufficiently advanced for this question to be meaningful. 118 refs

  4. Passive Mixing inside Microdroplets

    Directory of Open Access Journals (Sweden)

    Chengmin Chen

    2018-04-01

    Full Text Available Droplet-based micromixers are essential units in many microfluidic devices for widespread applications, such as diagnostics and synthesis. The mixers can be either passive or active. When compared to active methods, the passive mixer is widely used because it does not require extra energy input apart from the pump drive. In recent years, several passive droplet-based mixers were developed, where mixing was characterized by both experiments and simulation. A unified physical understanding of both experimental processes and simulation models is beneficial for effectively developing new and efficient mixing techniques. This review covers the state-of-the-art passive droplet-based micromixers in microfluidics, which mainly focuses on three aspects: (1 Mixing parameters and analysis method; (2 Typical mixing element designs and the mixing characters in experiments; and, (3 Comprehensive introduction of numerical models used in microfluidic flow and diffusion.

  5. CANDU passive shutdown systems

    Energy Technology Data Exchange (ETDEWEB)

    Hart, R S; Olmstead, R A [AECL CANDU, Sheridan Park Research Community, Mississauga, ON (Canada)

    1996-12-01

    CANDU incorporates two diverse, passive shutdown systems, independent of each other and from the reactor regulating system. Both shutdown systems function in the low pressure, low temperature, moderator which surrounds the fuel channels. The shutdown systems are functionally different, physically separate, and passive since the driving force for SDS1 is gravity and the driving force for SDS2 is stored energy. The physics of the reactor core itself ensures a degree of passive safety in that the relatively long prompt neutron generation time inherent in the design of CANDU reactors tend to retard power excursions and reduces the speed required for shutdown action, even for large postulated reactivity increases. All passive systems include a number of active components or initiators. Hence, an important aspect of passive systems is the inclusion of fail safe (activated by active component failure) operation. The mechanisms that achieve the fail safe action should be passive. Consequently the passive performance of the CANDU shutdown systems extends beyond their basic modes of operation to include fail safe operation based on natural phenomenon or stored energy. For example, loss of power to the SDS1 clutches results in the drop of the shutdown rods by gravity, loss of power or instrument air to the injection valves of SDS2 results in valve opening via spring action, and rigorous self checking of logic, data and timing by the shutdown systems computers assures a fail safe reactor trip through the collapse of a fluctuating magnetic field or the discharge of a capacitor. Event statistics from operating CANDU stations indicate a significant decrease in protection system faults that could lead to loss of production and elimination of protection system faults that could lead to loss of protection. This paper provides a comprehensive description of the passive shutdown systems employed by CANDU. (author). 4 figs, 3 tabs.

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

    Science.gov (United States)

    2017-09-01

    and sampling handling was met. All calibration criteria and instrument maintenance was met for all final reported data. 23 3.2 QUALITATIVE ...the relatively large size of each sampling box within the grid, there were no issues associated with locating appropriate anchoring locations, based...quantiative, as only estimated sampling rates were available, or spiked recoveries were lower suggesting the results are qualitative . TNT RDX ADNTs

  7. Underwater passive acoustic localization of Pacific walruses in the northeastern Chukchi Sea.

    Science.gov (United States)

    Rideout, Brendan P; Dosso, Stan E; Hannay, David E

    2013-09-01

    This paper develops and applies a linearized Bayesian localization algorithm based on acoustic arrival times of marine mammal vocalizations at spatially-separated receivers which provides three-dimensional (3D) location estimates with rigorous uncertainty analysis. To properly account for uncertainty in receiver parameters (3D hydrophone locations and synchronization times) and environmental parameters (water depth and sound-speed correction), these quantities are treated as unknowns constrained by prior estimates and prior uncertainties. Unknown scaling factors on both the prior and arrival-time uncertainties are estimated by minimizing Akaike's Bayesian information criterion (a maximum entropy condition). Maximum a posteriori estimates for sound source locations and times, receiver parameters, and environmental parameters are calculated simultaneously using measurements of arrival times for direct and interface-reflected acoustic paths. Posterior uncertainties for all unknowns incorporate both arrival time and prior uncertainties. Monte Carlo simulation results demonstrate that, for the cases considered here, linearization errors are small and the lack of an accurate sound-speed profile does not cause significant biases in the estimated locations. A sequence of Pacific walrus vocalizations, recorded in the Chukchi Sea northwest of Alaska, is localized using this technique, yielding a track estimate and uncertainties with an estimated speed comparable to normal walrus swim speeds.

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

    Science.gov (United States)

    2017-09-01

    TNT TOC TSS Low Order Detonation Munitions constituents Munitions Debris Method Detection Limit Munitions and explosives of concern Mean low...Total organic carbon ( TOC ) and grain size distribution from stations A1, T10, T11, and T12 at BSS...16 syringes/stn) TNT, ADNTs, DNTs, RDX 4 locations in BSS based on positive POCIS results Sediment 5 TOC , grain size 4, co-located with sediment

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

    Science.gov (United States)

    2017-06-30

    Research and Development Program [SERDP] project #ER-2542) into the canister would provide enhancement of the quantitative estimation of the TWA...Department of Defense EOD Explosive Ordnance Disposal EPA United States Environmental Protection Agency EQL Environmental Quantitation Limit EST...Laboratory Quantitation Limit MC Munitions Constituents mL Milliliter MR Munitions Response NESDI Navy’s Environmental Security Development to

  10. Passive Gamma-Ray Emission for Underwater Sediment-Disturbance Detection

    Science.gov (United States)

    2017-07-18

    solutions in civil and military engineering , geospatial sciences, water resources, and environmental sciences for the Army, the Department of Defense... Engineer Research and Development Center (ERDC) solves the nation’s toughest engineering and environmental challenges. ERDC develops innovative...Sediment-Disturbance Detection Jay L. Clausen U.S. Army Engineer Research and Development Center (ERDC) Cold Regions Research and Engineering

  11. UNEXMIN H2020 Project: an underwater explorer for flooded mines

    Science.gov (United States)

    Lopes, Luís; Zajzon, Norbert; Bodo, Balázs; Henley, Stephen; Žibret, Gorazd; Almeida, José; Vörös, Csaba; Horvath, Janos; Dizdarevič, Tatjana; Rossi, Claudio; McLoughlin, Mike

    2017-04-01

    UNEXMIN (Underwater Explorer for Flooded Mines, Grant Agreement No. 690008, www.unexmin.eu) is a project funded by the European Commission's HORIZON2020 Framework Programme. The project is developing a multi-platform robotic system for the autonomous exploration and mapping of Europe's flooded mines. The robotic system - UX-1 - will use non-invasive methods for the 3D mapping of abandoned flooded mines, bringing new important geological and mineralogical data that cannot be currently obtained by any other means. This technology will allow the development or update of geological models at local and regional levels. The data collected will then be used to consider new exploration scenarios for the possible re-opening of some of Europe's abandoned mines which may still contain valuable resources of strategic minerals. The deployment of a multi-robotic system in such a confined environment poses challenges that must be overcome so that the robots can work autonomously, without damaging the equipment and the mine itself. Key challenges are related to the i) structural design for robustness and resilience, ii) localization, navigation and 3D mapping, iii) guidance, propulsion and control, iv) autonomous operation and supervision, v) data processing, interpretation and evaluation. The scientific instrument array is currently being tested, built and tailored for the submersible: pH, electrical conductivity, pressure and temperature analyzers and a water sampler (water sampling methods), a magnetic field analyzer, a gamma-ray counter and a sub-bottom profiler (geophysical methods) and a multispectral and UV fluorescence imaging units (optical observation methods). The instruments have been selected to generate data of maximum geoscientific interest, considering the limiting factors of the submerged underground environment, the necessary robotic functions, the size for the robot and other constraints. Other crucial components for the robot's functionality (such as movement

  12. Autonomous Navigation with Constrained Consistency for C-Ranger

    Directory of Open Access Journals (Sweden)

    Shujing Zhang

    2014-06-01

    Full Text Available Autonomous underwater vehicles (AUVs have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM, are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past decades. In this paper, a consistency constrained extended Kalman filter (EKF SLAM algorithm, applying the idea of local consistency, is proposed and applied to the autonomous navigation of the C-Ranger AUV, which is developed as our experimental platform. The concept of local consistency (LC is introduced after an explicit theoretical derivation of the EKF-SLAM system. Then, we present a locally consistency-constrained EKF-SLAM design, LC-EKF, in which the landmark estimates used for linearization are fixed at the beginning of each local time period, rather than evaluated at the latest landmark estimates. Finally, our proposed LC-EKF algorithm is experimentally verified, both in simulations and sea trials. The experimental results show that the LC-EKF performs well with regard to consistency, accuracy and computational efficiency.

  13. DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    2004-10-01

    Full Text Available The RDI WHN-600 Doppler Velocity Log (DVL is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV. HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS. Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a straight-line trajectory, while these errors tend to be cancelled out by a lawn mower pattern_ The paper focuses on the accuracy offered by the DVL. HUGIN 1000 is a permanent organic mine countermeasure (MCM capacity on the Royal Norwegian Navy MCM vessel KNM Karmoy. HUGIN 1000 will be part of the NATO force MCMFORNORTH in fall 2004.

  14. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-10-01

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

  15. Dynamic Transportation Navigation

    Science.gov (United States)

    Meng, Xiaofeng; Chen, Jidong

    Miniaturization of computing devices, and advances in wireless communication and sensor technology are some of the forces that are propagating computing from the stationary desktop to the mobile outdoors. Some important classes of new applications that will be enabled by this revolutionary development include intelligent traffic management, location-based services, tourist services, mobile electronic commerce, and digital battlefield. Some existing application classes that will benefit from the development include transportation and air traffic control, weather forecasting, emergency response, mobile resource management, and mobile workforce. Location management, i.e., the management of transient location information, is an enabling technology for all these applications. In this chapter, we present the applications of moving objects management and their functionalities, in particular, the application of dynamic traffic navigation, which is a challenge due to the highly variable traffic state and the requirement of fast, on-line computations.

  16. Sensory bases of navigation.

    Science.gov (United States)

    Gould, J L

    1998-10-08

    Navigating animals need to know both the bearing of their goal (the 'map' step), and how to determine that direction (the 'compass' step). Compasses are typically arranged in hierarchies, with magnetic backup as a last resort when celestial information is unavailable. Magnetic information is often essential to calibrating celestial cues, though, and repeated recalibration between celestial and magnetic compasses is important in many species. Most magnetic compasses are based on magnetite crystals, but others make use of induction or paramagnetic interactions between short-wavelength light and visual pigments. Though odors may be used in some cases, most if not all long-range maps probably depend on magnetite. Magnetitebased map senses are used to measure only latitude in some species, but provide the distance and direction of the goal in others.

  17. Comprehension of Navigation Directions

    Science.gov (United States)

    Schneider, Vivian I.; Healy, Alice F.

    2000-01-01

    In an experiment simulating communication between air traffic controllers and pilots, subjects were given navigation instructions varying in length telling them to move in a space represented by grids on a computer screen. The subjects followed the instructions by clicking on the grids in the locations specified. Half of the subjects read the instructions, and half heard them. Half of the subjects in each modality condition repeated back the instructions before following them,and half did not. Performance was worse for the visual than for the auditory modality on the longer messages. Repetition of the instructions generally depressed performance, especially with the longer messages, which required more output than did the shorter messages, and especially with the visual modality, in which phonological recoding from the visual input to the spoken output was necessary. These results are explained in terms of the degrading effects of output interference on memory for instructions.

  18. Passive House Solutions

    Energy Technology Data Exchange (ETDEWEB)

    Strom, I.; Joosten, L.; Boonstra, C. [DHV Sustainability Consultants, Eindhoiven (Netherlands)

    2006-05-15

    PEP stands for 'Promotion of European Passive Houses' and is a consortium of European partners, supported by the European Commission, Directorate General for Energy and Transport. In this working paper an overview is given of Passive House solutions. An inventory has been made of Passive House solutions for new build residences applied in each country. Based on this, the most common basic solutions have been identified and described in further detail, including the extent to which solutions are applied in common and best practice and expected barriers for the implementation in each country. An inventory per country is included in the appendix. The analysis of Passive House solutions in partner countries shows high priority with regard to the performance of the thermal envelope, such as high insulation of walls, roofs, floors and windows/ doors, thermal bridge-free construction and air tightness. Due to the required air tightness, special attention must be paid to indoor air quality through proper ventilation. Finally, efficient ((semi-)solar) heating systems for combined space and DHW heating still require a significant amount of attention in most partner countries. Other basic Passive House solutions show a smaller discrepancy with common practice and fewer barriers have been encountered in partner countries. In the next section, the general barriers in partner countries have been inventoried. For each type of barrier a suggested approach has been given. Most frequently encountered barriers in partner countries are: limited know-how; limited contractor skills; and acceptation of Passive Houses in the market. Based on the suggested approaches to overcoming barriers, this means that a great deal of attention must be paid to providing practical information and solutions to building professionals, providing practical training to installers and contractors and communication about the Passive House concept to the market.

  19. Autonomous Underwater Vehicle Data Management and Metadata Interoperability for Coastal Ocean Studies

    Science.gov (United States)

    McCann, M. P.; Ryan, J. P.; Chavez, F. P.; Rienecker, E.

    2004-12-01

    Data from over 1000 km of Autonomous Underwater Vehicle (AUV) surveys of Monterey Bay have been collected and cataloged in an ocean observatory data management system. The Monterey Bay Aquarium Institute's AUV is equipped with a suite of instruments that include a conductivity, temperature, depth (CTD) instrument, transmissometers, a fluorometer, a nitrate sensor, and an inertial navigation system. Data are logged on the vehicle and upon completion of a survey XML descriptions of the data are submitted to the Shore Side Data System (SSDS). Instrument data are then processed on shore to apply calibrations and produce scientifically useful data products. The SSDS employs a data model that tracks data from the instrument that created it through all the consuming processes that generate derived products. SSDS employs OPeNDAP and netCDF to provide data set interoperability at the data level. The core of SSDS is the metadata that is the catalog of these data sets and their relation to all other relevant data. The metadata is managed in a relational database and governed by a Enterprise Java Bean (EJB) server application. Cross-platform Java applications have been written to manage and visualize these data. A Java Swing application - the Hierarchical Ocean Observatory Visualization and Editing System (HOOVES) - has been developed to provide visualization of data set pedigree and data set variables. Because the SSDS data model is generalized according to "Data Producers" and "Data Containers" many different types of data can be represented in SSDS allowing for interoperability at a metadata level. Comparisons of appropriate data sets, whether they are from an autonomous underwater vehicle or from a fixed mooring are easily made using SSDS. The authors will present the SSDS data model and show examples of how the model helps organize data set metadata allowing for data discovery and interoperability. With improved discovery and interoperability the system is helping us

  20. Routing Protocols for Underwater Wireless Sensor Networks: Taxonomy, Research Challenges, Routing Strategies and Future Directions.

    Science.gov (United States)

    Khan, Anwar; Ali, Ihsan; Ghani, Abdullah; Khan, Nawsher; Alsaqer, Mohammed; Rahman, Atiq Ur; Mahmood, Hasan

    2018-05-18

    Recent research in underwater wireless sensor networks (UWSNs) has gained the attention of researchers in academia and industry for a number of applications. They include disaster and earthquake prediction, water quality and environment monitoring, leakage and mine detection, military surveillance and underwater navigation. However, the aquatic medium is associated with a number of limitations and challenges: long multipath delay, high interference and noise, harsh environment, low bandwidth and limited battery life of the sensor nodes. These challenges demand research techniques and strategies to be overcome in an efficient and effective fashion. The design of routing protocols for UWSNs is one of the promising solutions to cope with these challenges. This paper presents a survey of the routing protocols for UWSNs. For the ease of description, the addressed routing protocols are classified into two groups: localization-based and localization-free protocols. These groups are further subdivided according to the problems they address or the major parameters they consider during routing. Unlike the existing surveys, this survey considers only the latest and state-of-the-art routing protocols. In addition, every protocol is described in terms of its routing strategy and the problem it addresses and solves. The merit(s) of each protocol is (are) highlighted along with the cost. A description of the protocols in this fashion has a number of advantages for researchers, as compared to the existing surveys. Firstly, the description of the routing strategy of each protocol makes its routing operation easily understandable. Secondly, the demerit(s) of a protocol provides (provide) insight into overcoming its flaw(s) in future investigation. This, in turn, leads to the foundation of new protocols that are more intelligent, robust and efficient with respect to the desired parameters. Thirdly, a protocol can be selected for the appropriate application based on its described

  1. Underwater thrust and power generation using flexible piezoelectric composites: an experimental investigation toward self-powered swimmer-sensor platforms

    International Nuclear Information System (INIS)

    Erturk, Alper; Delporte, Ghislain

    2011-01-01

    Fiber-based flexible piezoelectric composites offer several advantages to use in energy harvesting and biomimetic locomotion. These advantages include ease of application, high power density, effective bending actuation, silent operation over a range of frequencies, and light weight. Piezoelectric materials exhibit the well-known direct and converse piezoelectric effects. The direct piezoelectric effect has received growing attention for low-power generation to use in wireless electronic applications while the converse piezoelectric effect constitutes an alternative to replace the conventional actuators used in biomimetic locomotion. In this paper, underwater thrust and electricity generation are investigated experimentally by focusing on biomimetic structures with macro-fiber composite piezoelectrics. Fish-like bimorph configurations with and without a passive caudal fin (tail) are fabricated and compared. The favorable effect of having a passive caudal fin on the frequency bandwidth is reported. The presence of a passive caudal fin is observed to bring the second bending mode close to the first one, yielding a wideband behavior in thrust generation. The same smart fish configuration is tested for underwater piezoelectric power generation in response to harmonic excitation from its head. Resonant piezohydroelastic actuation is reported to generate milli-newton level hydrodynamic thrust using milli-watt level actuation power input. The average actuation power requirement for generating a mean thrust of 19 mN at 6 Hz using a 10 g piezoelastic fish with a caudal fin is measured as 120 mW. This work also discusses the feasibility of thrust generation using the harvested energy toward enabling self-powered swimmer-sensor platforms with comparisons based on the capacity levels of structural thin-film battery layers as well as harvested solar and vibrational energy

  2. Measure Guideline: Passive Vents

    Energy Technology Data Exchange (ETDEWEB)

    Berger, David [Consortium for Advanced Residential Buildings, Norwalk, CT (United States); Neri, Robin [Consortium for Advanced Residential Buildings, Norwalk, CT (United States)

    2016-02-05

    This document addresses the use of passive vents as a source of outdoor air in multifamily buildings. The challenges associated with implementing passive vents and the factors affecting performance are outlined. A comprehensive design methodology and quantified performance metrics are provided. Two hypothetical design examples are provided to illustrate the process. This document is intended to be useful to designers, decision-makers, and contractors implementing passive ventilation strategies. It is also intended to be a resource for those responsible for setting high-performance building program requirements, especially pertaining to ventilation and outdoor air. To ensure good indoor air quality, a dedicated source of outdoor air is an integral part of high-performance buildings. Presently, there is a lack of guidance pertaining to the design and installation of passive vents, resulting in poor system performance. This report details the criteria necessary for designing, constructing, and testing passive vent systems to enable them to provide consistent and reliable levels of ventilation air from outdoors.

  3. Navigation System of Marks Areas - USACE IENC

    Data.gov (United States)

    Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

  4. Passive control of cavitating flow around an axisymmetric projectile by using a trip bar

    Directory of Open Access Journals (Sweden)

    Jian Huang

    2017-07-01

    Full Text Available Quasi-periodical evolutions such as shedding and collapsing of unsteady cloud cavitating flow, induce strong pressure fluctuations, what may deteriorate maneuvering stability and corrode surfaces of underwater vehicles. This paper analyzed effects on cavitation stability of a trip bar arranged on high-speed underwater projectile. Small scale water tank experiment and large eddy simulation using the open source software OpenFOAM were used, and the results agree well with each other. Results also indicate that trip bar can obstruct downstream re-entrant jet and pressure wave propagation caused by collapse, resulting in a relatively stable sheet cavity between trip bar and shoulder of projectiles. Keywords: Unsteady cavitating flow, Trip bar, Re-entrant jet, Passive flow control

  5. The Modular Optical Underwater Survey System

    Directory of Open Access Journals (Sweden)

    Ruhul Amin

    2017-10-01

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

  6. Underwater hydraulic shock shovel control system

    Science.gov (United States)

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

    2008-06-01

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

  7. Data extraction system for underwater particle holography

    Science.gov (United States)

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

    2000-08-01

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

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

    National Research Council Canada - National Science Library

    Lazauski, Colin J

    2007-01-01

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

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

    National Research Council Canada - National Science Library

    Gooding, Trent

    2001-01-01

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

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

    KAUST Repository

    Lu, Yimeng

    2018-01-01

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

  11. Lunar Navigation Architecture Design Considerations

    Science.gov (United States)

    D'Souza, Christopher; Getchius, Joel; Holt, Greg; Moreau, Michael

    2009-01-01

    The NASA Constellation Program is aiming to establish a long-term presence on the lunar surface. The Constellation elements (Orion, Altair, Earth Departure Stage, and Ares launch vehicles) will require a lunar navigation architecture for navigation state updates during lunar-class missions. Orion in particular has baselined earth-based ground direct tracking as the primary source for much of its absolute navigation needs. However, due to the uncertainty in the lunar navigation architecture, the Orion program has had to make certain assumptions on the capabilities of such architectures in order to adequately scale the vehicle design trade space. The following paper outlines lunar navigation requirements, the Orion program assumptions, and the impacts of these assumptions to the lunar navigation architecture design. The selection of potential sites was based upon geometric baselines, logistical feasibility, redundancy, and abort support capability. Simulated navigation covariances mapped to entry interface flightpath- angle uncertainties were used to evaluate knowledge errors. A minimum ground station architecture was identified consisting of Goldstone, Madrid, Canberra, Santiago, Hartebeeshoek, Dongora, Hawaii, Guam, and Ascension Island (or the geometric equivalent).

  12. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1996-12-31

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

  13. Feasibility of in situ beta ray measurements in underwater environment.

    Science.gov (United States)

    Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik

    2017-09-01

    We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.

  14. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1997-12-31

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

  15. A Review of the Emerging Field of Underwater Mass Spectrometry

    Directory of Open Access Journals (Sweden)

    Emily Chua

    2016-11-01

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

  16. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

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

    2017-03-29

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

  17. Underwater Shock Wave Research Applied to Therapeutic Device Developments

    Science.gov (United States)

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

    2013-07-01

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

  18. Constructing passive houses

    Energy Technology Data Exchange (ETDEWEB)

    Oehler, S. [Oehler Faigle Archkom Solar Architektur, Bretten (Germany)

    2005-07-01

    Everybody can learn to build energy-efficient. It needs theoretical and practical experience. 1997 we built the first freestanding Passive House in Europe, the Passive House Oehler. There had been a lot of questions, starting with the insecurity, whether the calculation program of the Passive House Institute, the PHPP, is working properly in our case. Nobody knew at that time because nobody tried it out before. It took us a lot of time to find out and every detail of the construction hat to be invented to meet the very high demand of thermal quality. All the following houses needed less time and had fewer open questions, adding one piece of experience with every building. 2002 we realised the biggest Passive House, the office building Energon Ulm with 420 working spaces. In the meantime we have learned a lot like how to produce prefabricated timber elements for the facades, providing good insulation, air tightness and avoiding serious thermal bridges. We have proofed, that any kind of building type can be a Passive House. And with increasing experience the freedom of design and construction is growing. Even the economical efficiency increased. The Energon Ulm is providing a much better indoor climate than any other office building and was build 10 % cheaper than an average German office building. At present the Passive House Standard is the most efficient solution for the user to live in the desired comfort zone between 20 C and 25 C. This zone of individual feeling-well can be described with the term ''operative temperature''. This term is defined by factors like air temperature, radiation temperature of warm and cold surfaces, air speed and humidity. The result of all these factors has to be within 18 C to 25 C without accepting one of the factors getting extreme.

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

    OpenAIRE

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

    2015-01-01

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

  20. Passive containment system

    International Nuclear Information System (INIS)

    Kleimola, F.W.

    1977-01-01

    Disclosed is a containment system that provides complete protection entirely by passive means for the loss of coolant accident in a nuclear power plant and wherein all stored energy released in the coolant blowdown is contained and absorbed while the nuclear fuel is prevented from over-heating by a high containment back-pressure and a reactor vessel refill system. The primary containment vessel is restored to a high sub-atmospheric pressure within a few minutes after accident initiation and the decay heat is safely transferred to the environment while radiolytic hydrogen is contained by passive means. 20 claims, 14 figures

  1. Wireless passive radiation sensor

    Science.gov (United States)

    Pfeifer, Kent B; Rumpf, Arthur N; Yelton, William G; Limmer, Steven J

    2013-12-03

    A novel measurement technique is employed using surface acoustic wave (SAW) devices, passive RF, and radiation-sensitive films to provide a wireless passive radiation sensor that requires no batteries, outside wiring, or regular maintenance. The sensor is small (<1 cm.sup.2), physically robust, and will operate unattended for decades. In addition, the sensor can be insensitive to measurement position and read distance due to a novel self-referencing technique eliminating the need to measure absolute responses that are dependent on RF transmitter location and power.

  2. 3D Photo Mosaicing of Tagiri Shallow Vent Field by an Autonomous Underwater Vehicle

    Science.gov (United States)

    Maki, Toshihiro; Kondo, Hayato; Ura, Tamaki; Sakamaki, Takashi; Mizushima, Hayato; Yanagisawa, Masao

    Although underwater visual observation is an ideal method for detailed survey of seafloors, it is currently a costly process that requires the use of Remotely Operated Vehicles (ROVs) or Human Occupied Vehicles (HOVs), and can cover only a limited area. This paper proposes an innovative method to navigate an autonomous underwater vehicle (AUV) to create both 2D and 3D photo mosaics of seafloors with high positioning accuracy without using any vision-based matching. The vehicle finds vertical pole-like acoustic reflectors to use as positioning landmarks using a profiling sonar based on a SLAM (Simultaneous Localization And Mapping) technique. These reflectors can be either artificial or natural objects, and so the method can be applied to shallow vent fields where conventional acoustic positioning is difficult, since bubble plumes can also be used as landmarks as well as artificial reflectors. Path-planning is performed in real-time based on the positions and types of landmarks so as to navigate safely and stably using landmarks of different types (artificial reflector or bubble plume) found at arbitrary times and locations. Terrain tracker switches control reference between depth and altitude from the seafloor based on a local map of hazardous area created in real-time using onboard perceptual sensors, in order to follow rugged terrains at an altitude of 1 to 2 meters, as this range is ideal for visual observation. The method was implemented in the AUV Tri-Dog 1 and experiments were carried out at Tagiri vent field, Kagoshima Bay in Japan. The AUV succeeded in fully autonomous observation for more than 160 minutes to create a photo mosaic with an area larger than 600 square meters, which revealed the spatial distribution of detailed features such as tube-worm colonies, bubble plumes and bacteria mats. A fine bathymetry of the same area was also created using a light-section ranging system mounted on the vehicle. Finally a 3 D representation of the environment was

  3. Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

    Science.gov (United States)

    Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

    2016-08-20

    The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

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

    KAUST Repository

    Oubei, Hassan M.

    2018-01-09

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

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

    KAUST Repository

    Oubei, Hassan M.

    2017-12-13

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

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

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  7. Experimental study on underwater electrical explosion of a copper wire

    International Nuclear Information System (INIS)

    Zhou Qing; Zhang Jun; Tan Xiangyu; Ren Baozhong; Zhang Qiaogen

    2010-01-01

    Through analyzing the physical process of underwater electrical wire explosion, electrical wire explosions with copper wires were investigated underwater using pulsed voltage in the time scale of a few microseconds. A self-integrating Rogowsky coil and a voltage divider were used for current and voltage at the wire load, respectively. The shock wave pressure is measured with a piezoelectric pressure probe at the same distance. The current rise rate was adjusted by changing the applied voltage, circuit inductance, length and diameter of copper wire. The change of the current rise rate had a great effect on the process of underwater electrical wire explosion with copper wires. At last, the effect of discharge voltage, circuit inductance, length and diameter of copper wire were obtained on the explosion voltage and current as well as shock wave pressure. (authors)

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

    Directory of Open Access Journals (Sweden)

    Liying Sun

    2014-01-01

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

  9. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.

    2013-03-25

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

  10. Underwater video enhancement using multi-camera super-resolution

    Science.gov (United States)

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

    2017-12-01

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

  11. Underwater electric field detection system based on weakly electric fish

    Science.gov (United States)

    Xue, Wei; Wang, Tianyu; Wang, Qi

    2018-04-01

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

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

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

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

  13. Cluster protocols in Underwater Sensor Networks: a Research Review

    Directory of Open Access Journals (Sweden)

    K. Ovaliadis

    2014-07-01

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

  14. Passiv-Sammler

    OpenAIRE

    Fritsche, U.

    1991-01-01

    The invention relates to a passive collector for air pollution for the determination of emission rates for dry and wet deposits on construction materials such as natural stone, whereby the collector has a surrogate surface of the stone under investigation, the surrogate surface being linked to a collecting vessel such that any dry or wet contamination occurring can be collected.

  15. Passive houses in Norway

    Energy Technology Data Exchange (ETDEWEB)

    Halse, Andreas

    2008-12-15

    The paper analyzes the introduction of passive houses in the Norwegian house market. Passive houses are houses with extremely low levels of energy consumption for heating, and have not yet been built in Norway, but have started to enter the market in Germany and some other countries. The construction sector is analyzed as a sectoral innovation system. The different elements of the innovation system are studied. This includes government agencies, producers, consumers, finance and education. The analysis shows that passive and low-energy houses are on the verge of market breakthrough. This can partly be explained by economic calculations, and partly by processes of learning and change in the institutional set-up of the sector. The construction sector is a sector characterized by low innovative intensity and little interaction between different agents. Those working to promote passive houses have to some extent managed to cope with these challenges. This has happened by breaking away from the traditional focus of Norwegian energy efficiency policies on technology and the economically rational agents, by instead focusing on knowledge and institutional change at the level of the producers. (Author)

  16. Hood River Passive House

    Energy Technology Data Exchange (ETDEWEB)

    Hales, David [BA-PIRC, Spokane, WA (United States)

    2014-01-01

    The Hood River Passive Project was developed by Root Design Build of Hood River Oregon using the Passive House Planning Package (PHPP) to meet all of the requirements for certification under the European Passive House standards. The Passive House design approach has been gaining momentum among residential designers for custom homes and BEopt modeling indicates that these designs may actually exceed the goal of the U.S. Department of Energy's (DOE) Building America program to "reduce home energy use by 30%-50% (compared to 2009 energy codes for new homes). This report documents the short term test results of the Shift House and compares the results of PHPP and BEopt modeling of the project. The design includes high R-Value assemblies, extremely tight construction, high performance doors and windows, solar thermal DHW, heat recovery ventilation, moveable external shutters and a high performance ductless mini-split heat pump. Cost analysis indicates that many of the measures implemented in this project did not meet the BA standard for cost neutrality. The ductless mini-split heat pump, lighting and advanced air leakage control were the most cost effective measures. The future challenge will be to value engineer the performance levels indicated here in modeling using production based practices at a significantly lower cost.

  17. Passive THz metamaterials

    DEFF Research Database (Denmark)

    Lavrinenko, Andrei; Malureanu, Radu; Zalkovskij, Maksim

    2012-01-01

    In this work we present our activities in the fabrication and characterization of passive THz metamaterials. We use two fabrication processes to develop metamaterials either as free-standing metallic membranes or patterned metallic multi-layers on the substrates to achieve different functionalities...

  18. Monitoring Completed Navigation Projects Program

    National Research Council Canada - National Science Library

    Bottin, Jr., Robert R

    2001-01-01

    ... (MCNP) Program. The program was formerly known as the Monitoring Completed Coastal Projects Program, but was modified in the late 1990s to include all navigation projects, inland as well as coastal...

  19. NOAA Electronic Navigational Charts (ENC)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Office of Coast Survey (OCS) has been involved in the development of a NOAA Electronic Navigational Chart (NOAA ENC) suite to support the marine transportation...

  20. Time-of-flight range imaging for underwater applications

    Science.gov (United States)

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

    2018-02-01

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

  1. Airborne lidar detection of an underwater thermal vent

    Science.gov (United States)

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

    2017-07-01

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

  2. Reduced Attitude Control of a Robotic Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Bláha Lukáš

    2017-01-01

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

  3. 3D MODELING FOR UNDERWATER ARCHAEOLOGICAL DOCUMENTATION: METRIC VERIFICATIONS

    Directory of Open Access Journals (Sweden)

    S. D’Amelio

    2015-04-01

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

  4. Study of underwater laser propulsion using different target materials.

    Science.gov (United States)

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

    2014-07-14

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

  5. Pressure vessel made by free forming using underwater explosion

    Directory of Open Access Journals (Sweden)

    H Iyama

    2016-03-01

    Full Text Available Explosive forming is one particular forming technique, in which, mostcommonly, water is used as the pressure transmission medium. In recentyears, we have done the development of the method which obtains anecessary form of the metal by the control of underwater shock wave actson the metal plate, without a metal die. On the other hand, the pressurevessel is required in various fields, but we think that the free forming usingthe underwater shock wave is advantageous in the production of pressurevessel of a simple spherical, ellipse, parabola shape. In this paper, we willintroduce an experiment and several numerical simulations that we carriedout for this technical development.

  6. Underwater Shock Response Analysis of a Floating Vessel

    Directory of Open Access Journals (Sweden)

    J.E. van Aanhold

    1998-01-01

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

  7. Intrinsically Passive Handling and Grasping

    NARCIS (Netherlands)

    Stramigioli, Stefano; Scherpen, Jacquelien M.A.; Khodabandehloo, Koorosh

    2000-01-01

    The paper presents a control philosophy called Intrinsically Passive Control, which has the feature to properly behave during interaction with any passive objects. The controlled robot will never become unstable due to the physical structure of the controller.

  8. Navigating "Assisted Dying".

    Science.gov (United States)

    Schipper, Harvey

    2016-02-01

    Carter is a bellwether decision, an adjudication on a narrow point of law whose implications are vast across society, and whose impact may not be realized for years. Coupled with Quebec's Act Respecting End-of-life Care it has sharply changed the legal landscape with respect to actively ending a person's life. "Medically assisted dying" will be permitted under circumstances, and through processes, which have yet to be operationally defined. This decision carries with it moral assumptions, which mean that it will be difficult to reach a unifying consensus. For some, the decision and Act reflect a modern acknowledgement of individual autonomy. For others, allowing such acts is morally unspeakable. Having opened the Pandora's Box, the question becomes one of navigating a tolerable societal path. I believe it is possible to achieve a workable solution based on the core principle that "medically assisted dying" should be a very rarely employed last option, subject to transparent ongoing review, specifically as to why it was deemed necessary. My analysis is based on 1. The societal conditions in which have fostered demand for "assisted dying", 2. Actions in other jurisdictions, 3. Carter and Quebec Bill 52, 4. Political considerations, 5. Current medical practice. Leading to a series of recommendations regarding. 1. Legislation and regulation, 2. The role of professional regulatory agencies, 3. Medical professions education and practice, 4. Public education, 5. Health care delivery and palliative care. Given the burden of public opinion, and the legal steps already taken, a process for assisted-dying is required. However, those legal and regulatory steps should only be considered a necessary and defensive first step in a two stage process. The larger goal, the second step, is to drive the improvement of care, and thus minimize assisted-dying.

  9. Isolated core vs. superficial cooling effects on virtual maze navigation.

    Science.gov (United States)

    Payne, Jennifer; Cheung, Stephen S

    2007-07-01

    Cold impairs cognitive performance and is a common occurrence in many survival situations. Altered behavior patterns due to impaired navigation abilities in cold environments are potential problems in lost-person situations. We investigated the separate effects of low core temperature and superficial cooling on a spatially demanding virtual navigation task. There were 12 healthy men who were passively cooled via 15 degrees C water immersion to a core temperature of 36.0 degrees C, then transferred to a warm (40 degrees C) water bath to eliminate superficial shivering while completing a series of 20 virtual computer mazes. In a control condition, subjects rested in a thermoneutral (approximately 35 degrees C) bath for a time-matched period before being transferred to a warm bath for testing. Superficial cooling and distraction were achieved by whole-body immersion in 35 degree water for a time-matched period, followed by lower leg immersion in 10 degree C water for the duration of the navigational tests. Mean completion time and mean error scores for the mazes were not significantly different (p > 0.05) across the core cooling (16.59 +/- 11.54 s, 0.91 +/- 1.86 errors), control (15.40 +/- 8.85 s, 0.82 +/- 1.76 errors), and superficial cooling (15.19 +/- 7.80 s, 0.77 +/- 1.40 errors) conditions. Separately reducing core temperature or increasing cold sensation in the lower extremities did not influence performance on virtual computer mazes, suggesting that navigation is more resistive to cooling than other, simpler cognitive tasks. Further research is warranted to explore navigational ability at progressively lower core and skin temperatures, and in different populations.

  10. Underwater behavior of sperm whales off Kaikoura, New Zealand, as revealed by a three-dimensional hydrophone array.

    Science.gov (United States)

    Miller, Brian; Dawson, Stephen; Vennell, Ross

    2013-10-01

    Observations are presented of the vocal behavior and three dimensional (3D) underwater movements of sperm whales measured with a passive acoustic array off the coast of Kaikoura, New Zealand. Visual observations and vocal behaviors of whales were used to divide dive tracks into different phases, and depths and movements of whales are reported for each of these phases. Diving depths and movement information from 75 3D tracks of whales in Kaikoura are compared to one and two dimensional tracks of whales studied in other oceans. While diving, whales in Kaikoura had a mean swimming speed of 1.57 m/s, and, on average, dived to a depth of 427 m (SD = 117 m), spending most of their time at depths between 300 and 600 m. Creak vocalizations, assumed to be the prey capture phase of echolocation, occurred throughout the water column from sea surface to sea floor, but most occurred at depths of 400-550 m. Three dimensional measurement of tracking revealed several different "foraging" strategies, including active chasing of prey, lining up slow-moving or unsuspecting prey, and foraging on demersal or benthic prey. These movements provide the first 3D descriptions underwater behavior of whales at Kaikoura.

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

    Science.gov (United States)

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

    2016-05-01

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

  12. Compact autonomous navigation system (CANS)

    Science.gov (United States)

    Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

    2017-11-01

    Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

  13. Passive solar heating

    Energy Technology Data Exchange (ETDEWEB)

    Wiberg, K

    1981-11-10

    The present work treats the possibilities for heating according to the passive solar heating method. Problems of 'spatial organization in an energy-saving society' are distinguished from among other social problems. The final delimination of the actual problems under investigation consists of the use of passive solar heating and especially the 'consequences of such solar heating exploitation upon the form and structures' of planning and construction. In the concluding chapter an applied example shows how this method can be used in designing an urban area and what are its limitations. The results indicate the possibilities and difficulties in attempting to transfer this ideal and general method into models and directives for form and structure from which examples of the actual possibilities in practical planning can be given.

  14. Fusing Multiscale Charts into 3D ENC Systems Based on Underwater Topography and Remote Sensing Image

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2015-01-01

    Full Text Available The purpose of this study is to propose an approach to fuse multiscale charts into three-dimensional (3D electronic navigational chart (ENC systems based on underwater topography and remote sensing image. This is the first time that the fusion of multiscale standard ENCs in the 3D ENC system has been studied. First, a view-dependent visualization technology is presented for the determination of the display condition of a chart. Second, a map sheet processing method is described for dealing with the map sheet splice problem. A process order called “3D order” is designed to adapt to the characteristics of the chart. A map sheet clipping process is described to deal with the overlap between the adjacent map sheets. And our strategy for map sheet splice is proposed. Third, the rendering method for ENC objects in the 3D ENC system is introduced. Fourth, our picking-up method for ENC objects is proposed. Finally, we implement the above methods in our system: automotive intelligent chart (AIC 3D electronic chart display and information systems (ECDIS. And our method can handle the fusion problem well.

  15. The Design of an Autonomous Underwater Vehicle for Water Quality Monitoring

    Science.gov (United States)

    Li, Yulong; Liu, Rong; Liu, Shujin

    2018-01-01

    This paper describes the development of a civilian-used autonomous underwater vehicle (AUV) for water quality monitoring at reservoirs and watercourses that can obtain realtime visual and locational information. The mechanical design was completed with CAD software Solidworks. Four thrusters—two horizontal and two vertical—on board enable the vehicle to surge, heave, yaw, and pitch. A specialized water sample collection compartment is designed to perform water collection at target locations. The vehicle has a central controller—STM32—and a sub-coordinate controller—Arduino MEGA 2560—that coordinates multiple sensors including an inertial sensor, ultrasonic sensors, etc. Global Navigation Satellite System (GNSS) and the inertial sensor enable the vehicle’s localization. Remote operators monitor and control the vehicle via a host computer system. Operators choose either semi-autonomous mode in which they set target locations or manual mode. The experimental results show that the vehicle is able to perform well in either mode.

  16. Design and Implementation of a Biomimetic Turtle Hydrofoil for an Autonomous Underwater Vehicle

    Science.gov (United States)

    Font, Davinia; Tresanchez, Marcel; Siegentahler, Cedric; Pallejà, Tomàs; Teixidó, Mercè; Pradalier, Cedric; Palacin, Jordi

    2011-01-01

    This paper presents the design and implementation of a turtle hydrofoil for an Autonomous Underwater Vehicle (AUV). The final design of the AUV must have navigation performance like a turtle, which has also been the biomimetic inspiration for the design of the hydrofoil and propulsion system. The hydrofoil design is based on a National Advisory Committee for Aeronautics (NACA) 0014 hydrodynamic profile. During the design stage, four different propulsion systems were compared in terms of propulsion path, compactness, sealing and required power. The final implementation is based on a ball-and-socket mechanism because it is very compact and provides three degrees of freedom (DoF) to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained with the final implementation of the hydrofoil has been empirically evaluated in a water channel comparing different motion strategies. The results obtained have confirmed that the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be used in the future implementation of the planned AUV. PMID:22247660

  17. Development of An Autonomous Underwater Glider for Observing Physical Ocean Parameters in Indonesian Seas

    Science.gov (United States)

    Ajie Linarka, Utoyo; Riyanto Trilaksono, Bambang; Sagala, M. Faisal; Hidayat, Egi; Sopaheluwakan, Ardhasena; Rizal, Jose; Heriyanto, Eko; Amsal Harapan, Ferdika; Eka Syahputra Makmur, Erwin

    2017-04-01

    Conducting a sustained monitoring and surveying of physical ocean parameters for research or operational purposes using moorings and ships would require high cost. Development of an inexpensive instrument capable to perform such tasks not only could reduce cost and risks but also increase cruising range and depth. For that reason, a prototype of underwater glider was developed, named "GaneshBlue". GaneshBlue works based on gliding principles which utilizes pitch angle and buoyancy control for moving. For one gliding movement, GaneshBlue passed through 5 phases of surface, descent, transition, ascent and back to surface. The glider is equipped with basic navigation system and remote control, programmable survey planning, temperature and salinity sampling instruments, lithium batteries for power supply, and information processing software. A field test at the shallow water showed that GaneshBule has successfully demonstrated gliding and surfacing movements with surge motion speed reaching 20 cm s-1and 20 m in depths. During the field test the glider was also equipped with three instruments, i.e. Inertial Measurement Unit (IMU) to estimate glider's speed and orientation; MiniCT to acquire temperature and conductivity data; and Altisounder to determine its distance to sea surface and to seabed. In general, all the instruments performed well but filter algorithm needs to be implemented on data collection procedure to remove data outliers.

  18. Design and implementation of a biomimetic turtle hydrofoil for an autonomous underwater vehicle.

    Science.gov (United States)

    Font, Davinia; Tresanchez, Marcel; Siegentahler, Cedric; Pallejà, Tomàs; Teixidó, Mercè; Pradalier, Cedric; Palacin, Jordi

    2011-01-01

    This paper presents the design and implementation of a turtle hydrofoil for an Autonomous Underwater Vehicle (AUV). The final design of the AUV must have navigation performance like a turtle, which has also been the biomimetic inspiration for the design of the hydrofoil and propulsion system. The hydrofoil design is based on a National Advisory Committee for Aeronautics (NACA) 0014 hydrodynamic profile. During the design stage, four different propulsion systems were compared in terms of propulsion path, compactness, sealing and required power. The final implementation is based on a ball-and-socket mechanism because it is very compact and provides three degrees of freedom (DoF) to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained with the final implementation of the hydrofoil has been empirically evaluated in a water channel comparing different motion strategies. The results obtained have confirmed that the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be used in the future implementation of the planned AUV.

  19. Design and Implementation of a Biomimetic Turtle Hydrofoil for an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Jordi Palacin

    2011-11-01

    Full Text Available This paper presents the design and implementation of a turtle hydrofoil for an Autonomous Underwater Vehicle (AUV. The final design of the AUV must have navigation performance like a turtle, which has also been the biomimetic inspiration for the design of the hydrofoil and propulsion system. The hydrofoil design is based on a National Advisory Committee for Aeronautics (NACA 0014 hydrodynamic profile. During the design stage, four different propulsion systems were compared in terms of propulsion path, compactness, sealing and required power. The final implementation is based on a ball-and-socket mechanism because it is very compact and provides three degrees of freedom (DoF to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained with the final implementation of the hydrofoil has been empirically evaluated in a water channel comparing different motion strategies. The results obtained have confirmed that the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be used in the future implementation of the planned AUV.

  20. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

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

  1. Spreading of sediment due to underwater blasting and dredging

    DEFF Research Database (Denmark)

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

    2015-01-01

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

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

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  3. Underwater sound produced by individual drop impacts and rainfall

    DEFF Research Database (Denmark)

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

    1989-01-01

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

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

    NARCIS (Netherlands)

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

    2013-01-01

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

  5. Underwater Munitions Expert System to Predict Mobility and Burial

    Science.gov (United States)

    2017-11-14

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

  8. Evaluation of Underwater Image Enhancement Algorithms under Different Environmental Conditions

    Directory of Open Access Journals (Sweden)

    Marino Mangeruga

    2018-01-01

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

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

    NARCIS (Netherlands)

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

    2017-01-01

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

  10. Self-flowing underwater concrete mixtures for high rise structures

    International Nuclear Information System (INIS)

    Yousri, K.M.

    2005-01-01

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

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

    KAUST Repository

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

    2018-01-01

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

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

    African Journals Online (AJOL)

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

  13. QFD-based conceptual design of an autonomous underwater robot

    Directory of Open Access Journals (Sweden)

    Thip Pasawang

    2015-12-01

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

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

    Science.gov (United States)

    Panda, S. K.; Bandopadhya, D.

    2018-02-01

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

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

    African Journals Online (AJOL)

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

  16. A highly versatile autonomous underwater vehicle with biomechanical propulsion

    NARCIS (Netherlands)

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

    2009-01-01

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

  17. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, W.D.

    1999-01-01

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

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

    African Journals Online (AJOL)

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

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

    KAUST Repository

    Saeed, Nasir

    2018-02-28

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

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

    Science.gov (United States)

    2013-04-23

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

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

    International Nuclear Information System (INIS)

    Vertut, Jean

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

  2. Qademah Fault Passive Data

    KAUST Repository

    Hanafy, Sherif M.

    2014-01-01

    OBJECTIVE: In this field trip we collect passive data to 1. Convert passive to surface waves 2. Locate Qademah fault using surface wave migration INTRODUCTION: In this field trip we collected passive data for several days. This data will be used to find the surface waves using interferometry and then compared to active-source seismic data collected at the same location. A total of 288 receivers are used. A 3D layout with 5 m inline intervals and 10 m cross line intervals is used, where we used 12 lines with 24 receivers at each line. You will need to download the file (rec_times.mat), it contains important information about 1. Field record no 2. Record day 3. Record month 4. Record hour 5. Record minute 6. Record second 7. Record length P.S. 1. All files are converted from original format (SEG-2) to matlab format P.S. 2. Overlaps between records (10 to 1.5 sec.) are already removed from these files

  3. Concept research on general passive system

    International Nuclear Information System (INIS)

    Han Xu; Yang Yanhua; Zheng Mingguang

    2009-01-01

    This paper summarized the current passive techniques used in nuclear power plants. Through classification and analysis, the functional characteristics and inherent identification of passive systems were elucidated. By improving and extending the concept of passive system, the general passive concept was proposed, and space and time relativity was discussed and assumption of general passive system were illustrated. The function of idealized general passive system is equivalent with the current passive system, but the design of idealized general passive system is more flexible. (authors)

  4. Underwater inverse LIBS (iLIBS) for marine archaeology

    Science.gov (United States)

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

    2013-05-01

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

  5. 33 CFR 401.54 - Interference with navigation aids.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Interference with navigation aids. 401.54 Section 401.54 Navigation and Navigable Waters SAINT LAWRENCE SEAWAY DEVELOPMENT CORPORATION... with navigation aids. (a) Aids to navigation shall not be interfered with or used as moorings. (b) No...

  6. Optimal motion planning using navigation measure

    Science.gov (United States)

    Vaidya, Umesh

    2018-05-01

    We introduce navigation measure as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of navigation measure guarantees collision-free convergence at the final destination set beginning with almost every initial condition with respect to the Lebesgue measure. Navigation measure can be viewed as a dual to the navigation function. While the navigation function has its minimum at the final destination set and peaks at the obstacle set, navigation measure takes the maximum value at the destination set and is zero at the obstacle set. A linear programming formalism is proposed for the construction of navigation measure. Set-oriented numerical methods are utilised to obtain finite dimensional approximation of this navigation measure. Application of the proposed navigation measure-based theoretical and computational framework is demonstrated for a motion planning problem in a complex fluid flow.

  7. Navigational challenges in the oceanic migrations of leatherback sea turtles

    Science.gov (United States)

    Sale, Alessandro; Luschi, Paolo

    2009-01-01

    The open-sea movements of marine animals are affected by the drifting action of currents that, if not compensated for, can produce non-negligible deviations from the correct route towards a given target. Marine turtles are paradigmatic skilful oceanic navigators that are able to reach remote goals at the end of long-distance migrations, apparently overcoming current drift effects. Particularly relevant is the case of leatherback turtles (Dermochelys coriacea), which spend entire years in the ocean, wandering in search of planktonic prey. Recent analyses have revealed how the movements of satellite-tracked leatherbacks in the Indian, Atlantic and Pacific Oceans are strongly dependent on the oceanic currents, up to the point that turtles are often passively transported over long distances. However, leatherbacks are known to return to specific areas to breed every 2–3 years, thus finding their way back home after long periods in the oceanic environment. Here we examine the navigational consequences of the leatherbacks' close association with currents and discuss how the combined reliance on mechanisms of map-based navigation and local orientation cues close to the target may allow leatherbacks to accomplish the difficult task of returning to specific sites after years spent wandering in a moving medium. PMID:19625321

  8. GPS Navigation and Tracking Device

    Directory of Open Access Journals (Sweden)

    Yahya Salameh Khraisat

    2011-10-01

    Full Text Available Since the introduction of GPS Navigation systems in the marketplace, consumers and businesses have been coming up with innovative ways to use the technology in their everyday life. GPS Navigation and Tracking systems keep us from getting lost when we are in strange locations, they monitor children when they are away from home, keep track of business vehicles and can even let us know where a philandering partner is at all times. Because of this we attend to build a GPS tracking device to solve the mentioned problems. Our work consists of the GPS module that collects data from satellites and calculates the position information before transmitting them to the user’s PC (of Navigation system or observers (of Tracking System using wireless technology (GSM.

  9. 33 CFR 66.05-100 - Designation of navigable waters as State waters for private aids to navigation.

    Science.gov (United States)

    2010-07-01

    ... as State waters for private aids to navigation. 66.05-100 Section 66.05-100 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-100 Designation of navigable waters as State waters for private aids to...

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

    Science.gov (United States)

    Shannon, Lee H.

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

  11. Surface navigation on Mars with a Navigation Satellite

    Science.gov (United States)

    Vijayaraghavan, A.; Thurman, Sam W.; Kahn, Robert D.; Hastrup, Rolf C.

    Radiometric navigation data from the Deep Space Network (DSN) stations on the earth to transponders and other surface elements such as rovers and landers on Mars, can determine their positions to only within a kilometer in inertial space. The positional error is mostly in the z-component of the surface element parallel to the Martian spin-axis. However, with Doppler and differenced-Doppler data from a Navigation Satellite in orbit around Mars to two or more of such transponders on the planetary surface, their positions can be determined to within 15 meters (or 20 meters for one-way Doppler beacons on Mars) in inertial space. In this case, the transponders (or other vehicles) on Mars need not even be capable of directly communicating to the earth. When the Navigation Satellite data is complemented by radiometric observations from the DSN stations also, directly to the surface elements on Mars, their positions can be determined to within 3 meters in inertial space. The relative positions of such surface elements on Mars (relative to one another) in Mars-fixed coordinates, however, can be determined to within 5 meters from simply range and Doppler data from the DSN stations to the surface elements. These results are obtained from covariance studies assuming X-band data noise levels and data-arcs not exceeding 10 days. They are significant in the planning and deployment of a Mars-based navigation network necessary to support real-time operations during critical phases of manned exploration of Mars.

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

    Directory of Open Access Journals (Sweden)

    Dominique Fattaccioli

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Cristol Xavier

    2010-01-01

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

  14. Passive Power Filters

    CERN Document Server

    Künzi, R.

    2015-06-15

    Power converters require passive low-pass filters which are capable of reducing voltage ripples effectively. In contrast to signal filters, the components of power filters must carry large currents or withstand large voltages, respectively. In this paper, three different suitable filter struc tures for d.c./d.c. power converters with inductive load are introduced. The formulas needed to calculate the filter components are derived step by step and practical examples are given. The behaviour of the three discussed filters is compared by means of the examples. P ractical aspects for the realization of power filters are also discussed.

  15. Analysing deterioration of marble stones exposed to underwater conditions

    Science.gov (United States)

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

    2016-04-01

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

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

    Science.gov (United States)

    Fischell, Erin M; Schmidt, Henrik

    2015-12-01

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

  17. Expansion of passive safety function

    International Nuclear Information System (INIS)

    Inai, Nobuhiko; Nei, Hiromichi; Kumada, Toshiaki.

    1995-01-01

    Expansion of the use of passive safety functions is proposed. Two notions are presented. One is that, in the design of passive safety nuclear reactors where aversion of active components is stressed, some active components are purposely introduced, by which a system is built in such a way that it behaves in an apparently passive manner. The second notion is that, instead of using a passive safety function alone, a passive safety function is combined with some active components, relating the passivity in the safety function with enhanced controllability in normal operation. The nondormant system which the authors propose is one example of the first notion. This is a system in which a standby safety system is a portion of the normal operation system. An interpretation of the nondormant system via synergetics is made. As an example of the second notion, a PIUS density lock aided with active components is proposed and is discussed

  18. Navigation in Cross-cultural business relationships

    DEFF Research Database (Denmark)

    Andersen, Poul Houman

    2001-01-01

    Cross-cultural business navigation concerns the process of handling the complexity of several interacting cultural spheres of influence......Cross-cultural business navigation concerns the process of handling the complexity of several interacting cultural spheres of influence...

  19. An Integrated Approach to Electronic Navigation

    National Research Council Canada - National Science Library

    Shaw, Peter; Pettus, Bill

    2001-01-01

    While the Global Positioning System (GPS) is and will continue to be an excellent navigation system, it is neither flawless nor is it the only system employed in the navigation of today's seagoing warfighters...

  20. Global Positioning System Navigation Algorithms

    Science.gov (United States)

    1977-05-01

    Historical Remarks on Navigation In Greek mythology , Odysseus sailed safely by the Sirens only to encounter the monsters Scylla and Charybdis...TNED 000 00 1(.7 BIBLIOGRAPHY 1. Pinsent, John. Greek Mythology . Paul Hamlyn, London, 1969. 2. Kline, Morris. Mathematical Thought from Ancient to

  1. Conceptual Grounds of Navigation Safety

    Directory of Open Access Journals (Sweden)

    Vladimir Torskiy

    2016-04-01

    Full Text Available The most important global problem being solved by the whole world community nowadays is to provide sustainable mankind development. Recent research in the field of sustainable development states that civilization safety is impossible without transfer sustainable development. At the same time, sustainable development (i.e. preservation of human culture and biosphere is impossible as a system that serves to meet economical, cultural, scientific, recreational and other human needs without safety. Safety plays an important role in sustainable development goals achievement. An essential condition of effective navigation functioning is to provide its safety. The “prescriptive” approach to the navigation safety, which is currently used in the world maritime field, is based on long-term experience and ship accidents investigation results. Thus this approach acted as an the great fact in reduction of number of accidents at sea. Having adopted the International Safety Management Code all the activities connected with navigation safety problems solution were transferred to the higher qualitative level. Search and development of new approaches and methods of ship accidents prevention during their operation have obtained greater importance. However, the maritime safety concept (i.e. the different points on ways, means and methods that should be used to achieve this goal hasn't been formed and described yet. The article contains a brief review of the main provisions of Navigation Safety Conceptions, which contribute to the number of accidents and incidents at sea reduction.

  2. Surgical navigation with QR codes

    Directory of Open Access Journals (Sweden)

    Katanacho Manuel

    2016-09-01

    Full Text Available The presented work is an alternative to established measurement systems in surgical navigation. The system is based on camera based tracking of QR code markers. The application uses a single video camera, integrated in a surgical lamp, that captures the QR markers attached to surgical instruments and to the patient.

  3. Passive cooling containment study

    International Nuclear Information System (INIS)

    Shin, J.J.; Iotti, R.C.; Wright, R.F.

    1993-01-01

    Pressure and temperature transients of nuclear reactor containment following postulated loss of coolant accident with a coincident station blackout due to total loss of all alternating current power are studied analytically and experimentally for the full scale NPR (New Production Reactor). All the reactor and containment cooling under this condition would rely on the passive cooling system which removes reactor decay heat and provides emergency core and containment cooling. Containment passive cooling for this study takes place in the annulus between containment steel shell and concrete shield building by natural convection air flow and thermal radiation. Various heat transfer coefficients inside annular air space were investigated by running the modified CONTEMPT code CONTEMPT-NPR. In order to verify proper heat transfer coefficient, temperature, heat flux, and velocity profiles were measured inside annular air space of the test facility which is a 24 foot (7.3m) high, steam heated inner cylinder of three foot (.91m) diameter and five and half foot (1.7m) diameter outer cylinder. Comparison of CONTEMPT-NPR and WGOTHIC was done for reduced scale NPR

  4. Fly ash carbon passivation

    Science.gov (United States)

    La Count, Robert B; Baltrus, John P; Kern, Douglas G

    2013-05-14

    A thermal method to passivate the carbon and/or other components in fly ash significantly decreases adsorption. The passivated carbon remains in the fly ash. Heating the fly ash to about 500 and 800 degrees C. under inert gas conditions sharply decreases the amount of surfactant adsorbed by the fly ash recovered after thermal treatment despite the fact that the carbon content remains in the fly ash. Using oxygen and inert gas mixtures, the present invention shows that a thermal treatment to about 500 degrees C. also sharply decreases the surfactant adsorption of the recovered fly ash even though most of the carbon remains intact. Also, thermal treatment to about 800 degrees C. under these same oxidative conditions shows a sharp decrease in surfactant adsorption of the recovered fly ash due to the fact that the carbon has been removed. This experiment simulates the various "carbon burnout" methods and is not a claim in this method. The present invention provides a thermal method of deactivating high carbon fly ash toward adsorption of AEAs while retaining the fly ash carbon. The fly ash can be used, for example, as a partial Portland cement replacement in air-entrained concrete, in conductive and other concretes, and for other applications.

  5. Inertial Navigation System/Doppler Velocity Log (INS/DVL Fusion with Partial DVL Measurements

    Directory of Open Access Journals (Sweden)

    Asaf Tal

    2017-02-01

    Full Text Available The Technion autonomous underwater vehicle (TAUV is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS aided by a Doppler velocity log (DVL, magnetometer, and pressure sensor (PS. In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown.

  6. Surface Passivation in Empirical Tight Binding

    OpenAIRE

    He, Yu; Tan, Yaohua; Jiang, Zhengping; Povolotskyi, Michael; Klimeck, Gerhard; Kubis, Tillmann

    2015-01-01

    Empirical Tight Binding (TB) methods are widely used in atomistic device simulations. Existing TB methods to passivate dangling bonds fall into two categories: 1) Method that explicitly includes passivation atoms is limited to passivation with atoms and small molecules only. 2) Method that implicitly incorporates passivation does not distinguish passivation atom types. This work introduces an implicit passivation method that is applicable to any passivation scenario with appropriate parameter...

  7. Navigation system for interstitial brachytherapy

    International Nuclear Information System (INIS)

    Strassmann, G.; Kolotas, C.; Heyd, R.

    2000-01-01

    The purpose of the stud was to develop a computed tomography (CT) based electromagnetic navigation system for interstitial brachytherapy. This is especially designed for situations when needles have to be positioned adjacent to or within critical anatomical structures. In such instances interactive 3D visualisation of the needle positions is essential. The material consisted of a Polhemus electromagnetic 3D digitizer, a Pentium 200 MHz laptop and a voice recognition for continuous speech. In addition, we developed an external reference system constructed of Perspex which could be positioned above the tumour region and attached to the patient using a non-invasive fixation method. A specially designed needle holder and patient bed were also developed. Measurements were made on a series of phantoms in order to study the efficacy and accuracy of the navigation system. The mean navigation accuracy of positioning the 20.0 cm length metallic needles within the phantoms was in the range 2.0-4.1 mm with a maximum of 5.4 mm. This is an improvement on the accuracy of a CT-guided technique which was in the range 6.1-11.3 mm with a maximum of 19.4 mm. The mean reconstruction accuracy of the implant geometry was 3.2 mm within a non-ferromagnetic environment. We found that although the needles were metallic this did not have a significant influence. We also found for our experimental setups that the CT table and operation table non-ferromagnetic parts had no significant influence on the navigation accuracy. This navigation system will be a very useful clinical tool for interstitial brachytherapy applications, particularly when critical structures have to be avoided. It also should provide a significant improvement on our existing technique

  8. Passive-solar construction handbook

    Energy Technology Data Exchange (ETDEWEB)

    Levy, E.; Evans, D.; Gardstein, C.

    1981-02-01

    Many of the basic elements of passive solar design are reviewed. Passive solar construction is covered according to system type, each system type discussion including a general discussion of the important design and construction issues which apply to the particular system and case studies illustrating designed and built examples of the system type. The three basic types of passive solar systems discussed are direct gain, thermal storage wall, and attached sunspace. Thermal performance and construction information is presented for typical materials used in passive solar collector components, storage components, and control components. Appended are an overview of analysis methods and a technique for estimating performance. (LEW)

  9. 77 FR 42637 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Corrections

    Science.gov (United States)

    2012-07-20

    ... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Parts 84 and 115 [Docket No. USCG-2012-0306] RIN 1625-AB86 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments...), the Coast Guard published a final rule entitled ``Navigation and Navigable Waters; Technical...

  10. 32 CFR 644.3 - Navigation Projects.

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 4 2010-07-01 2010-07-01 true Navigation Projects. 644.3 Section 644.3 National... HANDBOOK Project Planning Civil Works § 644.3 Navigation Projects. (a) Land to be acquired in fee. All... construction and borrow areas. (3) In navigation-only projects, the right to permanently flood should be...

  11. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

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

  12. Development of a tentacle propulsion technique for underwater application

    International Nuclear Information System (INIS)

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

    2013-01-01

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

  13. SOUNET: Self-Organized Underwater Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    Hee-won Kim

    2017-02-01

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

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

    Science.gov (United States)

    Kim, Hee-Won; Cho, Ho-Shin

    2017-02-02

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

  15. Development of underwater robot for taking off marine life

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  16. Development of underwater camera using high-definition camera

    International Nuclear Information System (INIS)

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

  18. Electrostatic images for underwater anisotropic conductive half spaces

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  19. Cosmic ray muons and their associated shower particles underwater

    International Nuclear Information System (INIS)

    Anderson, S.N.

    1978-01-01

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

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

    Science.gov (United States)

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

    2016-05-01

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

  1. First hvdc underwater transmission links mainland and Vancouver

    Energy Technology Data Exchange (ETDEWEB)

    1967-06-01

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

  2. NBL Pistol Grip Tool for Underwater Training of Astronauts

    Science.gov (United States)

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

    2011-01-01

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

  3. In-air and underwater hearing of the cormorant

    DEFF Research Database (Denmark)

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

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

  4. Microcontroller-based underwater acoustic ECG telemetry system.

    Science.gov (United States)

    Istepanian, R S; Woodward, B

    1997-06-01

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

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

    DEFF Research Database (Denmark)

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

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

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

    Directory of Open Access Journals (Sweden)

    Y.W. Kwon

    1994-01-01

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

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

    OpenAIRE

    Li, Chongyi; Guo, Jichang; Guo, Chunle

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    A. GÖKDENİZ

    2013-03-01

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

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

    Science.gov (United States)

    2005-07-18

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

  10. Diver Operated Tools and Applications for Underwater Construction

    Science.gov (United States)

    1987-01-01

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

  11. A new electronic control system for unmanned underwater vehicles

    OpenAIRE

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

    2015-01-01

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

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

    International Nuclear Information System (INIS)

    Rose, N.

    1994-01-01

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

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

    International Nuclear Information System (INIS)

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

    1980-01-01

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

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

    OpenAIRE

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

    2016-01-01

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

  15. Numerical Computational Technique for Scattering from Underwater Objects

    OpenAIRE

    T. Ratna Mani; Raj Kumar; Odamapally Vijay Kumar

    2013-01-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    1967-04-01

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

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

    International Nuclear Information System (INIS)

    Henning, C.D.

    1993-01-01

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

  19. Theoretical Limits of Lunar Vision Aided Navigation with Inertial Navigation System

    Science.gov (United States)

    2015-03-26

    THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones, Capt, USAF AFIT-ENG-MS-15-M-020 DEPARTMENT...Government and is not subject to copyright protection in the United States. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH...DISTRIBUTION UNLIMITED. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones

  20. On the Accuracy Potential in Underwater/Multimedia Photogrammetry.

    Science.gov (United States)

    Maas, Hans-Gerd

    2015-07-24

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