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Sample records for underwater polarization patterns

  1. Polar Grid Navigation Algorithm for Unmanned Underwater Vehicles.

    Science.gov (United States)

    Yan, Zheping; Wang, Lu; Zhang, Wei; Zhou, Jiajia; Wang, Man

    2017-07-09

    To solve the unavailability of a traditional strapdown inertial navigation system (SINS) for unmanned underwater vehicles (UUVs) in the polar region, a polar grid navigation algorithm for UUVs is proposed in this paper. Precise navigation is the basis for UUVs to complete missions. The rapid convergence of Earth meridians and the serious polar environment make it difficult to establish the true heading of the UUV at a particular instant. Traditional SINS and traditional representation of position are not suitable in the polar region. Due to the restrictions of the complex underwater conditions in the polar region, a SINS based on the grid frame with the assistance of the OCTANS and the Doppler velocity log (DVL) is chosen for a UUV navigating in the polar region. Data fusion of the integrated navigation system is realized by a modified fuzzy adaptive Kalman filter (MFAKF). By neglecting the negative terms, and using T-S fuzzy logic in the adaptive regulation of the noise covariance, the proposed filter algorithm can improve navigation accuracy. Simulation and experimental results demonstrate that the polar grid navigation algorithm can effectively navigate a UUV sailing in the polar region.

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

    Directory of Open Access Journals (Sweden)

    Jie Shen

    2014-04-01

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

  3. Resolution enhancement in active underwater polarization imaging with modulation transfer function analysis.

    Science.gov (United States)

    Han, Jiefei; Yang, Kecheng; Xia, Min; Sun, Liying; Cheng, Zao; Liu, Hao; Ye, Junwei

    2015-04-10

    Active polarization imaging technology is a convenient and promising method for imaging in a scattering medium such as fog and turbid water. However, few studies have investigated the influence of polarization on the resolution in underwater imaging. This paper reports on the effects of polarization detection on the resolution of underwater imaging by using active polarization imaging technology. An experimental system is designed to determine the influence under various polarization and water conditions. The modulation transfer function is introduced to estimate the resolution variations at different spatial frequencies. Results show that orthogonal detection supplies the best resolution compared with other polarization directions in the turbid water. The performance of the circular polarization method is better than the linear process. However, if the light propagates under low scattering conditions, such as imaging in clean water or at small optical thickness, the resolution enhancement is not sensitive to the polarization angles.

  4. 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.

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

    Science.gov (United States)

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

    2018-03-30

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

  6. Polar patterns of driven filaments.

    Science.gov (United States)

    Schaller, Volker; Weber, Christoph; Semmrich, Christine; Frey, Erwin; Bausch, Andreas R

    2010-09-02

    The emergence of collective motion exhibited by systems ranging from flocks of animals to self-propelled microorganisms to the cytoskeleton is a ubiquitous and fascinating self-organization phenomenon. Similarities between these systems, such as the inherent polarity of the constituents, a density-dependent transition to ordered phases or the existence of very large density fluctuations, suggest universal principles underlying pattern formation. This idea is followed by theoretical models at all levels of description: micro- or mesoscopic models directly map local forces and interactions using only a few, preferably simple, interaction rules, and more macroscopic approaches in the hydrodynamic limit rely on the systems' generic symmetries. All these models characteristically have a broad parameter space with a manifold of possible patterns, most of which have not yet been experimentally verified. The complexity of interactions and the limited parameter control of existing experimental systems are major obstacles to our understanding of the underlying ordering principles. Here we demonstrate the emergence of collective motion in a high-density motility assay that consists of highly concentrated actin filaments propelled by immobilized molecular motors in a planar geometry. Above a critical density, the filaments self-organize to form coherently moving structures with persistent density modulations, such as clusters, swirls and interconnected bands. These polar nematic structures are long lived and can span length scales orders of magnitudes larger than their constituents. Our experimental approach, which offers control of all relevant system parameters, complemented by agent-based simulations, allows backtracking of the assembly and disassembly pathways to the underlying local interactions. We identify weak and local alignment interactions to be essential for the observed formation of patterns and their dynamics. The presented minimal polar-pattern-forming system

  7. Under-Ice Science in the Polar Regions with Autonomous Underwater Vehicles

    Science.gov (United States)

    Kunz, C.; Murphy, C.; Singh, H.; Das, S. B.; Jackson, R. H.; Kukulya, A.; Littlefield, R.; Maksym, T. L.; Plueddemann, A. J.; Sohn, R. A.; Straneo, F.; Wilkinson, J.

    2012-12-01

    Developments in autonomous underwater vehicle (AUV) technology over the last decade have enabled scientists to study areas of the ocean at high latitude that were previously unapproachable. In particular, advances in acoustic communications, robotic autonomy and navigation, and compact sensor technology allow AUVs to work in close proximity to sea ice, glacial fronts, and the sea floor under multi-year pack ice. We describe the technology that enabled several expeditions to both polar regions that have used Seabed-class AUVs as the primary platform for making scientific measurements. We also describe current and upcoming missions using the smaller Seabed-100 and REMUS-100 AUVs for shallow-water work near glacial fronts. Several problems must be solved in order to successfully use robots under ice. Acoustic communications must be robust enough for operators on the surface to inform the AUV of changing conditions so that the vehicle can safely return to open water on the surface - during the AGAVE and IceBell expeditions, we experienced sea ice drift rates of tens of centimeters per second, and moving ice floes that constrained the availability of open water. AUV navigation must be flexible enough for the robot to switch reference frames during a mission depending on the conditions and on the scientific objective. During a single deployment during the IceBell expedition, it was typical for the robot to switch from ship-relative (using acoustic transponders), to ice-relative (using a doppler velocity log), to ice-relative (using a distinct set of acoustic transponders), and back again; an AUV may also need to navigate relative to the sea floor (as during the AGAVE expedition). Making ice-relative measurements also requires taking ice floe rotation into account, and on-board navigation relative to a rotating frame may be necessary. Finally, specialized scenarios such as when navigating near a glacial front require navigation relative to vertical, rather than horizontal

  8. Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns.

    Science.gov (United States)

    Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Y; Gravdahl, Jan T

    2015-01-01

    Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined areas. This is interesting for inspection and monitoring operations, for instance within the subsea oil and gas industry and within marine archeology. In addition, underwater snake robots can provide both inspection and intervention capabilities and are thus interesting candidates for the next generation inspection and intervention AUVs. Furthermore, bioinspired locomotion through oscillatory gaits, like lateral undulation and eel-like motion, is interesting from an energy efficiency point of view. Increasing the motion efficiency in terms of the achieved forward speed by improving the method of propulsion is a key issue for underwater robots. Moreover, energy efficiency is one of the main challenges for long-term autonomy of these systems. In this study, we will consider both these two aspects of efficiency. This paper considers the energy efficiency of swimming snake robots by presenting and experimentally investigating fundamental properties of the velocity and the power consumption of an underwater snake robot for both lateral undulation and eel-like motion patterns. In particular, we investigate the relationship between the parameters of the gait patterns, the forward velocity and the energy consumption for different motion patterns. The simulation and experimental results are seen to support the theoretical findings.

  9. Active Electro-Location of Objects in the Underwater Environment Based on the Mixed Polarization Multiple Signal Classification Algorithm

    Science.gov (United States)

    Guo, Lili; Qi, Junwei; Xue, Wei

    2018-01-01

    This article proposes a novel active localization method based on the mixed polarization multiple signal classification (MP-MUSIC) algorithm for positioning a metal target or an insulator target in the underwater environment by using a uniform circular antenna (UCA). The boundary element method (BEM) is introduced to analyze the boundary of the target by use of a matrix equation. In this method, an electric dipole source as a part of the locating system is set perpendicularly to the plane of the UCA. As a result, the UCA can only receive the induction field of the target. The potential of each electrode of the UCA is used as spatial-temporal localization data, and it does not need to obtain the field component in each direction compared with the conventional fields-based localization method, which can be easily implemented in practical engineering applications. A simulation model and a physical experiment are constructed. The simulation and the experiment results provide accurate positioning performance, with the help of verifying the effectiveness of the proposed localization method in underwater target locating. PMID:29439495

  10. Vector wave diffraction pattern of slits masked by polarizing devices

    Indian Academy of Sciences (India)

    This calls for a systematic study of diffraction properties of different apertures using polarization-sensitive devices. In the present paper, we have studied the Fraunhofer diffraction pattern of slits masked by different kinds of polarizing devices which introduce a phase difference between the two orthogonal components of the ...

  11. Prediction Center (CPC) Polar Eurasia Teleconnection Pattern Index

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Monthly tabulated index of the Polar-Eurasia teleconnection pattern. The data spans the period 1950 to present. The index is derived from a rotated principal...

  12. Compact LCOS–SLM Based Polarization Pattern Beam Generator

    OpenAIRE

    Zheng, Xuejie; Lizana Tutusaus, Ángel; Peinado, Alba; Ramírez, Claudio; Martínez, Jose L.; Márquez, Andrés; Moreno Soriano, Ignacio; Campos Coloma, Juan

    2015-01-01

    In this paper, a compact optical system for generating arbitrary spatial light polarization patterns is demonstrated. The system uses a single high-resolution liquid crystal (LC) on silicon (LCOS) spatial light modulator. A specialized optical mount is designed and fabricated using a 3D printer, in order to build a compact dual optical architecture, where two different phase patterns are encoded on two adjacent halves of the LCOS screen, with a polarization transformation in between. The fina...

  13. Flexoelectricity and the polarity of complex ferroelastic twin patterns

    Science.gov (United States)

    Salje, Ekhard K. H.; Li, Suzhi; Stengel, Massimiliano; Gumbsch, Peter; Ding, Xiangdong

    2016-07-01

    We study, by means of an atomistic toy model, the interplay of ferroelastic twin patterns and electrical polarization. Our molecular dynamics simulations reproduce polarity in straight twin walls as observed experimentally. We show, by making contact with continuum theory, that the effect is governed by linear flexoelectricity. Complex twin patterns, with very high densities of kinks and/or junctions, produce winding structures in the dipolar field, which are reminiscent of polarization vortices. By means of a "cold shearing" technique, we produce patches with high vortex densities; these unexpectedly show a net macroscopic polarization even if neither the original sample nor the applied mechanical perturbation breaks inversion symmetry by itself. These results may explain some puzzling experimental observations of "parasitic" polarity in the paraelectric phase of BaTi O3 and LaAl O3 .

  14. Prediction of Tonal Underwater Noise Pattern from Cavitating Propellers with Special Attention to Ice Cover Effects

    Directory of Open Access Journals (Sweden)

    Streckwall Heinrich

    2015-01-01

    Full Text Available To predict underwater noise spectra associated to regular occurrence of propeller cavitation we have extended an existing method [1] (used for the prediction of fluctuating hull pressures to become applicable for effects that are linked to a finite speed of sound. In [2] an intermediate approach was realized where (besides the hull far field boundaries were introduced but the incompressible flow assumption was kept. However compressibility effects become noticeable in the far field, which may be judged to start at some 2-3 propeller-diameters distance from the centre of the cavitation events, if we confine to emissions at 1st-4th blade frequency. It was a logical continuation of our former efforts to realize a compressible flow model and integrate the propeller as a noise source. Having increased the functionality of our approach by referencing the speed of sound, the precision of the method was also somehow reduced. In our former approach, like in comparable approaches (see for instance [3] and [4], the singularity system generating the near field propeller induced pressures involved various sources and vortices distributed on the propeller blades. With our current compressible approach this complexity was dropped, as a single point source substitutes the cavitating propeller. Such a simplification correlates with the assumption, that the monopole character of a noise source is decisive for the far field noise levels. In this contribution we outline the steps characterizing the procedure for predicting tonal underwater noise from cavitating propellers. In the first step a Vortex Lattice Method (VLM is used to access the cavitation pattern on the propeller with special focus on the cavity volume attached to one blade. The second step accumulates the distributed cavities to establish a fluctuating point source of equivalent far field noise characteristic. As relevant limits the hull, the free surface, the sea bottom and an ice cover are

  15. 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…

  16. Structure of polarization-resolved conoscopic patterns of planar oriented liquid crystal cells

    Science.gov (United States)

    Kiselev, A. D.; Vovk, R. G.

    2010-05-01

    The geometry of distributions of the polarization of light in conoscopic patterns of planar oriented nematic and cholesteric liquid crystal (LC) cells is described in terms of the polarization singularities including C-points (points of circular polarization) and L lines (lines of linear polarization). Conditions for the formation of polarization singularities ( C-points) in an ensemble of conoscopic patterns parametrized by the polarization azimuth and ellipticity of the incident light wave have been studied. A characteristic feature of these conditions is selectivity with respect to the polarization parameters of the incident light wave. The polarization azimuth and ellipticity are determining parameters for nematic and cholesteric LC cells, respectively.

  17. Pattern recognition analysis of polar clouds during summer and winter

    Science.gov (United States)

    Ebert, Elizabeth E.

    1992-01-01

    A pattern recognition algorithm is demonstrated which classifies eighteen surface and cloud types in high-latitude AVHRR imagery based on several spectral and textural features, then estimates the cloud properties (fractional coverage, albedo, and brightness temperature) using a hybrid histogram and spatial coherence technique. The summertime version of the algorithm uses both visible and infrared data (AVHRR channels 1-4), while the wintertime version uses only infrared data (AVHRR channels 3-5). Three days of low-resolution AVHRR imagery from the Arctic and Antarctic during January and July 1984 were analyzed for cloud type and fractional coverage. The analysis showed significant amounts of high cloudiness in the Arctic during one day in winter. The Antarctic summer scene was characterized by heavy cloud cover in the southern ocean and relatively clear conditions in the continental interior. A large region of extremely low brightness temperatures in East Antarctica during winter suggests the presence of polar stratospheric cloud.

  18. Polarization-resolved angular patterns of nematic liquid crystal cells: Topological events driven by incident light polarization

    Science.gov (United States)

    Kiselev, Alexei D.; Vovk, Roman G.; Egorov, Roman I.; Chigrinov, Vladimir G.

    2008-09-01

    We study the angular structure of polarization of light transmitted through a nematic liquid crystal (NLC) cell by analyzing the polarization state as a function of the incidence angles and the polarization of the incident wave. The polarization-resolved angular (conoscopic) patterns emerging after the NLC cell illuminated by the convergent light beam are described in terms of the polarization singularities such as C points (points of circular polarization) and L lines (lines of linear polarization). For the homeotropically aligned cell, the Stokes polarimetry technique is used to measure the polarization resolved conoscopic patterns at different values of the ellipticity of the incident light, γell(inc) , impinging onto the cell. Using the exact analytical expressions for the transfer matrix we show that variations of the ellipticity, γell(inc) , induce transformations of the angular pattern exhibiting the effect of avoided L -line crossings and characterized by topological events such as creation and annihilation of the C points. The predictions of the theory are found to be in good agreement with the experimental results.

  19. Underwater robots

    CERN Document Server

    Antonelli, Gianluca

    2014-01-01

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

  20. Google™ underwater

    Science.gov (United States)

    Showstack, Randy

    2012-10-01

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

  1. Preliminary Polar Sea Trials of Nereid-UI: A Remotely Operated Underwater Vehicle for Oceanographic Access Under Ice

    Science.gov (United States)

    Whitcomb, L. L.; Jakuba, M.; German, C. R.; Bowen, A.; Yoerger, D.; Kinsey, J. C.; Mayer, L.; McFarland, C.; Suman, S.; Bailey, J.; Judge, C.; Elliott, S.; Gomez-Ibanez, D.; Taylor, C. L.; Machado, C.; Howland, J. C.; Kaiser, C.; Heintz, M.; Pontbriand, C.; O'Hara, L.; McDonald, G.; Boetius, A.

    2014-12-01

    We report the development and deployment of a remotely-controlled underwater robotic vehicle capable of being teleoperated under ice under real-time human supervision. The Nereid Under-Ice (Nereid-UI or NUI) vehicle enables exploration and detailed examination of biological and physical environments including the ice-ocean interface in marginal ice zones, in the water column of ice-covered seas, at glacial ice-tongues, and ice-shelf margins, delivering realtime high definition video in addition to survey data from on board acoustic, optical, chemical, and biological sensors. The vehicle employs a novel lightweight fiber-optic tether that will enable it to be deployed from a ship to attain standoff distances of up to 20 km from an ice-edge boundary. We conducted NUI's first under-ice deployments during the July 2014 F/V Polarstern PS86 expedition at 86° N 6 W° in the Arctic Ocean - near the Aurora hydrothermal vent site on the Gakkel Ridge approximately 200 km NE of Greenland. We conducted 4 dives to evaluate and develop NUI's overall functioning and its individual engineered subsystems. On each dive, dead-reckoning (Ice-locked Doppler sonar and north-seeking gyrocompass) complemented by acoustic ranging provided navigation, supporting closed-loop control of heading, depth, and XY position relative to the ice. Science operations included multibeam transects of under-ice topography, precision vertical profiles for the bio-sensor suite and IR/radiance sensor suite, IR/radiance/multibeam transects at constant depth interlaced with vertical profiles and upward-looking digital still-camera surveys of the ice, including areas rich with algal material. The fiber-optic tether remained intact throughout most of all 4 dives. Consistent with the NUI concept of operations, in 3 of 4 dives the fiber-optic tether eventually failed, and the vehicle was then commanded acoustically in a series of short-duration maneuvers to return to Polarstern for recovery. These preliminary

  2. Arabidopsis AIP1-2 restricted by WER-mediated patterning modulates planar polarity.

    Science.gov (United States)

    Kiefer, Christian S; Claes, Andrea R; Nzayisenga, Jean-Claude; Pietra, Stefano; Stanislas, Thomas; Hüser, Anke; Ikeda, Yoshihisa; Grebe, Markus

    2015-01-01

    The coordination of cell polarity within the plane of the tissue layer (planar polarity) is crucial for the development of diverse multicellular organisms. Small Rac/Rho-family GTPases and the actin cytoskeleton contribute to planar polarity formation at sites of polarity establishment in animals and plants. Yet, upstream pathways coordinating planar polarity differ strikingly between kingdoms. In the root of Arabidopsis thaliana, a concentration gradient of the phytohormone auxin coordinates polar recruitment of Rho-of-plant (ROP) to sites of polar epidermal hair initiation. However, little is known about cytoskeletal components and interactions that contribute to this planar polarity or about their relation to the patterning machinery. Here, we show that ACTIN7 (ACT7) represents a main actin isoform required for planar polarity of root hair positioning, interacting with the negative modulator ACTIN-INTERACTING PROTEIN1-2 (AIP1-2). ACT7, AIP1-2 and their genetic interaction are required for coordinated planar polarity of ROP downstream of ethylene signalling. Strikingly, AIP1-2 displays hair cell file-enriched expression, restricted by WEREWOLF (WER)-dependent patterning and modified by ethylene and auxin action. Hence, our findings reveal AIP1-2, expressed under control of the WER-dependent patterning machinery and the ethylene signalling pathway, as a modulator of actin-mediated planar polarity. © 2015. Published by The Company of Biologists Ltd.

  3. Underwater Vehicle

    National Research Council Canada - National Science Library

    Dick, James L

    2007-01-01

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

  4. Topological events in polarization resolved angular patterns of nematic liquid crystal cells at varying ellipticity of incident wave

    OpenAIRE

    Kiselev, Alexei D.; Vovk, Roman G.

    2008-01-01

    We study the angular structure of polarization of light transmitted through a nematic liquid crystal (NLC) cell by analyzing the polarization state as a function of the incidence angles and the polarization of the incident wave. The polarization resolved angular patterns emerging after the NLC cell illuminated by the convergent light beam are described in terms of the polarization singularities such as C-points (points of circular polarization) and L-lines (lines of linear polarization). For ...

  5. Cooperative Position Aware Mobility Pattern of AUVs for Avoiding Void Zones in Underwater WSNs

    Directory of Open Access Journals (Sweden)

    Nadeem Javaid

    2017-03-01

    Full Text Available In this paper, we propose two schemes; position-aware mobility pattern (PAMP and cooperative PAMP (Co PAMP. The first one is an optimization scheme that avoids void hole occurrence and minimizes the uncertainty in the position estimation of glider’s. The second one is a cooperative routing scheme that reduces the packet drop ratio by using the relay cooperation. Both techniques use gliders that stay at sojourn positions for a predefined time, at sojourn position self-confidence (s-confidence and neighbor-confidence (n-confidence regions that are estimated for balanced energy consumption. The transmission power of a glider is adjusted according to those confidence regions. Simulation results show that our proposed schemes outperform the compared existing one in terms of packet delivery ratio, void zones and energy consumption.

  6. Polarization resolved conoscopic patterns in nematic cells: effects induced by the incident light ellipticity

    Science.gov (United States)

    Buinyi, Igor O.; Soskin, Marat S.; Vovk, Roman G.

    2008-05-01

    Topological structure of the polarization resolved conoscopic patterns, calculated theoretically and measured experimentally for nematic liquid crystal (NLC) cells, is described in terms of polarization singularities, saddle points and bifurcation lines. The parametric dynamics of the topological network, induced by the variation of the incident light ellipticity, is analyzed for the nematic cells with uniform and non-uniform director configuration. Different stages of similar dynamics are observed for homeotropically oriented NLC cell. Non-uniform director configuration within the cell results in broken central symmentry in the arrangement of the topological network. Main features of the experimentally obtained polarization resolved conoscopic patterns are the same to the theoretically predicted ones.

  7. Statistical Image Recovery From Laser Speckle Patterns With Polarization Diversity

    Science.gov (United States)

    2010-09-01

    old estimate of the polarization ratio, pold , for calculating onew. Strong successfully used this substitution with reasonable results but produced an...Step. For the Expectation Step (E-Step), the conditional expectation of the complete log-likelihood is taken: Q(o, p) =E[LCD| dk(x), o = oold, p = pold ...dk(x), o = oold, p = pold ] = Eold[LCD] = K∑ k=1 K∑ l=1 ∑ x ∑ y { Eold[d̃ (1) k (y,x)] log[op1(y)op1(y + x)] + Eold[d̃ (2) l (y,x)] log[op2(y)op2(y

  8. Polarization switching and patterning in self-assembled peptide tubular structures

    Science.gov (United States)

    Bdikin, Igor; Bystrov, Vladimir; Delgadillo, Ivonne; Gracio, José; Kopyl, Svitlana; Wojtas, Maciej; Mishina, Elena; Sigov, Alexander; Kholkin, Andrei L.

    2012-04-01

    Self-assembled peptide nanotubes are unique nanoscale objects that have great potential for a multitude of applications, including biosensors, nanotemplates, tissue engineering, biosurfactants, etc. The discovery of strong piezoactivity and polar properties in aromatic dipeptides [A. Kholkin, N. Amdursky, I. Bdikin, E. Gazit, and G. Rosenman, ACS Nano 4, 610 (2010)] opened up a new perspective for their use as biocompatible nanoactuators, nanomotors, and molecular machines. Another, as yet unexplored functional property is the ability to switch polarization and create artificial polarization patterns useful in various electronic and optical applications. In this work, we demonstrate that diphenylalanine peptide nanotubes are indeed electrically switchable if annealed at a temperature of about 150 °C. The new orthorhombic antipolar structure that appears after annealing allows for the existence of a radial polarization component, which is directly probed by piezoresponse force microscopy (PFM) measurements. Observation of the relatively stable polarization patterns and hysteresis loops via PFM testifies to the local reorientation of molecular dipoles in the radial direction. The experimental results are complemented with rigorous molecular calculations and create a solid background of electric-field induced deformation of aromatic rings and corresponding polarization switching in this emergent material.

  9. A new method to reconstruct the ionospheric convection patterns in the polar cap

    Directory of Open Access Journals (Sweden)

    P. L. Israelevich

    1999-06-01

    Full Text Available A new method to reconstruct the instantaneous convection pattern in the Earth's polar ionosphere is suggested. Plasma convection in the polar cap ionosphere is described as a hydrodynamic incompressible flow. This description is valid in the region where the electric currents are field aligned (and hence, the Lorentz body force vanishes. The problem becomes two-dimensional, and may be described by means of stream function. The flow pattern may be found as a solution of the boundary value problem for stream function. Boundary conditions should be provided by measurements of the electric field or plasma velocity vectors along the satellite orbits. It is shown that the convection pattern may be reconstructed with a reasonable accuracy by means of this method, by using only the minimum number of satellite crossings of the polar cap. The method enables us to obtain a reasonable estimate of the convection pattern without knowledge of the ionospheric conductivity.Key words. Ionosphere (modelling and forecasting; plasma convection; polar ionosphere

  10. A new method to reconstruct the ionospheric convection patterns in the polar cap

    Directory of Open Access Journals (Sweden)

    P. L. Israelevich

    Full Text Available A new method to reconstruct the instantaneous convection pattern in the Earth's polar ionosphere is suggested. Plasma convection in the polar cap ionosphere is described as a hydrodynamic incompressible flow. This description is valid in the region where the electric currents are field aligned (and hence, the Lorentz body force vanishes. The problem becomes two-dimensional, and may be described by means of stream function. The flow pattern may be found as a solution of the boundary value problem for stream function. Boundary conditions should be provided by measurements of the electric field or plasma velocity vectors along the satellite orbits. It is shown that the convection pattern may be reconstructed with a reasonable accuracy by means of this method, by using only the minimum number of satellite crossings of the polar cap. The method enables us to obtain a reasonable estimate of the convection pattern without knowledge of the ionospheric conductivity.

    Key words. Ionosphere (modelling and forecasting; plasma convection; polar ionosphere

  11. Identifying polar bear resource selection patterns to inform offshore development in a dynamic and changing Arctic

    Science.gov (United States)

    Wilson, Ryan R.; Horne, Jon S.; Rode, Karyn D.; Regehr, Eric V.; Durner, George M.

    2014-01-01

    Although sea ice loss is the primary threat to polar bears (Ursus maritimus), little can be done to mitigate its effects without global efforts to reduce greenhouse gas emissions. Other factors, however, could exacerbate the impacts of sea ice loss on polar bears, such as exposure to increased industrial activity. The Arctic Ocean has enormous oil and gas potential, and its development is expected to increase in the coming decades. Estimates of polar bear resource selection will inform managers how bears use areas slated for oil development and to help guide conservation planning. We estimated temporally-varying resource selection patterns for non-denning adult female polar bears in the Chukchi Sea population (2008–2012) at two scales (i.e., home range and weekly steps) to identify factors predictive of polar bear use throughout the year, before any offshore development. From the best models at each scale, we estimated scale-integrated resource selection functions to predict polar bear space use across the population's range and determined when bears were most likely to use the region where offshore oil and gas development in the United States is slated to occur. Polar bears exhibited significant intra-annual variation in selection patterns at both scales but the strength and annual patterns of selection differed between scales for most variables. Bears were most likely to use the offshore oil and gas planning area during ice retreat and growth with the highest predicted use occurring in the southern portion of the planning area. The average proportion of predicted high-value habitat in the planning area was >15% of the total high-value habitat for the population during sea ice retreat and growth and reached a high of 50% during November 2010. Our results provide a baseline on which to judge future changes to non-denning adult female polar bear resource selection in the Chukchi Sea and help guide offshore development in the region. Lastly, our study provides a

  12. Underwater manipulator

    Science.gov (United States)

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

    1993-04-20

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

  13. Underwater manipulator

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  14. Polarized Uniform Linear Array System: Beam Radiation Pattern, Beamforming Diversity Order, and Channel Capacity

    Directory of Open Access Journals (Sweden)

    Xin Su

    2015-01-01

    Full Text Available There have been many studies regarding antenna polarization; however, there have been few publications on the analysis of the channel capacity for polarized antenna systems using the beamforming technique. According to Chung et al., the channel capacity is determined by the density of scatterers and the transmission power, which is obtained based on the assumption that scatterers are uniformly distributed on a 3D spherical scattering model. However, it contradicts the practical scenario, where scatterers may not be uniformly distributed under outdoor environment, and lacks the consideration of fading channel gain. In this study, we derive the channel capacity of polarized uniform linear array (PULA systems using the beamforming technique in a practical scattering environment. The results show that, for PULA systems, the channel capacity, which is boosted by beamforming diversity, can be determined using the channel gain, beam radiation pattern, and beamforming diversity order (BDO, where the BDO is dependent on the antenna characteristics and array configurations.

  15. Underwater Sound Reference Division

    Data.gov (United States)

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

  16. Polarization Characteristics of Zebra Patterns in Type IV Solar Radio Bursts

    Energy Technology Data Exchange (ETDEWEB)

    Kaneda, K.; Misawa, H.; Tsuchiya, F.; Obara, T. [Planetary Plasma and Atmospheric Research Center, Tohoku University, Sendai, Miyagi 980-8578 (Japan); Iwai, K. [National Institute of Information and Communications Technology, 4-2-1, Nukui-Kitamachi, Koganei, Tokyo 184-8795 (Japan); Katoh, Y. [Department of Geophysics, Graduate School of Science, Tohoku University, Sendai, Miyagi 980-8578 (Japan); Masuda, S., E-mail: k.kaneda@pparc.gp.tohoku.ac.jp [Institute for Space—Earth Environmental Research, Nagoya University, Nagoya, Aichi 464-8601 (Japan)

    2017-06-10

    The polarization characteristics of zebra patterns (ZPs) in type IV solar bursts were studied. We analyzed 21 ZP events observed by the Assembly of Metric-band Aperture Telescope and Real-time Analysis System between 2010 and 2015 and identified the following characteristics: a degree of circular polarization (DCP) in the range of 0%–70%, a temporal delay of 0–70 ms between the two circularly polarized components (i.e., the right- and left-handed components), and dominant ordinary-mode emission in about 81% of the events. For most events, the relation between the dominant and delayed components could be interpreted in the framework of fundamental plasma emission and depolarization during propagation, though the values of DCP and delay were distributed across wide ranges. Furthermore, it was found that the DCP and delay were positively correlated (rank correlation coefficient R = 0.62). As a possible interpretation of this relationship, we considered a model based on depolarization due to reflections at sharp density boundaries assuming fundamental plasma emission. The model calculations of depolarization including multiple reflections and group delay during propagation in the inhomogeneous corona showed that the DCP and delay decreased as the number of reflections increased, which is consistent with the observational results. The dispersive polarization characteristics could be explained by the different numbers of reflections causing depolarization.

  17. Bipolar Plasma Membrane Distribution of Phosphoinositides and Their Requirement for Auxin-Mediated Cell Polarity and Patterning in Arabidopsis

    NARCIS (Netherlands)

    Tejos, R.; Sauer, M.; Vanneste, S.; Palacios-Gomez, M.; Li, H.; Heilmann, M.; van Wijk, R.; Vermeer, J.E.M.; Heilmann, I.; Munnik, T.; Friml, J.

    2014-01-01

    Cell polarity manifested by asymmetric distribution of cargoes, such as receptors and transporters, within the plasma membrane (PM) is crucial for essential functions in multicellular organisms. In plants, cell polarity (re)establishment is intimately linked to patterning processes. Despite the

  18. Polarization and Radiation Pattern Reconfigurability of a Planar Monopole-Fed Loop Antenna for GPS Application

    Directory of Open Access Journals (Sweden)

    M. M. Fakharian

    2016-12-01

    Full Text Available This paper presents a reconfigurable loop antenna with monopole-fed using embedded RF PIN switches based shorted parasitic elements for GPS applications. The antenna can independently reconfiguring multiple polarizations with switchable radiation pattern. Four switched metallic patches are used as parasitic elements to provide a reconfiguration capability to antenna acting as a driven monopole-fed loop. The edge of the parasitic elements is shorted by posts. The parasitic patches are connected/disconnected by using switching, therewith changing the configuration of monopole, to turn changes the current distribution over the loop surface. The antenna is designed to work on the GPS L1 frequency band. The antenna simultaneously changes the radiation beam in E- and H-planes, and switches among three polarizations (LP, LHCP, and RHCP in the various modes. The antenna maximum gain among the different modes is tuned between 1.5 and 4.2 dBi.

  19. Dietary composition and spatial patterns of polar bear foraging on land in western Hudson Bay.

    Science.gov (United States)

    Gormezano, Linda J; Rockwell, Robert F

    2013-12-21

    Flexible foraging strategies, such as prey switching, omnivory and food mixing, are key to surviving in a labile and changing environment. Polar bears (Ursus maritimus) in western Hudson Bay are versatile predators that use all of these strategies as they seasonally exploit resources across trophic levels. Climate warming is reducing availability of their ice habitat, especially in spring when polar bears gain most of their annual fat reserves by consuming seal pups before coming ashore in summer. How polar bears combine these flexible foraging strategies to obtain and utilize terrestrial food will become increasingly important in compensating for energy deficits from lost seal hunting opportunities. We evaluated patterns in the composition of foods in scat to characterize the foraging behaviors that underpin the diet mixing and omnivory observed in polar bears on land in western Hudson Bay. Specifically, we measured diet richness, proportions of plant and animal foods, patterns in co-occurrence of foods, spatial composition and an index of temporal composition. Scats contained between 1 and 6 foods, with an average of 2.11 (SE = 0.04). Most scats (84.9%) contained at least one type of plant, but animals (35.4% of scats) and both plants and animals occurring together (34.4% of scats) were also common. Certain foods, such as Lyme grass seed heads (Leymus arenarius), berries and marine algae, were consumed in relatively higher proportions, sometimes to the exclusion of others, both where and when they occurred most abundantly. The predominance of localized vegetation in scats suggests little movement among habitat types between feeding sessions. Unlike the case for plants, no spatial patterns were found for animal remains, likely due the animals' more vagile and ubiquitous distribution. Our results suggest that polar bears are foraging opportunistically in a manner consistent with maximizing intake while minimizing energy expenditure associated with movement. The

  20. CHARACTERISTIC FEATURES OF MUELLER MATRIX PATTERNS FOR POLARIZATION SCATTERING MODEL OF BIOLOGICAL TISSUES

    Directory of Open Access Journals (Sweden)

    E DU

    2014-01-01

    Full Text Available We developed a model to describe polarized photon scattering in biological tissues. In this model, tissues are simplified to a mixture of scatterers and surrounding medium. There are two types of scatterers in the model: solid spheres and infinitely long solid cylinders. Variables related to the scatterers include: the densities and sizes of the spheres and cylinders, the orientation and angular distribution of cylinders. Variables related to the surrounding medium include: the refractive index, absorption coefficient and birefringence. In this paper, as a development we introduce an optical activity effect to the model. By comparing experiments and Monte Carlo simulations, we analyze the backscattering Mueller matrix patterns of several tissue-like media, and summarize the different effects coming from anisotropic scattering and optical properties. In addition, we propose a possible method to extract the optical activity values for tissues. Both the experimental and simulated results show that, by analyzing the Mueller matrix patterns, the microstructure and optical properties of the medium can be obtained. The characteristic features of Mueller matrix patterns are potentially powerful tools for studying the contrast mechanisms of polarization imaging for medical diagnosis.

  1. Analyzing the propagation behavior of coherence and polarization degrees of a phase-locked partially coherent radial flat-topped array laser beam in underwater turbulence.

    Science.gov (United States)

    Kashani, Fatemeh Dabbagh; Yousefi, Masoud

    2016-08-10

    In this research, based on an analytical expression for cross-spectral density (CSD) matrix elements, coherence and polarization properties of phase-locked partially coherent flat-topped (PCFT) radial array laser beams propagating through weak oceanic turbulence are analyzed. Spectral degrees of coherence and polarization are analytically calculated using CSD matrix elements. Also, the effective width of spatial degree of coherence (EWSDC) is calculated numerically. The simulation is done by considering the effects of source parameters (such as radius of the array setup's circle, effective width of the spectral degree of coherence, and wavelength) and turbulent ocean factors (such as the rate of dissipation of the turbulent kinetic energy per unit mass of fluid and relative strength of temperature and salinity fluctuations, Kolmogorov micro-scale, and rate of dissipation of the mean squared temperature) in detail. Results indicate that any change in the amount of turbulence factors that increase the turbulence power reduces the EWSDC significantly and causes the reduction in the degree of polarization, and occurs at shorter propagation distances but with smaller magnitudes. In addition, being valid for all conditions, the degradation rate of the EWSDC of Gaussian array beams are more in comparison with the PCFT ones. The simulation and calculation results are shown by graphs.

  2. The analysis of polar clouds from AVHRR satellite data using pattern recognition techniques

    Science.gov (United States)

    Smith, William L.; Ebert, Elizabeth

    1990-01-01

    The cloud cover in a set of summertime and wintertime AVHRR data from the Arctic and Antarctic regions was analyzed using a pattern recognition algorithm. The data were collected by the NOAA-7 satellite on 6 to 13 Jan. and 1 to 7 Jul. 1984 between 60 deg and 90 deg north and south latitude in 5 spectral channels, at the Global Area Coverage (GAC) resolution of approximately 4 km. This data embodied a Polar Cloud Pilot Data Set which was analyzed by a number of research groups as part of a polar cloud algorithm intercomparison study. This study was intended to determine whether the additional information contained in the AVHRR channels (beyond the standard visible and infrared bands on geostationary satellites) could be effectively utilized in cloud algorithms to resolve some of the cloud detection problems caused by low visible and thermal contrasts in the polar regions. The analysis described makes use of a pattern recognition algorithm which estimates the surface and cloud classification, cloud fraction, and surface and cloudy visible (channel 1) albedo and infrared (channel 4) brightness temperatures on a 2.5 x 2.5 deg latitude-longitude grid. In each grid box several spectral and textural features were computed from the calibrated pixel values in the multispectral imagery, then used to classify the region into one of eighteen surface and/or cloud types using the maximum likelihood decision rule. A slightly different version of the algorithm was used for each season and hemisphere because of differences in categories and because of the lack of visible imagery during winter. The classification of the scene is used to specify the optimal AVHRR channel for separating clear and cloudy pixels using a hybrid histogram-spatial coherence method. This method estimates values for cloud fraction, clear and cloudy albedos and brightness temperatures in each grid box. The choice of a class-dependent AVHRR channel allows for better separation of clear and cloudy pixels than

  3. Coupling Mechanical Deformations and Planar Cell Polarity to Create Regular Patterns in the Zebrafish Retina

    Science.gov (United States)

    Salbreux, Guillaume; Barthel, Linda K.; Raymond, Pamela A.; Lubensky, David K.

    2012-01-01

    The orderly packing and precise arrangement of epithelial cells is essential to the functioning of many tissues, and refinement of this packing during development is a central theme in animal morphogenesis. The mechanisms that determine epithelial cell shape and position, however, remain incompletely understood. Here, we investigate these mechanisms in a striking example of planar order in a vertebrate epithelium: The periodic, almost crystalline distribution of cone photoreceptors in the adult teleost fish retina. Based on observations of the emergence of photoreceptor packing near the retinal margin, we propose a mathematical model in which ordered columns of cells form as a result of coupling between planar cell polarity (PCP) and anisotropic tissue-scale mechanical stresses. This model recapitulates many observed features of cone photoreceptor organization during retinal growth and regeneration. Consistent with the model's predictions, we report a planar-polarized distribution of Crumbs2a protein in cone photoreceptors in both unperturbed and regenerated tissue. We further show that the pattern perturbations predicted by the model to occur if the imposed stresses become isotropic closely resemble defects in the cone pattern in zebrafish lrp2 mutants, in which intraocular pressure is increased, resulting in altered mechanical stress and ocular enlargement. Evidence of interactions linking PCP, cell shape, and mechanical stresses has recently emerged in a number of systems, several of which show signs of columnar cell packing akin to that described here. Our results may hence have broader relevance for the organization of cells in epithelia. Whereas earlier models have allowed only for unidirectional influences between PCP and cell mechanics, the simple, phenomenological framework that we introduce here can encompass a broad range of bidirectional feedback interactions among planar polarity, shape, and stresses; our model thus represents a conceptual framework

  4. Underwater Geotechnical Foundations

    National Research Council Canada - National Science Library

    Lee, Landris

    2001-01-01

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

  5. Underwater walking.

    Science.gov (United States)

    Ayers, Joseph

    2004-07-01

    Lobsters are generalist decapods that evolved in a broad variety of niches in the Northwestern Atlantic. Due to their inherent buoyancy they have acquired adaptations to reduced traction and surge. We have developed a biomimetic robot based on the lobster that features artificial muscle actuators and sensors employing labeled-line codes. The central controller for this robot is based on the command neuron, coordinating neuron central pattern generator model. A library of commands is released by sensor feedback to mediate adaptive sequences and goal achieving behavior. Rheotaxic behaviors can mediate adaptations to achieve some of the advantages of the biological models.

  6. Bipolar Plasma Membrane Distribution of Phosphoinositides and Their Requirement for Auxin-Mediated Cell Polarity and Patterning in Arabidopsis.

    Science.gov (United States)

    Tejos, Ricardo; Sauer, Michael; Vanneste, Steffen; Palacios-Gomez, Miriam; Li, Hongjiang; Heilmann, Mareike; van Wijk, Ringo; Vermeer, Joop E M; Heilmann, Ingo; Munnik, Teun; Friml, Jiří

    2014-05-01

    Cell polarity manifested by asymmetric distribution of cargoes, such as receptors and transporters, within the plasma membrane (PM) is crucial for essential functions in multicellular organisms. In plants, cell polarity (re)establishment is intimately linked to patterning processes. Despite the importance of cell polarity, its underlying mechanisms are still largely unknown, including the definition and distinctiveness of the polar domains within the PM. Here, we show in Arabidopsis thaliana that the signaling membrane components, the phosphoinositides phosphatidylinositol 4-phosphate (PtdIns4P) and phosphatidylinositol 4,5-bisphosphate [PtdIns(4,5)P 2 ] as well as PtdIns4P 5-kinases mediating their interconversion, are specifically enriched at apical and basal polar plasma membrane domains. The PtdIns4P 5-kinases PIP5K1 and PIP5K2 are redundantly required for polar localization of specifically apical and basal cargoes, such as PIN-FORMED transporters for the plant hormone auxin. As a consequence of the polarity defects, instructive auxin gradients as well as embryonic and postembryonic patterning are severely compromised. Furthermore, auxin itself regulates PIP5K transcription and PtdIns4P and PtdIns(4,5)P 2 levels, in particular their association with polar PM domains. Our results provide insight into the polar domain-delineating mechanisms in plant cells that depend on apical and basal distribution of membrane lipids and are essential for embryonic and postembryonic patterning. © 2014 American Society of Plant Biologists. All rights reserved.

  7. Average thermospheric wind patterns over the polar regions, as observed by CHAMP

    Directory of Open Access Journals (Sweden)

    H. Lühr

    2007-06-01

    Full Text Available Measurements of the CHAMP accelerometer are utilized to investigate the average thermospheric wind distribution in the polar regions at altitudes around 400 km. This study puts special emphasis on the seasonal differences in the wind patterns. For this purpose 131 days centered on the June solstice of 2003 are considered. Within that period CHAMP's orbit is precessing once through all local times. The cross-track wind estimates of all 2030 passes are used to construct mean wind vectors for 918 equal-area cells. These bin averages are presented in corrected geomagnetic coordinates. Both hemispheres are considered simultaneously providing summer and winter responses for the same prevailing geophysical conditions. The period under study is characterized by high magnetic activity (Kp=4− but moderate solar flux level (F10.7=124. Our analysis reveals clear wind features in the summer (Northern Hemisphere. Over the polar cap there is a fast day-to-night flow with mean speeds surpassing 600 m/s in the dawn sector. At auroral latitudes we find strong westward zonal winds on the dawn side. On the dusk side, however, an anti-cyclonic vortex is forming. The dawn/dusk asymmetry is attributed to the combined action of Coriolis and centrifugal forces. Along the auroral oval the sunward streaming plasma causes a stagnation of the day-to-night wind. This effect is particularly clear on the dusk side. On the dawn side it is evident only from midnight to 06:00 MLT. The winter (Southern Hemisphere reveals similar wind features, but they are less well ordered. The mean day-to-night wind over the polar cap is weaker by about 35%. Otherwise, the seasonal differences are mainly confined to the dayside (06:00–18:00 MLT. In addition, the larger offset between geographic and geomagnetic pole in the south also causes hemispheric differences of the thermospheric wind distribution.

  8. Average thermospheric wind patterns over the polar regions, as observed by CHAMP

    Directory of Open Access Journals (Sweden)

    H. Lühr

    2007-06-01

    Full Text Available Measurements of the CHAMP accelerometer are utilized to investigate the average thermospheric wind distribution in the polar regions at altitudes around 400 km. This study puts special emphasis on the seasonal differences in the wind patterns. For this purpose 131 days centered on the June solstice of 2003 are considered. Within that period CHAMP's orbit is precessing once through all local times. The cross-track wind estimates of all 2030 passes are used to construct mean wind vectors for 918 equal-area cells. These bin averages are presented in corrected geomagnetic coordinates. Both hemispheres are considered simultaneously providing summer and winter responses for the same prevailing geophysical conditions. The period under study is characterized by high magnetic activity (Kp=4− but moderate solar flux level (F10.7=124. Our analysis reveals clear wind features in the summer (Northern Hemisphere. Over the polar cap there is a fast day-to-night flow with mean speeds surpassing 600 m/s in the dawn sector. At auroral latitudes we find strong westward zonal winds on the dawn side. On the dusk side, however, an anti-cyclonic vortex is forming. The dawn/dusk asymmetry is attributed to the combined action of Coriolis and centrifugal forces. Along the auroral oval the sunward streaming plasma causes a stagnation of the day-to-night wind. This effect is particularly clear on the dusk side. On the dawn side it is evident only from midnight to 06:00 MLT. The winter (Southern Hemisphere reveals similar wind features, but they are less well ordered. The mean day-to-night wind over the polar cap is weaker by about 35%. Otherwise, the seasonal differences are mainly confined to the dayside (06:00–18:00 MLT. In addition, the larger offset between geographic and geomagnetic pole in the south also causes hemispheric differences of the thermospheric wind distribution.

  9. A novel iris patterns matching algorithm of weighted polar frequency correlation

    Science.gov (United States)

    Zhao, Weijie; Jiang, Linhua

    2014-11-01

    Iris recognition is recognized as one of the most accurate techniques for biometric authentication. In this paper, we present a novel correlation method - Weighted Polar Frequency Correlation(WPFC) - to match and evaluate two iris images, actually it can also be used for evaluating the similarity of any two images. The WPFC method is a novel matching and evaluating method for iris image matching, which is complete different from the conventional methods. For instance, the classical John Daugman's method of iris recognition uses 2D Gabor wavelets to extract features of iris image into a compact bit stream, and then matching two bit streams with hamming distance. Our new method is based on the correlation in the polar coordinate system in frequency domain with regulated weights. The new method is motivated by the observation that the pattern of iris that contains far more information for recognition is fine structure at high frequency other than the gross shapes of iris images. Therefore, we transform iris images into frequency domain and set different weights to frequencies. Then calculate the correlation of two iris images in frequency domain. We evaluate the iris images by summing the discrete correlation values with regulated weights, comparing the value with preset threshold to tell whether these two iris images are captured from the same person or not. Experiments are carried out on both CASIA database and self-obtained images. The results show that our method is functional and reliable. Our method provides a new prospect for iris recognition system.

  10. Tissue-specific concentrations and patterns of perfluoroalkyl carboxylates and sulfonates in East Greenland polar bears.

    Science.gov (United States)

    Greaves, Alana K; Letcher, Robert J; Sonne, Christian; Dietz, Rune; Born, Erik W

    2012-11-06

    Several perfluoroalkyl carboxylates (PFCAs) and perfluoroalkyl sulfonates (PFSAs) of varying chain length are bioaccumulative in biota. However, wildlife reports have focused on liver and with very little examination of other tissues, and thus there is a limited understanding of their distribution and potential effects in the mammalian body. In the present study, the comparative accumulation of C(6) to C(15) PFCAs, C(4), C(6), C(8) and C(10) PFSAs, and select precursors were examined in the liver, blood, muscle, adipose, and brain of 20 polar bears (Ursus maritimus) from Scoresby Sound, Central East Greenland. Overall, PFSA and PFCA concentrations were highest in liver followed by blood > brain > muscle ≈ adipose. Liver and blood samples contained proportionally more of the shorter/medium chain length (C(6) to C(11)) PFCAs, whereas adipose and brain samples were dominated by longer chain (C(13) to C(15)) PFCAs. PFCAs with lower lipophilicities accumulated more in the liver, whereas the brain accumulated PFCAs with higher lipophilicities. The concentration ratios (±SE) between perfluorooctane sulfonate and its precursor perfluorooctane sulfonamide varied among tissues from 9 (±1):1 (muscle) to 36 (±7):1 (liver). PFCA and PFSA patterns in polar bears indicate that the pharmacokinetics of these compounds are to some extent tissue-specific, and are the result of several factors that may include differing protein interactions throughout the body.

  11. Modeling self-organized spatio-temporal patterns of PIP₃ and PTEN during spontaneous cell polarization.

    Science.gov (United States)

    Knoch, Fabian; Tarantola, Marco; Bodenschatz, Eberhard; Rappel, Wouter-Jan

    2014-08-01

    During spontaneous cell polarization of Dictyostelium discoideum cells, phosphatidylinositol (3,4,5)-triphoshpate (PIP3) and PTEN (phosphatase tensin homolog) have been identified as key signaling molecules which govern the process of polarization in a self-organized manner. Recent experiments have quantified the spatio-temporal dynamics of these signaling components. Surprisingly, it was found that membrane-bound PTEN can be either in a high or low state, that PIP3 waves were initiated in areas lacking PTEN through an excitable mechanism, and that PIP3 was degraded even though the PTEN concentration remained low. Here we develop a reaction-diffusion model that aims to explain these experimental findings. Our model contains bistable dynamics for PTEN, excitable dynamics for PIP3, and postulates the existence of two species of PTEN with different dephosphorylation rates. We show that our model is able to produce results that are in good qualitative agreement with the experiments, suggesting that our reaction-diffusion model underlies the self-organized spatio-temporal patterns observed in experiments.

  12. Strike-Slip Fault Patterns on Europa: Obliquity or Polar Wander?

    Science.gov (United States)

    Rhoden, Alyssa Rose; Hurford, Terry A.; Manga, Michael

    2011-01-01

    Variations in diurnal tidal stress due to Europa's eccentric orbit have been considered as the driver of strike-slip motion along pre-existing faults, but obliquity and physical libration have not been taken into account. The first objective of this work is to examine the effects of obliquity on the predicted global pattern of fault slip directions based on a tidal-tectonic formation model. Our second objective is to test the hypothesis that incorporating obliquity can reconcile theory and observations without requiring polar wander, which was previously invoked to explain the mismatch found between the slip directions of 192 faults on Europa and the global pattern predicted using the eccentricity-only model. We compute predictions for individual, observed faults at their current latitude, longitude, and azimuth with four different tidal models: eccentricity only, eccentricity plus obliquity, eccentricity plus physical libration, and a combination of all three effects. We then determine whether longitude migration, presumably due to non-synchronous rotation, is indicated in observed faults by repeating the comparisons with and without obliquity, this time also allowing longitude translation. We find that a tidal model including an obliquity of 1.2?, along with longitude migration, can predict the slip directions of all observed features in the survey. However, all but four faults can be fit with only 1? of obliquity so the value we find may represent the maximum departure from a lower time-averaged obliquity value. Adding physical libration to the obliquity model improves the accuracy of predictions at the current locations of the faults, but fails to predict the slip directions of six faults and requires additional degrees of freedom. The obliquity model with longitude migration is therefore our preferred model. Although the polar wander interpretation cannot be ruled out from these results alone, the obliquity model accounts for all observations with a value

  13. Low-Gain Circularly Polarized Antenna with Torus-Shaped Pattern

    Science.gov (United States)

    Amaro, Luis R.; Kruid, Ronald C.; Vacchione, Joseph D.; Prata, Aluizio

    2012-01-01

    The Juno mission to Jupiter requires an antenna with a torus-shaped antenna pattern with approximately 6 dBic gain and circular polarization over the Deep Space Network (DSN) 7-GHz transmit frequency and the 8-GHz receive frequency. Given the large distances that accumulate en-route to Jupiter and the limited power afforded by the solar-powered vehicle, this toroidal low-gain antenna requires as much gain as possible while maintaining a beam width that could facilitate a +/-10deg edge of coverage. The natural antenna that produces a toroidal antenna pattern is the dipole, but the limited approx. = 2.2 dB peak gain would be insufficient. Here a shaped variation of the standard bicone antenna is proposed that could achieve the required gains and bandwidths while maintaining a size that was not excessive. The final geometry that was settled on consisted of a corrugated, shaped bicone, which is fed by a WR112 waveguide-to-coaxial- waveguide transition. This toroidal low-gain antenna (TLGA) geometry produced the requisite gain, moderate sidelobes, and the torus-shaped antenna pattern while maintaining a very good match over the entire required frequency range. Its "horn" geometry is also low-loss and capable of handling higher powers with large margins against multipactor breakdown. The final requirement for the antenna was to link with the DSN with circular polarization. A four-layer meander-line array polarizer was implemented; an approach that was fairly well suited to the TLGA geometry. The principal development of this work was to adapt the standard linear bicone such that its aperture could be increased in order to increase the available gain of the antenna. As one increases the aperture of a standard bicone, the phase variation across the aperture begins to increase, so the larger the aperture becomes, the greater the phase variation. In order to maximize the gain from any aperture antenna, the phase should be kept as uniform as possible. Thus, as the standard

  14. Global Pattern of The Evolutions of the Sub-Auroral Polarization Streams

    Science.gov (United States)

    He, F.; Zhang, X.; Wang, W.; Wan, W.

    2017-12-01

    Due to the spatial and temporal limitations of the in-situ measurements from the low altitude polar orbiting satellites or the ionospheric scan by incoherent scatter radars, the global configuration and evolution of SAPS are still not very clear. Here, we present multi-satellite observations of the evolution of subauroral polarization streams (SAPS) during the main phase of a server geomagnetic storm occurred on 31 March 2001. DMSP F12 to F15 observations indicate that the SAPS were first generated in the dusk sector at the beginning of the main phase. Then the SAPS channel expanded towards the midnight and moved to lower latitudes as the main phase went on. The peak velocity, latitudinal width, latitudinal alignment, and longitudinal span of the SAPS channels were highly dynamic during the storm main phase. The global evolution of the SAPS corresponds well with that of the region-2 field-aligned currents, which are mainly determined by the azimuthal pressure gradient of the ring current. Further studies on 37 storms and 30 isolated substorms indicate that the lifetime of the SAPS channel was proportional to the period of time for southward interplanetary magnetic field (IMF). The SAPS channel disappeared after northward turning of the IMF. During the recovery phase, if the IMF kept northward, no SAPS channel was generated, if the IMF turned to southward again, however, SAPS channel will be generated again with lifetime proportional to the duration of the southward IMF. During isolated substorms, the SAPS channel was also controlled by IMF. The SAPS channel was generated after substorm onset and the peak drift velocity of the SAPS channel achieved its maximum during the recovery phase of the substorm. It is suggested that, SAPS channel were mainly controlled by IMF, more works should be done with observations or simulations of investigate the global patterns of the SAPS and the magnetosphere-ionosphere couplings.

  15. Dune field pattern formation and recent transporting winds in the Olympia Undae Dune Field, north polar region of Mars

    OpenAIRE

    Ewing, Ryan C.; Peyret, Aymeric-Pierre B.; Kocurek, Gary; Bourke, Mary

    2010-01-01

    High-Resolution Imaging Science Experiment (HiRISE) imagery of the central Olympia Undae Dune Field in the north polar region of Mars shows a reticulate dune pattern consisting of two sets of nearly orthogonal dune crestlines, with apparent slipfaces on the primary crests, ubiquitous wind ripples, areas of coarse-grained wind ripples, and deflated interdune areas. Geomorphic evidence and dune field pattern analysis of dune crest length, spacing, defect density, and orientation indicates that ...

  16. 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.

  17. Underwater Glider System Study

    OpenAIRE

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

    2003-01-01

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

  18. Optics of short-pitch deformed-helix ferroelectric liquid crystals: Symmetries, exceptional points, and polarization-resolved angular patterns

    Science.gov (United States)

    Kiselev, Alexei D.; Chigrinov, Vladimir G.

    2014-10-01

    In order to explore electric-field-induced transformations of polarization singularities in the polarization-resolved angular (conoscopic) patterns emerging after deformed-helix ferroelectric liquid crystal (DHFLC) cells with subwavelength helix pitch, we combine the transfer matrix formalism with the results for the effective dielectric tensor of biaxial FLCs evaluated using an improved technique of averaging over distorted helical structures. Within the framework of the transfer matrix method, we deduce a number of symmetry relations and show that the symmetry axis of L lines (curves of linear polarization) is directed along the major in-plane optical axis which rotates under the action of the electric field. When the angle between this axis and the polarization plane of incident linearly polarized light is above its critical value, the C points (points of circular polarization) appear in the form of symmetrically arranged chains of densely packed star-monstar pairs. We also emphasize the role of phase singularities of a different kind and discuss the enhanced electro-optic response of DHFLCs near the exceptional point where the condition of zero-field isotropy is fulfilled.

  19. A birefringent polarization modulator: Application to phase measurement in conoscopic interference patterns

    Science.gov (United States)

    Veiras, F. E.; Garea, M. T.; Perez, L. I.

    2016-04-01

    Conoscopic interferometry for crystal characterization is a very well-known technique with increasing applications in different fields of technology. The advantage of the scheme proposed here is the introduction of a polarization modulator that allows the recovery of the phase information contained in conoscopic interferograms. This represents a real advantage since the most relevant physical information of the sample under study is usually contained in the phase of the fringe pattern. Moreover, this technique works successfully even when there are no visible fringes. The setup employed is a simple conoscopic interferometer where the elements under study correspond to two birefringent crystal slabs and a commercial mica wave plate. It allows the crystals to be characterized and the wave plate retardance to be measured as a function of the angle of incidence. The modulator itself consists of a single tiltable crystal plate which, by means of phase shifting techniques, permits the recovery of a phase map for each sample. It is inexpensive and it can be easily calibrated, so it works with a wide range of phase shifting interferometry algorithms. We show that our scheme is easily adaptable to algorithms that require either a low or high amount of interferograms.

  20. Topological structure in polarization resolved conoscopic patterns for nematic liquid crystal cells

    Science.gov (United States)

    Buinyi, Igor O.; Denisenko, Vladimir G.; Soskin, Marat S.

    2009-01-01

    We investigate the polarization structure of coherent light, produced by a convergent light beam transmitted through nematic liquid crystal (NLC) cells with different director configurations. Employing solutions to the transmission problem for the case when plane wave propagates through an anisotropic layer, we analyze the arrangement of the topological elements, such as polarization singularities (C points with circular polarization and L lines with linear polarization), saddle points and extrema of polarization azimuth. We observe transformations of the topological structure under the variation of the incident light ellipticity and represent it by corresponding trajectories of topological elements in three-dimensional space. For the cells with uniform and non-uniform director configuration we describe the processes of creation/annihilation of C point pairs, which can be controlled precisely in the case of the cell with non-uniform director. Our experimental measurements for the homeotropically oriented NLC cells are in good agreement with the theoretical predictions.

  1. Patterns of parasite transmission in polar seas: Daily rhythms of cercarial emergence from intertidal snails

    Science.gov (United States)

    Prokofiev, Vladimir V.; Galaktionov, Kirill V.; Levakin, Ivan A.

    2016-07-01

    Trematodes are common parasites in intertidal ecosystems. Cercariae, their dispersive larvae, ensure transmission of infection from the first intermediate molluscan host to the second intermediate (invertebrates and fishes) or the final (fishes, marine birds and mammals) host. Trematode transmission in polar seas, while interesting in many respects, is poorly studied. This study aimed to elucidate the patterns of cercarial emergence from intertidal snails at the White Sea and Barents Sea. The study, involving cercariae of 12 species, has provided the most extensive material obtained so far in high latitude seas (66-69° N). The experiments were conducted in situ. Multichannel singular spectral analysis (MSSA) used for processing primary data made it possible to estimate the relative contribution of different oscillations into the analysed time series and to separate the daily component from the other oscillatory components and the noise. Cercarial emergence had pronounced daily rhythms, which did not depend on the daily tidal schedule but were regulated by thermo- and photoperiod. Daily emergence maximums coincided with periods favourable for infecting the second intermediate hosts. Cercarial daily emergence rhythms differed in species using the same molluscan hosts which can be explained by cercarial host searching behaviour. Daily cercarial output (DCO) correlated negatively with larval volume and positively with that of the molluscan host except in cercariae using ambuscade behaviour. In the Barents Sea cercariae emerged from their molluscan hosts at lower temperatures than in the warmer White Sea but the daily emergence period was prolonged. Thus, DCO of related species were similar in these two seas and comparable with DCO values reported for boreal seas. Local temperature adaptations in cercarial emergence suggests that in case of Arctic climate warming trematode transmission in coastal ecosystems is likely to be intensified not because of the increased

  2. Daple coordinates organ-wide and cell-intrinsic polarity to pattern inner-ear hair bundles.

    Science.gov (United States)

    Siletti, Kimberly; Tarchini, Basile; Hudspeth, A J

    2017-12-26

    The establishment of planar polarization by mammalian cells necessitates the integration of diverse signaling pathways. In the inner ear, at least two systems regulate the planar polarity of sensory hair bundles. The core planar cell polarity (PCP) proteins coordinate the orientations of hair cells across the epithelial plane. The cell-intrinsic patterning of hair bundles is implemented independently by the G protein complex classically known for orienting the mitotic spindle. Although the primary cilium also participates in each of these pathways, its role and the integration of the two systems are poorly understood. We show that Dishevelled-associating protein with a high frequency of leucine residues (Daple) interacts with PCP and cell-intrinsic signals. Regulated by the cell-intrinsic pathway, Daple is required to maintain the polarized distribution of the core PCP protein Dishevelled and to position the primary cilium at the abneural edge of the apical surface. Our results suggest that the primary cilium or an associated structure influences the domain of cell-intrinsic signals that shape the hair bundle. Daple is therefore essential to orient and pattern sensory hair bundles. Copyright © 2017 the Author(s). Published by PNAS.

  3. Low-frequency (0.7-7.4 mHz geomagnetic field fluctuations at high latitude: frequency dependence of the polarization pattern

    Directory of Open Access Journals (Sweden)

    L. Cafarella

    2001-06-01

    Full Text Available A statistical analysis of the polarization pattern of low-frequency geomagnetic field fluctuations (0.7-7.4 mHz covering the entire 24-h interval was performed at the Antarctic station Terra Nova Bay (80.0°S geomagnetic latitude throughout 1997 and 1998. The results show that the polarization pattern exhibits a frequency dependence, as can be expected from the frequency dependence of the latitude where the coupling between the magnetospheric compressional mode and the field line resonance takes place. The polarization analysis of single pulsation events shows that wave packets with different polarization sense, depending on frequency, can be simultaneously observed.

  4. "Boxnep" advanced modular underwater robot

    OpenAIRE

    Buluev, Ilia

    2016-01-01

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

  5. 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…

  6. Growth and characterization of semi-polar (11-22) GaN on patterned (113) Si substrates

    International Nuclear Information System (INIS)

    Bai, J; Yu, X; Gong, Y; Hou, Y N; Zhang, Y; Wang, T

    2015-01-01

    Patterned (113) Si substrates have been fabricated for the growth of (11-22) semi-polar GaN, which completely eliminates one of the great issues in the growth of semi-polar GaN on silicon substrates, ‘Ga melting-back’. Furthermore, unlike any other mask patterning approaches which normally lead to parallel grooves along a particular orientation, our approach is to form periodic square window patterns. As a result, crack-free semi-polar (11-22) GaN with a significant improvement in crystal quality has been achieved, in particular, basal stacking faults (BSFs) have been significantly reduced. The mechanism for the defect suppression has been investigated based on detailed transmission electron microscopy measurements. It has been found that the BSFs can be impeded effectively at an early growth stage due to the priority growth along the 〈0001〉 direction. The additional 〈1-100〉 lateral growth above the masks results in a further reduction in dislocation density. The significant reduction in BSFs has been confirmed by low temperature photoluminescence measurements. (paper)

  7. Dune field pattern formation and recent transporting winds in the Olympia Undae Dune Field, north polar region of Mars

    Science.gov (United States)

    Ewing, Ryan C.; Peyret, Aymeric-Pierre B.; Kocurek, Gary; Bourke, Mary

    2010-08-01

    High-Resolution Imaging Science Experiment (HiRISE) imagery of the central Olympia Undae Dune Field in the north polar region of Mars shows a reticulate dune pattern consisting of two sets of nearly orthogonal dune crestlines, with apparent slipfaces on the primary crests, ubiquitous wind ripples, areas of coarse-grained wind ripples, and deflated interdune areas. Geomorphic evidence and dune field pattern analysis of dune crest length, spacing, defect density, and orientation indicates that the pattern is complex, representing two constructional generations of dunes. The oldest and best-organized generation forms the primary crestlines and is transverse to circumpolar easterly winds. Gross bed form-normal analysis of the younger pattern of crestlines indicates that it emerged with both circumpolar easterly winds and NE winds and is reworking the older pattern. Mapping of secondary flow fields over the dunes indicates that the most recent transporting winds were from the NE. The younger pattern appears to represent an influx of sediment to the dune field associated with the development of the Olympia Cavi reentrant, with NE katabatic winds channeling through the reentrant. A model of the pattern reformation based upon the reconstructed primary winds and resulting secondary flow fields shows that the development of the secondary pattern is controlled by the boundary condition of the older dune topography.

  8. Bipolar Plasma Membrane Distribution of Phosphoinositides and Their Requirement for Auxin-Mediated Cell Polarity and Patterning in Arabidopsis[W

    Science.gov (United States)

    Tejos, Ricardo; Sauer, Michael; Vanneste, Steffen; Palacios-Gomez, Miriam; Li, Hongjiang; Heilmann, Mareike; van Wijk, Ringo; Vermeer, Joop E.M.; Heilmann, Ingo; Munnik, Teun; Friml, Jiří

    2014-01-01

    Cell polarity manifested by asymmetric distribution of cargoes, such as receptors and transporters, within the plasma membrane (PM) is crucial for essential functions in multicellular organisms. In plants, cell polarity (re)establishment is intimately linked to patterning processes. Despite the importance of cell polarity, its underlying mechanisms are still largely unknown, including the definition and distinctiveness of the polar domains within the PM. Here, we show in Arabidopsis thaliana that the signaling membrane components, the phosphoinositides phosphatidylinositol 4-phosphate (PtdIns4P) and phosphatidylinositol 4,5-bisphosphate [PtdIns(4,5)P2] as well as PtdIns4P 5-kinases mediating their interconversion, are specifically enriched at apical and basal polar plasma membrane domains. The PtdIns4P 5-kinases PIP5K1 and PIP5K2 are redundantly required for polar localization of specifically apical and basal cargoes, such as PIN-FORMED transporters for the plant hormone auxin. As a consequence of the polarity defects, instructive auxin gradients as well as embryonic and postembryonic patterning are severely compromised. Furthermore, auxin itself regulates PIP5K transcription and PtdIns4P and PtdIns(4,5)P2 levels, in particular their association with polar PM domains. Our results provide insight into the polar domain–delineating mechanisms in plant cells that depend on apical and basal distribution of membrane lipids and are essential for embryonic and postembryonic patterning. PMID:24876254

  9. Simulation of AZ-PN100 resist pattern fluctuation in X-ray lithography, including synchrotron beam polarization

    International Nuclear Information System (INIS)

    Scheckler, E.W.; Ogawa, Taro; Tanaka, Toshihiko; Takeda, Eiji; Oizumi, Hiroaki.

    1993-01-01

    A new simulation model for nanometer-scale pattern fluctuation in X-ray lithography is presented and applied to a study of AZ-PN100 negative chemical amplification resist. The exposure simulation considers polarized photons from a synchrotron radiation (SR) source. Monte Carlo simulation of Auger and photoelectron generation is followed by electron scattering simulation to determine the deposited energy distribution at the nanometer scale, including beam polarization effects. An acid-catalyst random walk model simulates the post-exposure bake (PEB) step. Fourier transform infrared (FTIR) spectroscopy and developed resist thickness measurements are used to fit PEB and rate models for AZ-PN100. A polymer removal model for development simulation predicts the macroscopic resist shape and pattern roughness. The simulated 3σ linewidth variation is in excess of 24 nm. Simulation also shows a detrimental effect if the beam polarization is perpendicular to the line. Simulation assuming a theoretical ideal exposure yields a 50 nm minimum line for standard process conditions. (author)

  10. Diel and seasonal patterns of underwater sounds by Weddell seals, leopard seals, and killer whales in the Antarctic: When it's adaptive to be quiet

    Science.gov (United States)

    Mindach, Debrah; Thomas, Jeanette

    2005-09-01

    Automated underwater recordings taken during the austral breeding season of the Weddell seal (Leptonychotes weddellii) in Antarctica also provided data on the vocalizations of predators in the area; leopard seals (Hydrurga leptonyx) and killer whales (Orcinus orca). Weddell seals inhabit fast ice areas to give birth, mate, and molt. Near the end of the breeding season in December the fast ice often breaks out and the two pack ice predators are able to move near the Weddell seal colonies and prey on them, especially pups. Recordings were taken continuously for a 2.5-min period each hour from mid-October 1977 and late-January 1978 at Hutton Cliffs and South Turtle Rock Crack, in McMurdo Sound. The leopard seals increased their trill calls when killer whales came into the area as evidenced by an increase in their frequency-modulated squeak calls. Weddell seals decreased their vocalization rate dramatically (~10 sounds/min) compared to during the peak of the breeding season (~75 sounds/min). Perhaps by being quiet, Weddell seals do not attract predators to their area.

  11. Self-organized pattern formation upon femtosecond laser ablation by circularly polarized light

    International Nuclear Information System (INIS)

    Varlamova, Olga; Costache, Florenta; Reif, Juergen; Bestehorn, Michael

    2006-01-01

    Surface ripples generation upon femtosecond laser ablation is attributed to self-organized structure formation from instability. We report that linear arrangements are observed not only for linearly polarized light but also for ablation with circularly polarized light. Long ordered chains of spherical nanoparticles, reminding of bead-strings are almost parallel but exhibit typical non-linear dynamics features such as bifurcations. In a first attempt to understand the self-assembly, we rely on models recently developed for the description of similar structures upon ion beam erosion and for the simulation of instabilities in thin liquid films. Our picture describes an unstable surface layer, non-uniformly eroded through Coulomb repulsion between individual positive charges

  12. Self-organized spatiotemporal patterns of PIP3 and PTEN during spontaneous cell polarization

    Science.gov (United States)

    Knoch, Fabian; Tarantola, Marco; Rappel, Wouter-Jan; Bodenschatz, Eberhard

    2014-03-01

    During spontaneous cell polarization of Dictyostelium discoideum cells, PIP3 (phosphatidylinositol (3,4,5)-triphoshpate) and PTEN (phosphatase tensin homolog) have been identified as key signaling molecules, which govern the process of polarization in a self-organized manner. Gerisch et al. have shown that randomly triggered excitable PIP3 waves regulate the anti-correlated PTEN concentration. Here we show that this requires a switch-like dynamics of the overall membrane bound PTEN concentration in combination with two species of PTEN differing in their dephosphorylation rates. A quantitative modeling with a coupled reaction-diffusion system shows excellent agreement with experimental results and predicts a ratio σ of dephosphorylation rates acting on PIP3 of σ ~ 80 - 100. Our quantitative analysis suggests that surface-attached cell membrane spanning PIP3 waves are necessary for resetting the global actin network. This is evidenced by the experimentally observed delay between polarization-cycles also quantitatively captured by our analysis. Max Planck Society and Center for Theoretical Biological Physics.

  13. Differences in polar-map patterns using the novel technologies for myocardial perfusion imaging.

    Science.gov (United States)

    Zoccarato, Orazio; Marcassa, Claudio; Lizio, Domenico; Leva, Lucia; Lucignani, Giovanni; Savi, Annarita; Scabbio, Camilla; Matheoud, Roberta; Lecchi, Michela; Brambilla, Marco

    2017-10-01

    New technologies are available in MPI. Our aim was to evaluate their impact on the uniformity of normal myocardial uptake in the polar-map representation, over different count statistics, with and without the attenuation (AC) and scatter corrections (SC). A phantom study was performed using 5 Anger gamma cameras with filtered back projection or iterative reconstruction with resolution recovery (IRR), with or without SCAC; a D530c, with or without AC; and a D-SPECT. Count statistics ranged up to a quarter of the reference for the conventional gamma cameras and up to one half for the advanced scanners. Using polar maps, the segmental uptakes and their uncertainties, the 'global uniformity' of polar maps expressed as the coefficient of variation (COV) among the segmental uptakes and the anterior/inferior (ANT/INF) ratio were calculated. Both segmental uptakes and their uncertainties did not depend on the count statistics in the range studied. An increase in the segmental uptakes was found from IRR to IRR + SCAC (78.0% ± 13.5% vs 86.1% ± 9.4%; P adoption of specific normality databases, developed for each system and reconstruction method employed.

  14. Underwater laser detection system

    Science.gov (United States)

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

    2015-02-01

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

  15. 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.

  16. 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.)

  17. Polarization-dependent Imaging Contrast (PIC) mapping reveals nanocrystal orientation patterns in carbonate biominerals

    Energy Technology Data Exchange (ETDEWEB)

    Gilbert, Pupa U.P.A., E-mail: pupa@physics.wisc.edu [University of Wisconsin-Madison, Departments of Physics and Chemistry, Madison, WI 53706 (United States)

    2012-10-15

    Highlights: Black-Right-Pointing-Pointer Nanocrystal orientation shown by Polarization-dependent Imaging Contrast (PIC) maps. Black-Right-Pointing-Pointer PIC-mapping of carbonate biominerals reveals their ultrastructure at the nanoscale. Black-Right-Pointing-Pointer The formation mechanisms of biominerals is discovered by PIC-mapping using PEEM. -- Abstract: Carbonate biominerals are one of the most interesting systems a physicist can study. They play a major role in the CO{sub 2} cycle, they master templation, self-assembly, nanofabrication, phase transitions, space filling, crystal nucleation and growth mechanisms. A new imaging modality was introduced in the last 5 years that enables direct observation of the orientation of carbonate single crystals, at the nano- and micro-scale. This is Polarization-dependent Imaging Contrast (PIC) mapping, which is based on X-ray linear dichroism, and uses PhotoElectron Emission spectroMicroscopy (PEEM). Here we present PIC-mapping results from biominerals, including the nacre and prismatic layers of mollusk shells, and sea urchin teeth. We describe various PIC-mapping approaches, and show that these lead to fundamental discoveries on the formation mechanisms of biominerals.

  18. The effect of preceding wintertime Arctic polar vortex on springtime NDVI patterns in boreal Eurasia, 1982-2015

    Science.gov (United States)

    Li, Jing; Fan, Ke; Xu, Jianjun; Powell, Alfred M.; Kogan, Felix

    2017-07-01

    The polar vortex is implicated in certain cold events in boreal Eurasia and has a further influence on land surface properties (e.g., vegetation and snow) during spring. The Normalized Difference Vegetation Index (NDVI) can be used as a proxy of land surface responses to climate changes to a certain degree. In this study, we demonstrate the significant correlation between preceding wintertime Arctic polar vortex intensity (WAPVI) and springtime NDVI (SNDVI) over a 34-year period (1982-2015) in boreal Eurasia (50°-75°N, 0°-150°E). Results show that a positive phase of WAPVI tends to increase the SNDVI in Europe and Lake Baikal, but causes a significant decrease in Siberia; the physical mechanisms involved in this relationship are then investigated. A positive phase of WAPVI leads to anomalies in surface air temperature and rainfall over Eurasia, which then induces a significant decrease in snow cover and snow depth in Europe and Lake Baikal and an increase of snow depth in Siberia. The colder ground temperature in Siberia during spring is considered responsible for the stronger snow depth and weaker vegetation growth in this region. The weaker and thinner snow cover in Europe and Baikal produces a decrease in albedo and an increase in heat. Thin snow melts fast in the following spring and land releases more heat to the atmosphere; consequently, warm and moist land surface facilitates vegetation growth in Europe and the Baikal regions during positive WAPVI years. In addition, WAPVI can induce sea surface temperature (SST) anomalies in the North Atlantic, which displays a tripole pattern similar to that of the empirical mode pattern in winter. Furthermore, the SST anomalous pattern persisting from winter to spring can trigger a stationary wave-train propagating from west to east in boreal Eurasia, with "negative-positive-negative-positive" geopotential height anomalies, which further exerts an impact on vegetation growth through modulation of the heat balance.

  19. Analysis of the Origin of Atypical Scanning Laser Polarimetry Patterns by Polarization-Sensitive Optical Coherence Tomography

    Science.gov (United States)

    Götzinger, Erich; Pircher, Michael; Baumann, Bernhard; Hirn, Cornelia; Vass, Clemens; Hitzenberger, Christoph K.

    2010-01-01

    Purpose To analyze the physical origin of atypical scanning laser polarimetry (SLP) patterns. To compare polarization-sensitive optical coherence tomography (PS-OCT) scans to SLP images. To present a method to obtain pseudo-SLP images by PS-OCT that are free of atypical artifacts. Methods Forty-one eyes of healthy subjects, subjects with suspected glaucoma, and patients with glaucoma were imaged by SLP (GDx VCC) and a prototype spectral domain PS-OCT system. The PS-OCT system acquires three-dimensional (3D) datasets of intensity, retardation, and optic axis orientation simultaneously within 3 seconds. B-scans of intensity and retardation and en face maps of retinal nerve fiber layer (RNFL) retardation were derived from the 3D PS-OCT datasets. Results were compared with those obtained by SLP. Results Twenty-two eyes showed atypical retardation patterns, and 19 eyes showed normal patterns. From the 22 atypical eyes, 15 showed atypical patterns in both imaging modalities, five were atypical only in SLP images, and two were atypical only in PS-OCT images. In most (15 of 22) atypical cases, an increased penetration of the probing beam into the birefringent sclera was identified as the source of atypical patterns. In such cases, the artifacts could be eliminated in PS-OCT images by depth segmentation and exclusion of scleral signals. Conclusions PS-OCT provides deeper insight into the contribution of different fundus layers to SLP images. Increased light penetration into the sclera can distort SLP retardation patterns of the RNFL. PMID:19036999

  20. Carbon Nanotube Underwater Acoustic Thermophone

    Science.gov (United States)

    2016-09-23

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

  1. Correlation properties of dual polarized antennas with finite pattern orthogonality in mobile fading channels

    Directory of Open Access Journals (Sweden)

    G. Armbrecht

    2007-06-01

    Full Text Available Starting from planar broadband log.-per. antenna design, offering the possibility of dual-polarized reception properties, in this article a generalized mathematical approach for rapidly estimating the resulting signal correlation coefficient in a stochastically modeled propagation environment solely based on measured or simulated radiation characteristics of one single antenna element is presented. The obtained results are marking an upper limit and are describing the worst-case scenario according to the signal correlation at the antenna feeding points in terms of line-of-sight (LOS reception in main beam direction. The knowledge of the derived relationship may be helpful especially for antenna designers to combine antenna performance values with the significant communication system performance parameters, as e.g. in case of Multiple-Input Multiple-Output (MIMO and diversity configurations.

  2. Underwater gas tornado

    Science.gov (United States)

    Byalko, Alexey V.

    2013-07-01

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

  3. Modeling self-organized spatio-temporal patterns of PIP3 and PTEN during spontaneous cell polarization

    International Nuclear Information System (INIS)

    Knoch, Fabian; Tarantola, Marco; Bodenschatz, Eberhard; Rappel, Wouter-Jan

    2014-01-01

    During spontaneous cell polarization of Dictyostelium discoideum cells, phosphatidylinositol (3,4,5)-triphoshpate (PIP 3 ) and PTEN (phosphatase tensin homolog) have been identified as key signaling molecules which govern the process of polarization in a self-organized manner. Recent experiments have quantified the spatio-temporal dynamics of these signaling components. Surprisingly, it was found that membrane-bound PTEN can be either in a high or low state, that PIP 3 waves were initiated in areas lacking PTEN through an excitable mechanism, and that PIP 3 was degraded even though the PTEN concentration remained low. Here we develop a reaction-diffusion model that aims to explain these experimental findings. Our model contains bistable dynamics for PTEN, excitable dynamics for PIP 3 , and postulates the existence of two species of PTEN with different dephosphorylation rates. We show that our model is able to produce results that are in good qualitative agreement with the experiments, suggesting that our reaction-diffusion model underlies the self-organized spatio-temporal patterns observed in experiments. (paper)

  4. Modeling self-organized spatio-temporal patterns of PIP3 and PTEN during spontaneous cell polarization

    Science.gov (United States)

    Knoch, Fabian; Tarantola, Marco; Bodenschatz, Eberhard; Rappel, Wouter-Jan

    2014-08-01

    During spontaneous cell polarization of Dictyostelium discoideum cells, phosphatidylinositol (3,4,5)-triphoshpate (PIP3) and PTEN (phosphatase tensin homolog) have been identified as key signaling molecules which govern the process of polarization in a self-organized manner. Recent experiments have quantified the spatio-temporal dynamics of these signaling components. Surprisingly, it was found that membrane-bound PTEN can be either in a high or low state, that PIP3 waves were initiated in areas lacking PTEN through an excitable mechanism, and that PIP3 was degraded even though the PTEN concentration remained low. Here we develop a reaction-diffusion model that aims to explain these experimental findings. Our model contains bistable dynamics for PTEN, excitable dynamics for PIP3, and postulates the existence of two species of PTEN with different dephosphorylation rates. We show that our model is able to produce results that are in good qualitative agreement with the experiments, suggesting that our reaction-diffusion model underlies the self-organized spatio-temporal patterns observed in experiments.

  5. The emergence of sarcomeric, graded-polarity and spindle-like patterns in bundles of short cytoskeletal polymers and two opposite molecular motors

    International Nuclear Information System (INIS)

    Craig, E M; Dey, S; Mogilner, A

    2011-01-01

    We use linear stability analysis and numerical solutions of partial differential equations to investigate pattern formation in the one-dimensional system of short dynamic polymers and one (plus-end directed) or two (one is plus-end, another minus-end directed) molecular motors. If polymer sliding and motor gliding rates are slow and/or the polymer turnover rate is fast, then the polymer-motor bundle has mixed polarity and homogeneous motor distribution. However, if motor gliding is fast, a sarcomeric pattern with periodic bands of alternating polymer polarity separated by motor aggregates evolves. On the other hand, if polymer sliding is fast, a graded-polarity bundle with motors at the center emerges. In the presence of the second, minus-end directed motor, the sarcomeric pattern is more ubiquitous, while the graded-polarity pattern is destabilized. However, if the minus-end motor is weaker than the plus-end directed one, and/or polymer nucleation is autocatalytic, and/or long polymers are present in the bundle, then a spindle-like architecture with a sorted-out polarity emerges with the plus-end motors at the center and minus-end motors at the edges. We discuss modeling implications for actin-myosin fibers and in vitro and meiotic spindles.

  6. Underwater Hearing in Turtles.

    Science.gov (United States)

    Willis, Katie L

    2016-01-01

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

  7. A polarized digital shearing speckle pattern interferometry system based on temporal wavelet transformation.

    Science.gov (United States)

    Feng, Ziang; Gao, Zhan; Zhang, Xiaoqiong; Wang, Shengjia; Yang, Dong; Yuan, Hao; Qin, Jie

    2015-09-01

    Digital shearing speckle pattern interferometry (DSSPI) has been recognized as a practical tool in testing strain. The DSSPI system which is based on temporal analysis is attractive because of its ability to measure strain dynamically. In this paper, such a DSSPI system with Wollaston prism has been built. The principles and system arrangement are described and the preliminary experimental result of the displacement-derivative test of an aluminum plate is shown with the wavelet transformation method and the Fourier transformation method. The simulations have been conducted with the finite element method. The comparison of the results shows that quantitative measurement of displacement-derivative has been realized.

  8. 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

  9. Linear and branched perfluorooctane sulfonate (PFOS) isomer patterns differ among several tissues and blood of polar bears.

    Science.gov (United States)

    Greaves, Alana K; Letcher, Robert J

    2013-09-01

    Perfluorooctane sulfonate (PFOS) is a globally distributed persistent organic pollutant that has been found to bioaccumulate and biomagnify in aquatic food webs. Although principally in its linear isomeric configuration, 21-35% of the PFOS manufactured via electrochemical fluorination is produced as a branched structural isomer. PFOS isomer patterns were investigated in multiple tissues of polar bears (Ursus maritimus) from East Greenland. The liver (n = 9), blood (n = 19), brain (n = 16), muscle (n = 5), and adipose (n = 5) were analyzed for linear PFOS (n-PFOS), as well as multiple mono- and di-trifluoromethyl-substituted branched isomers. n-PFOS accounted for 93.0 ± 0.5% of Σ-PFOS isomer concentrations in the liver, whereas the proportion was significantly lower (pblood (85.4 ± 0.5%). Branched isomers were quantifiable in the liver and blood, but not in the brain, muscle, or adipose. In both the liver and blood, 6-perfluoromethylheptane sulfonate (P6MHpS) was the dominant branched isomer (2.61 ± 0.10%, and 3.26 ± 0.13% of Σ-PFOS concentrations, respectively). No di-trifluoromethyl-substituted isomers were detectable in any of the tissues analyzed. These tissue-specific isomer patterns suggest isomer-specific pharmacokinetics, perhaps due to differences in protein affinities, and thus differences in protein interactions, as well transport, absorption, and/or metabolism in the body. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

  10. 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

  11. Patterns of fire activity over Indonesia and Malaysia from polar and geostationary satellite observations

    Science.gov (United States)

    Hyer, Edward J.; Reid, Jeffrey S.; Prins, Elaine M.; Hoffman, Jay P.; Schmidt, Christopher C.; Miettinen, Jukka I.; Giglio, Louis

    2013-03-01

    Biomass burning patterns over the Maritime Continent of Southeast Asia are examined using a new active fire detection product based on application of the Wildfire Automated Biomass Burning Algorithm (WF_ABBA) to data from the imagers on the MTSAT geostationary satellites operated by the Japanese space agency JAXA. Data from MTSAT-1R and MTSAT-2 covering 34 months from September 2008 to July 2011 are examined for a study region consisting of Indonesia, Malaysia, and nearby environs. The spatial and temporal distributions of fires detected in the MTSAT WF_ABBA product are described and compared with active fire observations from MODIS MOD14 data. Land cover distributions for the two instruments are examined using a new 250 m land cover product from the National University of Singapore. The two products show broadly similar patterns of fire activity, land cover distribution of fires, and pixel fire radiative power (FRP). However, the MTSAT WF_ABBA data differ from MOD14 in important ways. Relative to MODIS, the MTSAT WF_ABBA product has lower overall detection efficiency, but more fires detected due to more frequent looks, a greater relative fraction of fires in forest and a lower relative fraction of fires in open areas, and significantly higher single-pixel retrieved FRP. The differences in land cover distribution and FRP between the MTSAT and MODIS products are shown to be qualitatively consistent with expectations based on pixel size and diurnal sampling. The MTSAT WF_ABBA data are used to calculate coverage-corrected diurnal cycles of fire for different regions within the study area. These diurnal cycles are preliminary but demonstrate that the fraction of diurnal fire activity sampled by the two MODIS sensors varies significantly by region and vegetation type. Based on the results from comparison of the two fire products, a series of steps is outlined to account for some of the systematic biases in each of these satellite products in order to produce a

  12. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  13. Segment polarity gene expression in a myriapod reveals conserved and diverged aspects of early head patterning in arthropods.

    Science.gov (United States)

    Janssen, Ralf

    2012-09-01

    Arthropods show two kinds of developmental mode. In the so-called long germ developmental mode (as exemplified by the fly Drosophila), all segments are formed almost simultaneously from a preexisting field of cells. In contrast, in the so-called short germ developmental mode (as exemplified by the vast majority of arthropods), only the anterior segments are patterned similarly as in Drosophila, and posterior segments are added in a single or double segmental periodicity from a posterior segment addition zone (SAZ). The addition of segments from the SAZ is controlled by dynamic waves of gene activity. Recent studies on a spider have revealed that a similar dynamic process, involving expression of the segment polarity gene (SPG) hedgehog (hh), is involved in the formation of the anterior head segments. The present study shows that in the myriapod Glomeris marginata the early expression of hh is also in a broad anterior domain, but this domain corresponds only to the ocular and antennal segment. It does not, like in spiders, represent expression in the posterior adjacent segment. In contrast, the anterior hh pattern is conserved in Glomeris and insects. All investigated myriapod SPGs and associated factors are expressed with delay in the premandibular (tritocerebral) segment. This delay is exclusively found in insects and myriapods, but not in chelicerates, crustaceans and onychophorans. Therefore, it may represent a synapomorphy uniting insects and myriapods (Atelocerata hypothesis), contradicting the leading opinion that suggests a sister relationship of crustaceans and insects (Pancrustacea hypothesis). In Glomeris embryos, the SPG engrailed is first expressed in the mandibular segment. This feature is conserved in representatives of all arthropod classes suggesting that the mandibular segment may have a special function in anterior patterning.

  14. Underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2010-01-01

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

  15. Polarized Light Corridor Demonstrations.

    Science.gov (United States)

    Davies, G. R.

    1990-01-01

    Eleven demonstrations of light polarization are presented. Each includes a brief description of the apparatus and the effect demonstrated. Illustrated are strain patterns, reflection, scattering, the Faraday Effect, interference, double refraction, the polarizing microscope, and optical activity. (CW)

  16. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

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

  17. Fine structure and optical properties of biological polarizers in crustaceans and cephalopods

    Science.gov (United States)

    Chiou, Tsyr-Huei; Caldwell, Roy L.; Hanlon, Roger T.; Cronin, Thomas W.

    2008-04-01

    The lighting of the underwater environment is constantly changing due to attenuation by water, scattering by suspended particles, as well as the refraction and reflection caused by the surface waves. These factors pose a great challenge for marine animals which communicate through visual signals, especially those based on color. To escape this problem, certain cephalopod mollusks and stomatopod crustaceans utilize the polarization properties of light. While the mechanisms behind the polarization vision of these two animal groups are similar, several distinctive types of polarizers (i.e. the structure producing the signal) have been found in these animals. To gain a better knowledge of how these polarizers function, we studied the relationships between fine structures and optical properties of four types of polarizers found in cephalopods and stomatopods. Although all the polarizers share a somewhat similar spectral range, around 450- 550 nm, the reflectance properties of the signals and the mechanisms used to produce them have dramatic differences. In cephalopods, stack-plates polarizers produce the polarization patterns found on the arms and around their eyes. In stomatopods, we have found one type of beam-splitting polarizer based on photonic structures and two absorptive polarizer types based on dichroic molecules. These stomatopod polarizers may be found on various appendages, and on the cuticle covering dorsal or lateral sides of the animal. Since the efficiencies of all these polarizer types are somewhat sensitive to the change of illumination and viewing angle, how these animals compensate with different behaviors or fine structural features of the polarizer also varies.

  18. Mastery in Goal Scoring, T-Pattern Detection, and Polar Coordinate Analysis of Motor Skills Used by Lionel Messi and Cristiano Ronaldo.

    Science.gov (United States)

    Castañer, Marta; Barreira, Daniel; Camerino, Oleguer; Anguera, M Teresa; Fernandes, Tiago; Hileno, Raúl

    2017-01-01

    Research in soccer has traditionally given more weight to players' technical and tactical skills, but few studies have analyzed the motor skills that underpin specific motor actions. The objective of this study was to investigate the style of play of the world's top soccer players, Cristiano Ronaldo and Lionel Messi, and how they use their motor skills in attacking actions that result in a goal. We used and improved the easy-to-use observation instrument (OSMOS-soccer player) with 9 criteria, each one expanded to build 50 categories. Associations between these categories were investigated by T-pattern detection and polar coordinate analysis. T-pattern analysis detects temporal structures of complex behavioral sequences composed of simpler or directly distinguishable events within specified observation periods (time point series). Polar coordinate analysis involves the application of a complex procedure to provide a vector map of interrelated behaviors obtained from prospective and retrospective sequential analysis. The T-patterns showed that for both players the combined criteria were mainly between the different aspects of motor skills, namely the use of lower limbs, contact with the ball using the outside of the foot, locomotion, body orientation with respect to the opponent goal line, and the criteria of technical actions and the right midfield. Polar coordinate analysis detected significant associations between the same criteria included in the T-patterns as well as the criteria of turning the body, numerical equality with no pressure, and relative numerical superiority.

  19. Mastery in Goal Scoring, T-Pattern Detection, and Polar Coordinate Analysis of Motor Skills Used by Lionel Messi and Cristiano Ronaldo

    Directory of Open Access Journals (Sweden)

    Marta Castañer

    2017-05-01

    Full Text Available Research in soccer has traditionally given more weight to players' technical and tactical skills, but few studies have analyzed the motor skills that underpin specific motor actions. The objective of this study was to investigate the style of play of the world's top soccer players, Cristiano Ronaldo and Lionel Messi, and how they use their motor skills in attacking actions that result in a goal. We used and improved the easy-to-use observation instrument (OSMOS-soccer player with 9 criteria, each one expanded to build 50 categories. Associations between these categories were investigated by T-pattern detection and polar coordinate analysis. T-pattern analysis detects temporal structures of complex behavioral sequences composed of simpler or directly distinguishable events within specified observation periods (time point series. Polar coordinate analysis involves the application of a complex procedure to provide a vector map of interrelated behaviors obtained from prospective and retrospective sequential analysis. The T-patterns showed that for both players the combined criteria were mainly between the different aspects of motor skills, namely the use of lower limbs, contact with the ball using the outside of the foot, locomotion, body orientation with respect to the opponent goal line, and the criteria of technical actions and the right midfield. Polar coordinate analysis detected significant associations between the same criteria included in the T-patterns as well as the criteria of turning the body, numerical equality with no pressure, and relative numerical superiority.

  20. 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.

  1. 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.

  2. Underwater measurements of muon intensity

    Science.gov (United States)

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

    1985-01-01

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

  3. An Underwater Color Image Quality Evaluation Metric.

    Science.gov (United States)

    Yang, Miao; Sowmya, Arcot

    2015-12-01

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

  4. LC-ESI-MS/MS identification of polar lipids of two thermophilic Anoxybacillus bacteria containing a unique lipid pattern.

    Science.gov (United States)

    Rezanka, Tomáš; Kambourova, Margarita; Derekova, Anna; Kolouchová, Irena; Sigler, Karel

    2012-07-01

    Phospholipids and glycolipids from two recently described species belonging to the thermophilic genus Anoxybacillus were analyzed by liquid chromatography-electrospray tandem mass spectrometry (LC/ESI-MS/MS). Analysis of total lipids from the facultatively anaerobic A. bogrovensis on a HILIC (Hydrophilic Interaction LIquid Chromatography) column succeeded in separating diacyl- and plasmalogen phospholipids. The LC/ESI-MS/MS analysis of the strict aerobe A. rupiensis revealed the presence of different unique polar lipids, predominantly alanyl-, lysyl-, and glucosyl-phosphatidylglycerols and cardiolipins. Each of the classes of polar lipids was then analyzed by means of the ESI-MS/MS and more than 140 molecular species of six lipid classes from A. bogrovensis and nearly 200 molecular species of nine classes of polar lipids from A. rupiensis were identified. Five classes of unidentified polar lipids were detected in both strains. Plasmalogens were thus determined for the first time in a facultatively anaerobic bacterium, i.e. A. bogrovensis.

  5. Calibration of Underwater Sound Transducers

    OpenAIRE

    H.R.S. Sastry

    1983-01-01

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

  6. 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)

  7. 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…

  8. Geographical Income Polarization

    DEFF Research Database (Denmark)

    Azhar, Hussain; Jonassen, Anders Bruun

    inter municipal income inequality. Counter factual simulations show that rising property prices to a large part explain the rise in polarization. One side-effect of polarization is tendencies towards a parallel polarization of residence location patterns, where low skilled individuals tend to live......In this paper we estimate the degree, composition and development of geographical income polarization based on data at the individual and municipal level in Denmark from 1984 to 2002. Rising income polarization is reconfirmed when applying new polarization measures, the driving force being greater...

  9. Network Computing for Distributed Underwater Acoustic Sensors

    Science.gov (United States)

    2014-03-31

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

  10. 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...

  11. 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, ...

  12. 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

  13. Patterns of faunal extinction and paleoclimatic change from mid-Holocene mammoth and polar bear remains, Pribilof Islands, Alaska

    Science.gov (United States)

    Veltre, Douglas W.; Yesner, David R.; Crossen, Kristine J.; Graham, Russell W.; Coltrain, Joan B.

    2008-07-01

    Qagnaxˆ Cave, a lava tube cave on St. Paul Island in the Pribilofs, has recently produced a mid-Holocene vertebrate faunal assemblage including woolly mammoth, polar bear, caribou, and Arctic fox. Several dates on the mammoth remains converge on 5700 14C yr BP. These dates, ~ 2300 yr younger than mammoth dates previously published from the Pribilof Islands, make these the youngest remains of proboscideans, and of non-extinct Quaternary megafauna, recovered from North America. Persistence of mammoths on the Pribilofs is most parsimoniously explained by the isolation of the Pribilofs and the lack of human presence in pre-Russian contact times, but an additional factor may have been the local existence of high-quality forage in the form of grasses enriched by nutrients derived from local Holocene tephras. This interpretation is reinforced by stable carbon and nitrogen isotope values obtained from the mammoth remains. The endpoint of mammoth survival in the Pribilofs is unknown, but maybe coterminous with the arrival of polar bears whose remains in the cave date to the Neoglacial cold period of ~ 4500 to 3500 14C yr BP. The polar bear record corroborates a widespread cooling of the Bering Sea region at that time.

  14. Faraday and Kerr Effects Diagnostics for Underwater Exploding Wires

    Science.gov (United States)

    Sarkisov, G. S.; Fedotov-Gefen, A. V.; Krasik, Ya. E.

    2012-10-01

    Two-channel laser polarimeter was used to measure magnetic and electric fields in vicinity of underwater exploding wire. Nd:YAG Q-switch laser with 532nm wavelength, 100mJ energy and 5ns pulse width was used for probing. Single wire, parallel wires and X and V- shaped wires was used in experiments. Electric and magnetic field induced birefringes in the water results in changing of polarization stage of probing beam after propagation through this anisotropic medium. Magnetic field results in circular anisotropy of the water, while electric field creates linear anisotropy. Magnetic field results in rotation of polarization plan of linear-polarized probing beam. Electric field effect is more complicated- polarization plan of the laser beam subjected to pulsation and changing of ellipticity. Effect of electric field depends on initial probing geometry- angle between electrical field vector E and polarization plane of probing wave. In our exploding wire experiments we found influence of both Faraday and Kerr effects. It was demonstrated existence of Kerr effect inside bubbles at high voltage electrode. Effect of magnetic fields interaction for multi-wire loads was observed.

  15. Polarization Optics

    OpenAIRE

    Fressengeas, Nicolas

    2010-01-01

    The physics of polarization optics *Polarized light propagation *Partially polarized light; DEA; After a brief introduction to polarization optics, this lecture reviews the basic formalisms for dealing with it: Jones Calculus for totally polarized light and Stokes parameters associated to Mueller Calculus for partially polarized light.

  16. Brain region distribution and patterns of bioaccumulative perfluoroalkyl carboxylates and sulfonates in east greenland polar bears (Ursus maritimus).

    Science.gov (United States)

    Greaves, Alana K; Letcher, Robert J; Sonne, Christian; Dietz, Rune

    2013-03-01

    The present study investigated the comparative accumulation of perfluoroalkyl acids (PFAAs) in eight brain regions of polar bears (Ursus maritimus, n = 19) collected in 2006 from Scoresby Sound, East Greenland. The PFAAs studied were perfluoroalkyl carboxylates (PFCAs, C(6) -C(15) chain lengths) and sulfonates (C(4) , C(6) , C(8) , and C(10) chain lengths) as well as selected precursors including perfluorooctane sulfonamide. On a wet-weight basis, blood-brain barrier transport of PFAAs occurred for all brain regions, although inner regions of the brain closer to incoming blood flow (pons/medulla, thalamus, and hypothalamus) contained consistently higher PFAA concentrations compared to outer brain regions (cerebellum, striatum, and frontal, occipital, and temporal cortices). For pons/medulla, thalamus, and hypothalamus, the most concentrated PFAAs were perfluorooctane sulfonate (PFOS), ranging from 47 to 58 ng/g wet weight, and perfluorotridecanoic acid, ranging from 43 to 49 ng/g wet weight. However, PFOS and the longer-chain PFCAs (C(10) -C(15) ) were significantly (p  0.05) different among brain regions. The burden of the sum of PFCAs, perfluoroalkyl sulfonates, and perfluorooctane sulfonamide in the brain (average mass, 392 g) was estimated to be 46 µg. The present study demonstrates that both PFCAs and perfluoroalkyl sulfonates cross the blood-brain barrier in polar bears and that wet-weight concentrations are brain region-specific. Copyright © 2012 SETAC.

  17. Model based image restoration for underwater images

    Science.gov (United States)

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

    2013-04-01

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

  18. 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.

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

    Science.gov (United States)

    2017-06-01

    FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor... VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING 5. FUNDING NUMBERS 6. AUTHOR(S) Jake A. Jones 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS...underwater vehicles (AUVs), robot vision, autonomy, visual odometry, underwater color shift, optical properties of water 15. NUMBER OF PAGES 75 16

  20. Imagery-derived modulation transfer function and its applications for underwater imaging

    Science.gov (United States)

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

    2007-09-01

    The main challenge working with underwater imagery results from both rapid decay of signals due to absorption, which leads to poor signal to noise returns, and the blurring caused by strong scattering by the water itself and constituents within, especially particulates. The modulation transfer function (MTF) of an optical system gives the detailed and precise information regarding the system behavior. Underwater imageries can be better restored with the knowledge of the system MTF or the point spread function (PSF), the Fourier transformed equivalent, extending the performance range as well as the information retrieval from underwater electro-optical system. This is critical in many civilian and military applications, including target and especially mine detection, search and rescue, and diver visibility. This effort utilizes test imageries obtained by the Laser Underwater Camera Imaging Enhancer (LUCIE) from Defense Research and Development Canada (DRDC), during an April-May 2006 trial experiment in Panama City, Florida. Imaging of a standard resolution chart with various spatial frequencies were taken underwater in a controlled optical environment, at varying distances. In-water optical properties during the experiment were measured, which included the absorption and attenuation coefficients, particle size distribution, and volume scattering function. Resulting images were preprocessed to enhance signal to noise ratio by averaging multiple frames, and to remove uneven illumination at target plane. The MTF of the medium was then derived from measurement of above imageries, subtracting the effect of the camera system. PSFs converted from the measured MTF were then used to restore the blurred imageries by different deconvolution methods. The effects of polarization from source to receiver on resulting MTFs were examined and we demonstrate that matching polarizations do enhance system transfer functions. This approach also shows promise in deriving medium optical

  1. Controversies Surrounding Segments and Parasegments in Onychophora: Insights from the Expression Patterns of Four “Segment Polarity Genes” in the Peripatopsid Euperipatoides rowelli

    Science.gov (United States)

    Franke, Franziska Anni; Mayer, Georg

    2014-01-01

    Arthropods typically show two types of segmentation: the embryonic parasegments and the adult segments that lie out of register with each other. Such a dual nature of body segmentation has not been described from Onychophora, one of the closest arthropod relatives. Hence, it is unclear whether onychophorans have segments, parasegments, or both, and which of these features was present in the last common ancestor of Onychophora and Arthropoda. To address this issue, we analysed the expression patterns of the “segment polarity genes” engrailed, cubitus interruptus, wingless and hedgehog in embryos of the onychophoran Euperipatoides rowelli. Our data revealed that these genes are expressed in repeated sets with a specific anterior-to-posterior order along the body in embryos of E. rowelli. In contrast to arthropods, the expression occurs after the segmental boundaries have formed. Moreover, the initial segmental furrow retains its position within the engrailed domain throughout development, whereas no new furrow is formed posterior to this domain. This suggests that no re-segmentation of the embryo occurs in E. rowelli. Irrespective of whether or not there is a morphological or genetic manifestation of parasegments in Onychophora, our data clearly show that parasegments, even if present, cannot be regarded as the initial metameric units of the onychophoran embryo, because the expression of key genes that define the parasegmental boundaries in arthropods occurs after the segmental boundaries have formed. This is in contrast to arthropods, in which parasegments rather than segments are the initial metameric units of the embryo. Our data further revealed that the expression patterns of “segment polarity genes” correspond to organogenesis rather than segment formation. This is in line with the concept of segmentation as a result of concerted evolution of individual periodic structures rather than with the interpretation of ‘segments’ as holistic units. PMID

  2. Autonomous Underwater Vehicle untuk Survei dan Pemantauan Laut

    Directory of Open Access Journals (Sweden)

    Henry M. Manik

    2017-04-01

    Full Text Available AUV is an unmanned submersible platform to accomplish a mission. Side-scan sonar, Conductivity Temperature Depth (CTD, and underwater video camera are usually attached on AUV. These sensors were used for identifying seawater and seabed condition. Data acquired from a survey with an AUV in Kepulauan Riau processed by Neptus software. Side-scan sonar (SSS visualization is compared to the video image. SSS signal visualization has a unique pattern that can be identified within the video image. Different substrate structure caused different signal visualization.  The relation between the video image and SSS visualization can be used for identifying habitat benthic profile.

  3. 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

  4. Jellyfish inspired underwater unmanned vehicle

    Science.gov (United States)

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

    2009-03-01

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

  5. The role of diet on long-term concentration and pattern trends of brominated and chlorinated contaminants in western Hudson Bay polar bears, 1991-2007

    International Nuclear Information System (INIS)

    McKinney, Melissa A.; Stirling, Ian; Lunn, Nick J.; Peacock, Elizabeth; Letcher, Robert J.

    2010-01-01

    Adipose tissue was sampled from the western Hudson Bay (WHB) subpopulation of polar bears at intervals from 1991 to 2007 to examine temporal trends of PCB and OCP levels both on an individual and sum-(Σ-)contaminant basis. We also determined levels and temporal trends of emerging polybrominated diphenyl ethers (PBDEs), hexabromocyclododecane (HBCD), polybrominated biphenyls (PBBs) and other current-use brominated flame retardants. Over the 17-year period, Σ DDT (and p,p'-DDE, p,p'-DDD, p,p'-DDT) decreased (-8.4%/year); α-hexachlorocyclohexane (α-HCH) decreased (-11%/year); β-HCH increased (+ 8.3%/year); and Σ PCB and Σ chlordane (CHL), both contaminants at highest concentrations in all years (> 1 ppm), showed no distinct trends even when compared to previous data for this subpopulation dating back to 1968. Some of the less persistent PCB congeners decreased significantly (-1.6%/year to -6.3%/year), whereas CB153 levels tended to increase (+ 3.3%/year). Parent CHLs (c-nonachlor, t-nonachlor) declined, whereas non-monotonic trends were detected for metabolites (heptachlor epoxide, oxychlordane). Σ chlorobenzene, octachlorostyrene, Σ mirex, Σ MeSO 2 -PCB and dieldrin did not significantly change. Increasing Σ PBDE levels (+ 13%/year) matched increases in the four consistently detected congeners, BDE47, BDE99, BDE100 and BDE153. Although no trend was observed, total-(α)-HBCD was only detected post-2000. Levels of the highest concentration brominated contaminant, BB153, showed no temporal change. As long-term ecosystem changes affecting contaminant levels may also affect contaminant patterns, we examined the influence of year (i.e., aging or 'weathering' of the contaminant pattern), dietary tracers (carbon stable isotope ratios, fatty acid patterns) and biological (age/sex) group on congener/metabolite profiles. Patterns of PCBs, CHLs and PBDEs were correlated with dietary tracers and biological group, but only PCB and CHL patterns were correlated with year

  6. Underwater sympathetic detonation of pellet explosive

    Science.gov (United States)

    Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

    2017-06-01

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

  7. Underwater Grass Comeback Helps Chesapeake Bay

    Science.gov (United States)

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

  8. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

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

  9. Sensor network architectures for monitoring underwater pipelines.

    Science.gov (United States)

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

    2011-01-01

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

  10. Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space

    Directory of Open Access Journals (Sweden)

    Zhi-Lin Zeng

    2014-01-01

    Full Text Available This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space. Furthermore, the “lowest point fixed angle error” leveling scheme called “chase” is chosen for leveling control of platform. The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.

  11. 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.)

  12. Underwater noise levels in UK waters

    OpenAIRE

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

    2016-01-01

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

  13. Underwater gait analysis in Parkinson's disease.

    Science.gov (United States)

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

    2017-02-01

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

  14. Affordable underwater wireless optical communication using LEDs

    Science.gov (United States)

    Pilipenko, Vladimir; Arnon, Shlomi

    2013-09-01

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

  15. An underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2009-08-01

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

  16. Statistical Patterns of Ionospheric Convection Derived From Mid-Latitude, High-Latitude, and Polar SuperDARN HF Radar Observations

    Science.gov (United States)

    Thomas, E. G.; Shepherd, S. G.

    2017-12-01

    Global patterns of ionospheric convection have been widely studied in terms of the interplanetary magnetic field (IMF) magnitude and orientation in both the Northern and Southern Hemispheres using observations from the Super Dual Auroral Radar Network (SuperDARN). The dynamic range of driving conditions under which existing SuperDARN statistical models are valid is currently limited to periods when the high-latitude convection pattern remains above about 60° geomagnetic latitude. Cousins and Shepherd [2010] found this to correspond to intervals when the solar wind electric field Esw 0) the high-latitude radars often experience difficulties in measuring convection above about 85° geomagnetic latitude. In this presentation, we introduce a new statistical model of ionospheric convection which is valid for much more dominant IMF Bz conditions than was previously possible by including velocity measurements from the newly constructed tiers of radars in the Northern Hemisphere at midlatitudes and in the polar cap. This new model (TS17) is compared to previous statistical models derived from high-latitude SuperDARN observations (RG96, PSR10, CS10) and its impact on instantaneous Map Potential solutions is examined.

  17. Fluorescence confocal polarizing microscopy

    Indian Academy of Sciences (India)

    Much of the modern understanding of orientational order in liquid crystals (LCs) is based on polarizing microscopy (PM). A PM image bears only two-dimensional (2D) information, integrating the 3D pattern of optical birefringence over the path of light. Recently, we proposed a technique to image 3D director patterns by ...

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

    Directory of Open Access Journals (Sweden)

    Donatas Bagočius

    2017-09-01

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

  19. 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

  20. Magnetohydrodynamic underwater vehicular propulsion systems

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  1. Routing strategies for underwater gliders

    Science.gov (United States)

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

    2009-02-01

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

  2. 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.

  3. 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

  4. Recent developments in underwater repair welding

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  5. Underwater Optics in Sub-Antarctic and Antarctic Coastal Ecosystems.

    Directory of Open Access Journals (Sweden)

    Pirjo Huovinen

    Full Text Available Understanding underwater optics in natural waters is essential in evaluating aquatic primary production and risk of UV exposure in aquatic habitats. Changing environmental conditions related with global climate change, which imply potential contrasting changes in underwater light climate further emphasize the need to gain insights into patterns related with underwater optics for more accurate future predictions. The present study evaluated penetration of solar radiation in six sub-Antarctic estuaries and fjords in Chilean North Patagonian region (39-44°S and in an Antarctic bay (62°S. Based on vertical diffuse attenuation coefficients (Kd, derived from measurements with a submersible multichannel radiometer, average summer UV penetration depth (z1% in these water bodies ranged 2-11 m for UV-B (313 nm, 4-27 m for UV-A (395 nm, and 7-30 m for PAR (euphotic zone. UV attenuation was strongest in the shallow Quempillén estuary, while Fildes Bay (Antarctica exhibited the highest transparency. Optically non-homogeneous water layers and seasonal variation in transparency (lower in winter characterized Comau Fjord and Puyuhuapi Channel. In general, multivariate analysis based on Kd values of UV and PAR wavelengths discriminated strongly Quempillén estuary and Puyuhuapi Channel from other study sites. Spatial (horizontal variation within the estuary of Valdivia river reflected stronger attenuation in zones receiving river impact, while within Fildes Bay a lower spatial variation in water transparency could in general be related to closeness of glaciers, likely due to increased turbidity through ice-driven processes. Higher transparency and deeper UV-B penetration in proportion to UV-A/visible wavelengths observed in Fildes Bay suggests a higher risk for Antarctic ecosystems reflected by e.g. altered UV-B damage vs. photorepair under UV-A/PAR. Considering that damage repair processes often slow down under cool temperatures, adverse UV impact could be

  6. Pattern and polarity in the development and evolution of the gnathostome jaw: both conservation and heterotopy in the branchial arches of the shark, Scyliorhinus canicula.

    Science.gov (United States)

    Compagnucci, Claudia; Debiais-Thibaud, Melanie; Coolen, Marion; Fish, Jennifer; Griffin, John N; Bertocchini, Federica; Minoux, Maryline; Rijli, Filippo M; Borday-Birraux, Véronique; Casane, Didier; Mazan, Sylvie; Depew, Michael J

    2013-05-15

    The acquisition of jaws constitutes a landmark event in vertebrate evolution, one that in large part potentiated their success and diversification. Jaw development and patterning involves an intricate spatiotemporal series of reciprocal inductive and responsive interactions between the cephalic epithelia and the cranial neural crest (CNC) and cephalic mesodermal mesenchyme. The coordinated regulation of these interactions is critical for both the ontogenetic registration of the jaws and the evolutionary elaboration of variable jaw morphologies and designs. Current models of jaw development and evolution have been built on molecular and cellular evidence gathered mostly in amniotes such as mice, chicks and humans, and augmented by a much smaller body of work on the zebrafish. These have been partnered by essential work attempting to understand the origins of jaws that has focused on the jawless lamprey. Chondrichthyans (cartilaginous fish) are the most distant group to amniotes within extant gnathostomes, and comprise the crucial clade uniting amniotes and agnathans; yet despite their critical phylogenetic position, evidence of the molecular and cellular underpinnings of jaw development in chondrichthyans is still lacking. Recent advances in genome and molecular developmental biology of the lesser spotted dogfish shark, Scyliorhinus canicula, make it ideal for the molecular study of chondrichthyan jaw development. Here, following the 'Hinge and Caps' model of jaw development, we have investigated evidence of heterotopic (relative changes in position) and heterochronic (relative changes in timing) shifts in gene expression, relative to amniotes, in the jaw primordia of S. canicula embryos. We demonstrate the presence of clear proximo-distal polarity in gene expression patterns in the shark embryo, thus establishing a baseline molecular baüplan for branchial arch-derived jaw development and further validating the utility of the 'Hinge and Caps' model in comparative

  7. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  8. 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

  9. Underwater noise from offshore oil production vessels.

    Science.gov (United States)

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

    2013-06-01

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

  10. 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

  11. Microstructural characterizations and mechanical properties in underwater friction stir welding of aluminum and magnesium dissimilar alloys

    International Nuclear Information System (INIS)

    Zhao, Yong; Lu, Zhengping; Yan, Keng; Huang, Linzhao

    2015-01-01

    Highlights: • Aluminum and magnesium alloys were joined by underwater friction stir welding. • Underwater FSW was conducted to improve properties of joint with lower heat input. • Microstructures and mechanical properties of dissimilar joint were investigated. • Intermetallic compounds developed in the fracture interface were analyzed. • Fracture features of the tensile samples were analyzed. - Abstract: Formation of intermetallic compounds in the stir zone of dissimilar welds affects the mechanical properties of the joints significantly. In order to reduce heat input and control the amount and morphological characteristics of brittle intermetallic compounds underwater friction stir welding of 6013 Al alloy and AZ31 Mg alloy was carried out. Microstructures, mechanical properties, elements distribution, and the fracture surface of the joints were analyzed by optical microscopy, scanning electron microscopy and energy dispersive X-ray spectroscopy, etc. The result shows that sound dissimilar joint with good mechanical properties can be obtained by underwater friction stir welding. Al and Mg alloys were stirred together and undergone the process of recrystallization, forming complex intercalated flow patterns in the stir zone. Tensile strength of the dissimilar joint was up to 152.3 MPa. Maximum hardness (142HV) appeared in the middle of the centerline of the specimen. Intermetallic compounds layer consisting of Al 3 Mg 2 and Mg 17 Al 12 formed in the Al/Mg interface and resulted in the fracture of the joint

  12. Femtosecond laser fabrication of robust underwater superoleophobic and anti-oil surface on sapphire

    Science.gov (United States)

    Chu, Dongkai; Yin, Kai; Dong, Xinran; Luo, Zhi; Duan, Ji-An

    2017-11-01

    Due to the presence of unique micro/nanostructures on the surface, fish's scale exhibits underwater superoleophobicity and keeps clean even in oil-polluted water. Inspired from this, we propose a facile method for the fabrication of underwater superoleophobic and anti-oil sapphire surface with line-patterned nanostructures by femtosecond laser. The as-prepared surface shows great superoleophobicity that the oil contact angles can reach up to 153° for 1, 2-dichloroethane droplets in water and low oil-adhesion. At the same time, the relationship between the microgrooves' period and surface wettability is studied, and the results indicate that the underwater superoleophobicity and low oil-adhesion can be achieved using a wide range of processing parameters. Meanwhile, the obtained surface is demonstrated to exhibit excellent stability. Moreover, the self-cleaning anti-oil ability of the as-prepared surface is conducted, and the potential mechanism of which is discussed. This technique has potential applications for the fabrication of underwater oil repelling devices and microfluidics.

  13. Underwater Advanced Time-Domain Electromagnetic System

    Science.gov (United States)

    2017-03-03

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

  14. 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.

  15. Detection of Underwater UXOs in Mud

    Science.gov (United States)

    2013-04-01

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

  16. Adaptive turbo equalization for underwater acoustic communication

    NARCIS (Netherlands)

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

    2013-01-01

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

  17. 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

  18. Evolution: Fossil Ears and Underwater Sonar.

    Science.gov (United States)

    Lambert, Olivier

    2016-08-22

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

  19. 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

  20. Polarization developments

    International Nuclear Information System (INIS)

    Prescott, C.Y.

    1993-07-01

    Recent developments in laser-driven photoemission sources of polarized electrons have made prospects for highly polarized electron beams in a future linear collider very promising. This talk discusses the experiences with the SLC polarized electron source, the recent progress with research into gallium arsenide and strained gallium arsenide as a photocathode material, and the suitability of these cathode materials for a future linear collider based on the parameters of the several linear collider designs that exist

  1. 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.

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

    Science.gov (United States)

    Emokpae, Lloyd

    -of-sight (LOS) and NLOS links by utilizing directional antennas, which will boost the signal-to-noise ratio (SNR) at the receiver while promoting NLOS usage. In our model, we employ a directional underwater acoustic antenna composed of an array of hydrophones that can be summed up at various phases and amplitudes resulting in a beam-former. We have also adopted a practical multimodal directional transducer concept which generates both directional and omni-directional beam patterns by combining the fundamental vibration modes of a cylindrical acoustic radiator. This allows the transducer to be electrically controlled and steered by simply adjusting the electrical voltage weights. A prototype acoustic modem is then developed to utilize the multimodal directional transducer for both LOS and NLOS communication. The acoustic modem has also been used as a platform for empirically validating our SBR communication model in a tank and with empirical data. Networking protocols have been developed to exploit the SBR communication model. These protocols include node discovery and localization, directional medium access control (D-MAC) and geographical routing. In node discovery and localization, each node will utilize SBR-based range measurements to its neighbors to determine their relative position. The D-MAC protocol utilizes directional antennas to increase the network throughput due to the spatial efficiency of the antenna model. In the proposed reflection-enabled directional MAC protocol (RED-MAC), each source node will be able to determine if an obstacle is blocking the LOS link to the destination and switch to the best NLOS link by utilizing surface/bottom reflections. Finally, we have developed a geographical routing algorithm which aims to establish the best stable route from a source node to a destination node. The optimized route is selected to achieve maximum network throughput. Extensive analysis of the network throughput when utilizing directional antennas is also presented

  3. Behavioural Response Thresholds in New Zealand Crab Megalopae to Ambient Underwater Sound

    Science.gov (United States)

    Stanley, Jenni A.; Radford, Craig A.; Jeffs, Andrew G.

    2011-01-01

    A small number of studies have demonstrated that settlement stage decapod crustaceans are able to detect and exhibit swimming, settlement and metamorphosis responses to ambient underwater sound emanating from coastal reefs. However, the intensity of the acoustic cue required to initiate the settlement and metamorphosis response, and therefore the potential range over which this acoustic cue may operate, is not known. The current study determined the behavioural response thresholds of four species of New Zealand brachyuran crab megalopae by exposing them to different intensity levels of broadcast reef sound recorded from their preferred settlement habitat and from an unfavourable settlement habitat. Megalopae of the rocky-reef crab, Leptograpsus variegatus, exhibited the lowest behavioural response threshold (highest sensitivity), with a significant reduction in time to metamorphosis (TTM) when exposed to underwater reef sound with an intensity of 90 dB re 1 µPa and greater (100, 126 and 135 dB re 1 µPa). Megalopae of the mud crab, Austrohelice crassa, which settle in soft sediment habitats, exhibited no response to any of the underwater reef sound levels. All reef associated species exposed to sound levels from an unfavourable settlement habitat showed no significant change in TTM, even at intensities that were similar to their preferred reef sound for which reductions in TTM were observed. These results indicated that megalopae were able to discern and respond selectively to habitat-specific acoustic cues. The settlement and metamorphosis behavioural response thresholds to levels of underwater reef sound determined in the current study of four species of crabs, enables preliminary estimation of the spatial range at which an acoustic settlement cue may be operating, from 5 m to 40 km depending on the species. Overall, these results indicate that underwater sound is likely to play a major role in influencing the spatial patterns of settlement of coastal crab

  4. 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

  5. Polarization, political

    NARCIS (Netherlands)

    Wojcieszak, M.; Mazzoleni, G.; Barnhurst, K.G.; Ikeda, K.; Maia, R.C.M.; Wessler, H.

    2015-01-01

    Polarization has been studied in three different forms: on a social, group, and individual level. This entry first focuses on the undisputed phenomenon of elite polarization (i.e., increasing adherence of policy positions among the elites) and also outlines different approaches to assessing mass

  6. Polarization holography

    DEFF Research Database (Denmark)

    Nikolova, L.; Ramanujam, P.S.

    Current research into holography is concerned with applications in optically storing, retrieving, and processing information. Polarization holography has many unique properties compared to conventional holography. It gives results in high efficiency, achromaticity, and special polarization...... properties. This books reviews the research carried out in this field over the last 15 years. The authors provide basic concepts in polarization and the propagation of light through anisotropic materials, before presenting a sound theoretical basis for polarization holography. The fabrication...... and characterization of azobenzene based materials, which remain the most efficient for the purpose, is described in detail. This is followed by a description of other materials that are used in polarization holography. An in-depth description of various applications, including display holography and optical storage...

  7. 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...

  8. 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.

  9. 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.

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

    Science.gov (United States)

    2013-02-01

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

  11. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

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

  12. 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)

  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. 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.

  15. Polar Bears

    Science.gov (United States)

    Amstrup, Steven C.; Douglas, David C.; Reynolds, Patricia E.; Rhode, E.B.

    2002-01-01

    Polar bears (Ursus maritimus) are hunted throughout most of their range. In addition to hunting polar bears of the Beaufort Sea region are exposed to mineral and petroleum extraction and related human activities such as shipping road-building, and seismic testing (Stirling 1990).Little was known at the start of this project about how polar bears move about in their environment, and although it was understood that many bears travel across political borders, the boundaries of populations had not been delineated (Amstrup 1986, Amstrup et al. 1986, Amstrup and DeMaster 1988, Garner et al. 1994, Amstrup 1995, Amstrup et al. 1995, Amstrup 2000).As human populations increase and demands for polar bears and other arctic resources escalate, managers must know the sizes and distributions of the polar bear populations. Resource managers also need reliable estimates of breeding rates, reproductive intervals, litter sizes, and survival of young and adults.Our objectives for this research were 1) to determine the seasonal and annual movements of polar bears in the Beaufort Sea, 2) to define the boundaries of the population(s) using this region, 3) to determine the size and status of the Beaufort Sea polar bear population, and 4) to establish reproduction and survival rates (Amstrup 2000).

  16. A MAC protocol for underwater sensors networks

    OpenAIRE

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

    2015-01-01

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

  17. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    Science.gov (United States)

    2016-09-20

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

  18. Underwater suction device for irradiated materials

    International Nuclear Information System (INIS)

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

    1982-01-01

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

  19. Tethered Antennas for Unmanned Underwater Vehicles

    Science.gov (United States)

    2009-04-27

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

  20. 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

  1. 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.

  2. Obstacle avoidance in underwater glider path planning

    OpenAIRE

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

    2012-01-01

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

  3. A Recovery System for Unmanned Underwater Vehicles

    Science.gov (United States)

    2017-09-28

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

  4. 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...

  5. 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...

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

    Science.gov (United States)

    Shortis, Mark

    2015-12-07

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

  7. Calibration Techniques for Accurate Measurements by Underwater Camera Systems

    Directory of Open Access Journals (Sweden)

    Mark Shortis

    2015-12-01

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

  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. 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...

  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. Underwater Acoustic Target Tracking: A Review.

    Science.gov (United States)

    Luo, Junhai; Han, Ying; Fan, Liying

    2018-01-02

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

  12. 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.

  13. 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.

  14. Underwater Noise Modelling of Wave Energy Devices

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-07-01

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

  15. Polarimetry and Schlieren diagnostics of underwater exploding wires

    Science.gov (United States)

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

    2009-11-01

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

  16. Polarimetry and Schlieren diagnostics of underwater exploding wires

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  17. Underwater Acoustic Beacon Location System

    Science.gov (United States)

    2016-12-23

    distance is the predicted detection range R based on consideration of Equations (1) and (2) together with the parameters for SL, NL, DI, DT and alpha ...R nvnv nvnv ia               cossin0 sincos0 0012 (12) [0091] Finally, the positions on the seafloor 500 in the array...numerical values of the beam pattern projected onto the seafloor are divided by the sum of all of the (non- zero ) numerical values projected onto the

  18. Polar localization of plasma membrane Ca2+/Mg2+ ATPase correlates with the pattern of steady ionic currents in eggs of Lymnaea stagnalis and Bithynia tentaculata (Mollusca)

    NARCIS (Netherlands)

    D. Zivkovic (Dana); R. Créton (Robbert); G. Zwaan (Gideon); W.C. de Bruijn (Wim); M.R. Dohmen (M.René)

    1990-01-01

    textabstractDuring extrusion of the first polar body in eggs of Lymnaea stagnalis and Bithynia tentaculata a localized Ca2+ /Mg2+ ATPase activity was detected, using Ando's enzyme-cytochemical method for electron microscopy [Ando et al. (1981) Acta Histochem Cytochem 14:705-726]. The enzyme activity

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

    Indian Academy of Sciences (India)

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

  20. Visual-adaptation-mechanism based underwater object extraction

    Science.gov (United States)

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

    2014-03-01

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

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

    International Nuclear Information System (INIS)

    Kobayashi, Futoshi; Kojima, Fumio

    2007-01-01

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

  2. 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

  3. Characterization of ships as sources of underwater noise

    NARCIS (Netherlands)

    Jong, C.A.F. de

    2009-01-01

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

  4. 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

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

    Indian Academy of Sciences (India)

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

  6. Collar temperature sensor data reveal long-term patterns in southern Beaufort Sea polar bear den distribution on pack ice and land

    Science.gov (United States)

    Olson, Jay W; Rode, Karyn D.; Eggett, Dennis L.; Smith, T.S.; Wilson, R. R.; Durner, George M.; Fischbach, Anthony; Atwood, Todd C.; Douglas, David

    2017-01-01

    In response to a changing climate, many species alter habitat use. Polar bears Ursus maritimus in the southern Beaufort Sea have increasingly used land for maternal denning. To aid in detecting denning behavior, we developed an objective method to identify polar bear denning events using temperature sensor data collected by satellite-linked transmitters deployed on adult females between 1985 and 2013. We then applied this method to determine whether southern Beaufort Sea polar bears have continued to increase land denning with recent sea-ice loss and examined whether sea-ice conditions affect the distribution of dens between pack-ice and coastal substrates. Because land use in summer and autumn has also increased, we examined potential associations between summering substrate and denning substrate. Statistical process control methods applied to temperature-sensor data identified denning events with 94.5% accuracy in comparison to direct observations (n = 73) and 95.7% accuracy relative to subjective classifications based on temperature, location, and activity sensor data (n = 116). We found an increase in land-based denning during the study period. The frequency of land denning was directly related to the distance that sea ice retreated from the coast. Among females that denned, all 14 that summered on land subsequently denned there, whereas 29% of the 69 bears summering on ice denned on land. These results suggest that denning on land may continue to increase with further loss of sea ice. While the effects that den substrate have on nutrition, energetics, and reproduction are unclear, more polar bears denning onshore will likely increase human-bear interactions.

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

    Directory of Open Access Journals (Sweden)

    Jinlong Song

    2015-09-01

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

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

    Science.gov (United States)

    Jiang, Peng; Feng, Yang; Wu, Feng

    2016-10-21

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

  9. Design and implementation of an underwater sound recording device

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-09-19

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

  10. 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.

  11. 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.)

  12. 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

  13. Hemispherical optical dome for underwater communication

    Science.gov (United States)

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

    2017-08-01

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

  14. 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.

  15. 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.)

  16. 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...

  17. Adaptive Target Tracking for Underwater Maneuvering Targets.

    Science.gov (United States)

    1979-12-01

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

  18. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

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

  19. Political polarization

    OpenAIRE

    Dixit, Avinash K.; Weibull, Jörgen W.

    2007-01-01

    Failures of government policies often provoke opposite reactions from citizens; some call for a reversal of the policy, whereas others favor its continuation in stronger form. We offer an explanation of such polarization, based on a natural bimodality of preferences in political and economic contexts and consistent with Bayesian rationality.

  20. Political polarization.

    Science.gov (United States)

    Dixit, Avinash K; Weibull, Jörgen W

    2007-05-01

    Failures of government policies often provoke opposite reactions from citizens; some call for a reversal of the policy, whereas others favor its continuation in stronger form. We offer an explanation of such polarization, based on a natural bimodality of preferences in political and economic contexts and consistent with Bayesian rationality.

  1. Underwater pipeline impact localization using piezoceramic transducers

    Science.gov (United States)

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

    2017-10-01

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

  2. GAS FLOW IN UNDERWATER BREATHING INSTALLATIONS

    Directory of Open Access Journals (Sweden)

    Anca CONSTANTIN

    2017-11-01

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

  3. 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.

  4. 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.

  5. Hydrogel microphones for stealthy underwater listening

    Science.gov (United States)

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

    2016-08-01

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

  6. 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.

  7. Software architecture of biomimetic underwater vehicle

    Science.gov (United States)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

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

  8. STABILITY OF UNDERWATER STRUCTURE UNDER WAVE ATTACK

    Directory of Open Access Journals (Sweden)

    C. Paotonan

    2012-02-01

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

  9. Underwater noise levels in UK waters.

    Science.gov (United States)

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

    2016-11-10

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

  10. Underwater Wireless Acousto-Optic Waveguide (UWAOW)

    Science.gov (United States)

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

    2017-10-01

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

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

    OpenAIRE

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

    2015-01-01

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

  12. 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.)

  13. 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.

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

    Directory of Open Access Journals (Sweden)

    Xin Li

    2017-02-01

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

  15. Impact of Vessel Noise on Oyster Toadfish (Opsanus tau) Behavior and Implications for Underwater Noise Management

    Science.gov (United States)

    Krahforst, Cecilia S.

    Underwater noise and its impacts on marine life are growing management concerns. This dissertation considers both the ecological and social concerns of underwater noise, using the oyster toadfish (Opsanus tau) as a model species. Oyster toadfish call for mates using a boatwhistle sound, but increased ambient noise levels from vessels or other anthropogenic activities are likely to influence the ability of males to find mates. If increased ambient noise levels reduce fish fitness then underwater noise can impact socially valued ecosystem services (e.g. fisheries). The following ecological objectives of the impacts of underwater noise on oyster toadfish were investigated: (1) to determine how noise influences male calling behavior; (2) to assess how areas of high vessel activity ("noisy") and low vessel activity ("quiet") influence habitat utilization (fish standard length and occupancy rate); and (3) to discover if fitness (number of clutches and number of embryos per clutch) is lower in "noisy" compared with "quiet" sites. Field experiments were executed in "noisy" and "quiet" areas. Recorded calls by males in response to playback sounds (vessel, predator, and snapping shrimp sounds) and egg deposition by females ("noisy" vs. "quiet" sites) demonstrated that oyster toadfish are impacted by underwater noise. First, males decreased their call rates and called louder in response to increased ambient noise levels. Second, oyster toadfish selected nesting sites in areas with little or no inboard motorboat activity. Third, male oyster toadfish at "noisy" sites either had no egg clutches on their shelters or the number of embryos per clutch was significantly lower than in the "quiet" areas. Underwater noise and disturbance from vessels are influencing the fitness of the oyster toadfish. The social significance of the growing concerns regarding underwater noise was investigated by identifying dominant themes found within two types of texts: four recent underwater noise

  16. 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.

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

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  18. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

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

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Carrick Detweiler

    2014-05-01

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

  20. First year of practical experiences of the new Arctic AWIPEV-COSYNA cabled Underwater Observatory in Kongsfjorden, Spitsbergen

    Science.gov (United States)

    Fischer, Philipp; Schwanitz, Max; Loth, Reiner; Posner, Uwe; Brand, Markus; Schröder, Friedhelm

    2017-04-01

    A combined year-round assessment of selected oceanographic data and a macrobiotic community assessment was performed from October 2013 to November 2014 in the littoral zone of the Kongsfjorden polar fjord system on the western coast of Svalbard (Norway). State of the art remote controlled cabled underwater observatory technology was used for daily vertical profiles of temperature, salinity, and turbidity together with a stereo-optical assessment of the macrobiotic community, including fish. The results reveal a distinct seasonal cycle in total species abundances, with a significantly higher total abundance and species richness during the polar winter when no light is available underwater compared to the summer months when 24 h light is available. During the winter months, a temporally highly segmented community was observed with respect to species occurrence, with single species dominating the winter community for restricted times. In contrast, the summer community showed an overall lower total abundance as well as a significantly lower number of species. The study clearly demonstrates the high potential of cable connected remote controlled digital sampling devices, especially in remote areas, such as polar fjord systems, with harsh environmental conditions and limited accessibility. A smart combination of such new digital sampling methods with classic sampling procedures can provide a possibility to significantly extend the sampling time and frequency, especially in remote and difficult to access areas. This can help to provide a sufficient data density and therefore statistical power for a sound scientific analysis without increasing the invasive sampling pressure in ecologically sensitive environments.

  1. PolarHub: A Global Hub for Polar Data Discovery

    Science.gov (United States)

    Li, W.

    2014-12-01

    This paper reports the outcome of a NSF project in developing a large-scale web crawler PolarHub to discover automatically the distributed polar dataset in the format of OGC web services (OWS) in the cyberspace. PolarHub is a machine robot; its goal is to visit as many webpages as possible to find those containing information about polar OWS, extract this information and store it into the backend data repository. This is a very challenging task given huge data volume of webpages on the Web. Three unique features was introduced in PolarHub to make it distinctive from earlier crawler solutions: (1) a multi-task, multi-user, multi-thread support to the crawling tasks; (2) an extensive use of thread pool and Data Access Object (DAO) design patterns to separate persistent data storage and business logic to achieve high extendibility of the crawler tool; (3) a pattern-matching based customizable crawling algorithm to support discovery of multi-type geospatial web services; and (4) a universal and portable client-server communication mechanism combining a server-push and client pull strategies for enhanced asynchronous processing. A series of experiments were conducted to identify the impact of crawling parameters to the overall system performance. The geographical distribution pattern of all PolarHub identified services is also demonstrated. We expect this work to make a major contribution to the field of geospatial information retrieval and geospatial interoperability, to bridge the gap between data provider and data consumer, and to accelerate polar science by enhancing the accessibility and reusability of adequate polar data.

  2. Spin-polarized semiconductors: tuning the electronic structure of graphene by introducing a regular pattern of sp3 carbons on the graphene plane.

    Science.gov (United States)

    Jing, Long; Huang, Ping; Zhu, Huarui; Gao, Xueyun

    2013-01-28

    First-principles calculations (generalized gradient approximation, density functional therory (DFT) with dispersion corrections, and DFT plus local atomic potential) are carried out on the stability and electronic structures of superlattice configurations of nitrophenyl diazonium functionalized graphene with different coverage. In the calculations, the stabilities of these structures are strengthened significantly since van der Waals interactions between nitrophenyl groups are taken into account. Furthermore, spin-polarized and wider-bandgap electronic structures are obtained when the nitrophenyl groups break the sublattice symmetry of the graphene. The unpaired quasi-localized p electrons are responsible for this itinerant magnetism. The results provide a novel approach to tune graphene's electronic structures as well as to form ferromagnetic semiconductive graphene. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  3. 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.

  4. The 2014-2015 warming anomaly in the Southern California Current System observed by underwater gliders

    Science.gov (United States)

    Zaba, Katherine D.; Rudnick, Daniel L.

    2016-02-01

    Large-scale patterns of positive temperature anomalies persisted throughout the surface waters of the North Pacific Ocean during 2014-2015. In the Southern California Current System, measurements by our sustained network of underwater gliders reveal the coastal effects of the recent warming. Regional upper ocean temperature anomalies were greatest since the initiation of the glider network in 2006. Additional observed physical anomalies included a depressed thermocline, high stratification, and freshening; induced biological consequences included changes in the vertical distribution of chlorophyll fluorescence. Contemporaneous surface heat flux and wind strength perturbations suggest that local anomalous atmospheric forcing caused the unusual oceanic conditions.

  5. Boxfishes as unusually well-controlled autonomous underwater vehicles.

    Science.gov (United States)

    Gordon, M S; Hove, J R; Webb, P W; Weihs, D

    2000-01-01

    Boxfishes (family Ostraciidae) are tropical reef-dwelling marine bony fishes that have about three-fourths of their body length encased in a rigid bony test. As a result, almost all of their swimming movements derive from complex combinations of movements of their median and paired fins (MPF locomotion). In terms of both body design and swimming performance, they are among the most sophisticated examples known of naturally evolved vertebrate autonomous underwater vehicles. Quantitative studies of swimming performance, biomechanics, and energetics in one model species have shown that (i) they are surprisingly strong, fast swimmers with great endurance; (ii) classical descriptions of how they swim were incomplete: they swim at different speeds using three different gaits; (iii) they are unusually dynamically well controlled and stable during sustained and prolonged rectilinear swimming; and (iv) despite unusually high parasite (fuselage) drag, they show energetic costs of transport indistinguishable from those of much better streamlined fishes using body and caudal fin (BCF) swimming modes at similar water temperatures and over comparable ranges of swimming speeds. We summarize an analysis of these properties based on a dynamic model of swimming in these fishes. This model accounts for their control, stability, and efficiency in moving through the water at moderate speeds in terms of gait changes, of water-flow patterns over body surfaces, and of complex interactions of thrust vectors generated by fin movements.

  6. Status of the ANTARES underwater neutrino telescope

    CERN Document Server

    Hallewell, G D

    2003-01-01

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

  7. 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...

  8. 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.

  9. A Validation Process for Underwater Localization Algorithms

    Directory of Open Access Journals (Sweden)

    Marc Hildebrandt

    2014-09-01

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

  10. Improved Underwater Excitation-Emission Matrix Fluorometer

    Science.gov (United States)

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

    2007-01-01

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

  11. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

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

  12. Collision Detection for Underwater ROV Manipulator Systems.

    Science.gov (United States)

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

    2018-04-06

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

  13. 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.

  14. Research on generating various polarization-modes in polarized illumination system

    Science.gov (United States)

    Huang, Jinping; Lin, Wumei; Fan, Zhenjie

    2013-08-01

    With the increase of the numerical aperture (NA), the polarization of light affects the imaging quality of projection lens more significantly. On the contrary, according to the mask pattern, the resolution of projection lens can be improved by using the polarized illumination. That is to say, using the corresponding polarized beam (or polarization-mode) along with the off-axis illumination will improve the resolution and the imaging quality of the of projection lens. Therefore, the research on the generation of various polarization modes and its conversion methods become more and more important. In order to realize various polarization modes in polarized illumination system, after read a lot of references, we provide a way that fitting for the illumination system with the wavelength of 193nm.Six polarization-modes and a depolarized mode are probably considered. Wave-plate stack is used to generate linearly polarization-mode, which have a higher degree polarization. In order to generate X-Y and Y-X polarization mode, the equipment consisting of four sectors of λ/2 wave plate was used. We combined 16 sectors of λ/2 wave plate which have different orientations of the "slow" axis to generate radial and azimuthal polarization. Finally, a multi-polarization control device was designed. Using the kind of multi-polarization control device which applying this method could help to choose the polarization modes conveniently and flexibility for the illumination system.

  15. 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)

  16. On sampling the ocean using underwater gliders

    Science.gov (United States)

    Rudnick, Daniel L.; Cole, Sylvia T.

    2011-08-01

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

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

    African Journals Online (AJOL)

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

  18. 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.

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

    National Research Council Canada - National Science Library

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

    2007-01-01

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

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. Collision Avoidance of Moving Obstacles for Underwater Robots

    Directory of Open Access Journals (Sweden)

    KWON KYOUNG YOUB

    2006-10-01

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

  5. 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%.

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

    Science.gov (United States)

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

    2017-11-01

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

  7. Navigation of autonomous underwater vehicle using extended kalman filter

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  8. 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.

  9. 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

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

    OpenAIRE

    Jesus, S. M.

    2013-01-01

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

  11. Estimation of underwater acoustic fields at high frequencies

    OpenAIRE

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

    2001-01-01

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

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

    Science.gov (United States)

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

    2007-06-01

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

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

    OpenAIRE

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-01-01

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

  14. Characterization of ships as sources of underwater noise

    OpenAIRE

    Jong, C.A.F. de

    2009-01-01

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

  15. 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

  16. Terminal homing position estimation forAutonomous underwater vehicle docking

    Science.gov (United States)

    2017-06-01

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

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

    OpenAIRE

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

    2013-01-01

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

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

    OpenAIRE

    Kraus, Robert J.

    2010-01-01

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

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

    OpenAIRE

    Matsumoto, Kazuhiro

    1996-01-01

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

  20. Vector Sky Glint Corrections for Above Surface Retrieval of the Subsurface Polarized Light Field

    Science.gov (United States)

    Gilerson, A.; Foster, R.; McGilloway, A.; Ibrahim, A.; El-habashi, A.; Carrizo, C.; Ahmed, S.

    2016-02-01

    Knowledge of the underwater light field is fundamental to determining the health of the world's oceans and coastal regions. For decades, traditional remote sensing retrieval methods that rely solely on the spectral intensity of the water-leaving light have provided indicators of marine ecosystem health. As the demand for retrieval accuracy rises, use of the polarized nature of light as an additional remote sensing tool is becoming necessary. In order to observe the underwater polarized light field from above the surface (for ship, shore, or satellite applications), a method of correcting the above water signal for the effects of polarized surface-reflected skylight is needed. For three weeks in July-August 2014, the NASA Ship Aircraft Bio-Optical Research (SABOR) cruise continuously observed the polarized radiance of the ocean and the sky using a HyperSAS-POL system. The system autonomously tracks the Sun position and the heading of the research vessel in order to maintain a fixed relative solar azimuth angle (i.e. ±90°) and therefore avoid the specular reflection of the sunlight. Additionally, in-situ inherent optical properties (IOPs) were continuously acquired using a set of instrument packages modified for underway measurement, hyperspectral radiometric measurements were taken manually at all stations, and an underwater polarimeter was deployed when conditions permitted. All measurements, above and below the sea surface, were combined and compared in an effort to first develop a glint (sky + Sun) correction scheme for the upwelling polarized signal from a wind-driven ocean surface and compare with one assuming that the ocean surface is flat. Accurate retrieval of the subsurface vector light field is demonstrated through comparisons with polarized radiative transfer codes and direct measurements made by the underwater polarimeter.

  1. Multiangular hyperspectral investigation of polarized light in case 2 waters

    Science.gov (United States)

    Tonizzo, A.; Zhou, J.; Gilerson, A.; Chowdhary, J.; Gross, B.; Moshary, F.; Ahmed, S.

    2009-09-01

    The focus of this work is on the dependence of in situ hyperspectral and multiangular polarized data on the size distribution and refractive index of the suspended particles. Underwater polarization measurements were obtained using a polarimeter developed at the Optical Remote Sensing Laboratory of the City College of New York, NY. The degree of polarization (DOP) of the underwater light field in coastal environments was measured and the water-leaving polarized radiance was derived. In-water optical properties were also measured with an ac-9 (WET Labs). Absorption and attenuation spectra are then used to derive information on the dissolved and suspend components in the water medium which are used in a vector radiative transfer code which provides the upwelling radiance. The model was run for various values of the refractive index of mineral particles until the modeled DOP matched the measured one. The relationship between the intensity of the maximum of the DOP and both the refractive index of the mineral particles and the shapes of their size distributions is analyzed in detail.

  2. 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.

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

    Science.gov (United States)

    Blackwell, Susanna B.; Greene, Charles R.

    2005-12-01

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

  4. Optimal Node Placement in Underwater Acoustic Sensor Network

    KAUST Repository

    Felemban, Muhamad

    2011-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Samuela PERSIA

    2016-04-01

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

  6. Strategic Polarization.

    Science.gov (United States)

    Kalai, Adam; Kalai, Ehud

    2001-08-01

    In joint decision making, similarly minded people may take opposite positions. Consider the example of a marriage in which one spouse gives generously to charity while the other donates nothing. Such "polarization" may misrepresent what is, in actuality, a small discrepancy in preferences. It may be that the donating spouse would like to see 10% of their combined income go to charity each year, while the apparently frugal spouse would like to see 8% donated. A simple game-theoretic analysis suggests that the spouses will end up donating 10% and 0%, respectively. By generalizing this argument to a larger class of games, we provide strategic justification for polarization in many situations such as debates, shared living accommodations, and disciplining children. In some of these examples, an arbitrarily small disagreement in preferences leads to an arbitrarily large loss in utility for all participants. Such small disagreements may also destabilize what, from game-theoretic point of view, is a very stable equilibrium. Copyright 2001 Academic Press.

  7. Extra-cavity radiofrequency modulator for a lidar radar designed for underwater target detection.

    Science.gov (United States)

    Alem, Nour; Pellen, Fabrice; Le Brun, Guy; Le Jeune, Bernard

    2017-09-10

    The hybrid lidar-radar technique is commonly used for shallow underwater target detection. This technique requires a powerful blue-green RF-modulated laser with stable microwave frequency. In this paper, a novel modulator design perfectly suited for this application is proposed. It consists of an extra-cavity modulator composed of two plane mirrors and a second-harmonic generator stage within the cavity to maximize the energy efficiency. This modulator is coupled with a picosecond Nd:YAG infrared laser source to insure the emission of a powerful pulse (up to 5 mJ). Results considering this architecture show stable modulation frequency and a powerful modulated beam. As the emitted signal lasts only a few nanoseconds, a range-gating method can be used for target localization. This emitted signal has experimentally proven to preserve input beam polarization, which also can be employed to enhance the target return.

  8. A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments.

    Science.gov (United States)

    Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

    2018-02-02

    A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle's irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal.

  9. Copepods in ice-covered seas—Distribution, adaptations to seasonally limited food, metabolism, growth patterns and life cycle strategies in polar seas

    Science.gov (United States)

    Conover, R. J.; Huntley, M.

    1991-07-01

    While a seasonal ice cover limits light penetration into both polar seas for up to ten months a year, its presence is not entirely negative. The mixed layer under sea ice will generally be shallower than in open water at the same latitude and season. Ice forms a substrate on which primary production can be concentrated, a condition which contrasts with the generally dilute nutritional conditions which prevail in the remaining ocean. The combination of a shallow, generally stable mixed layer with a close proximity to abundant food make the under-ice zone a suitable nursery for both pelagic and benthic species, an upside-down benthos for opportunistic substrate browsers, and a rich feeding environment for species often considered to be neritic in temperate environments. Where the ice cover is not continuous there may be a retreating ice edge that facilitates the seasonal production of phytoplankton primarily through increased stability from the melt water. Ice edge blooms similarly encourage secondary production by pelagic animals. Pseudocalanus acuspes, which may be the most abundant and productive copepod in north polar latitudes, initiates growth at the start of the "spring bloom" of epontic algae, reaching sexual maturity at breakup or slightly before. In the Southern Hemisphere, the small neritic copepod Paralabidocera antarctica and adult krill have been observed to utilize ice algae. Calanus hyperboreus breeds in the dark season at depth and its buoyant eggs, slowly developing on the ascent, reach the under-ice layer in April as nauplii ready to benefit from the primary production there. On the other hand, C. glacialis may initiate ontogenetic migrations and reproduction in response to increased erosion of ice algae due to solar warming and melting at the ice-water interface. While the same species in a phytoplankton bloom near the ice edge reproduces actively, those under still-consolidated ice nearby can have immature gonads. Diel migration and diel feeding

  10. Underwater Signal Modeling for Subsurface Classification Using Computational Intelligence.

    Science.gov (United States)

    Setayeshi, Saeed

    In the thesis a method for underwater layered media (UWLM) modeling is proposed, and a simple nonlinear structure for implementation of this model based on the behaviour of its characteristics and the propagation of the acoustic signal in the media accounting for attenuation effects is designed. The model that responds to the acoustic input is employed to test the artificial intelligence classifiers ability. Neural network models, the basic principles of the back-propagation algorithm, and the Hopfield model of associative memories are reviewed, and they are employed to use min-max amplitude ranges of a reflected signal of UWLM based on attenuation effects, to define the classes of the synthetic data, detect its peak features and estimate parameters of the media. It has been found that there is a correlation between the number of layers in the media and the optimum number of nodes in the hidden layer of the neural networks. The integration of the result of the neural networks that classify and detect underwater layered media acoustic signals based on attenuation effects to prove the correspondence between the peak points and decay values has introduced a powerful tool for UWLM identification. The methods appear to have applications in replacing original system, for parameter estimation and output prediction in system identification by the proposed networks. The results of computerized simulation of the UWLM modeling in conjunction with the proposed neural networks training process are given. Fuzzy sets is an idea that allows representing and manipulating inexact concepts, fuzzy min-max pattern classification method, and the learning and recalling algorithms for fuzzy neural networks implementation is explained in this thesis. A fuzzy neural network that uses peak amplitude ranges to define classes is proposed and evaluated for UWLM pattern recognition. It is demonstrated to be able to classify the layered media data sets, and can distinguish between the peak points

  11. Autonomous Underwater Vehicle Magnetic Mapping System

    Science.gov (United States)

    Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.

    2012-12-01

    An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional

  12. Underwater Optical Wireless Channel Modeling Using Monte-Carlo Method

    Science.gov (United States)

    Saini, P. Sri; Prince, Shanthi

    2011-10-01

    At present, there is a lot of interest in the functioning of the marine environment. Unmanned or Autonomous Underwater Vehicles (UUVs or AUVs) are used in the exploration of the underwater resources, pollution monitoring, disaster prevention etc. Underwater, where radio waves do not propagate, acoustic communication is being used. But, underwater communication is moving towards Optical Communication which has higher bandwidth when compared to Acoustic Communication but has shorter range comparatively. Underwater Optical Wireless Communication (OWC) is mainly affected by the absorption and scattering of the optical signal. In coastal waters, both inherent and apparent optical properties (IOPs and AOPs) are influenced by a wide array of physical, biological and chemical processes leading to optical variability. The scattering effect has two effects: the attenuation of the signal and the Inter-Symbol Interference (ISI) of the signal. However, the Inter-Symbol Interference is ignored in the present paper. Therefore, in order to have an efficient underwater OWC link it is necessary to model the channel efficiently. In this paper, the underwater optical channel is modeled using Monte-Carlo method. The Monte Carlo approach provides the most general and most flexible technique for numerically solving the equations of Radiative transfer. The attenuation co-efficient of the light signal is studied as a function of the absorption (a) and scattering (b) coefficients. It has been observed that for pure sea water and for less chlorophyll conditions blue wavelength is less absorbed whereas for chlorophyll rich environment red wavelength signal is absorbed less comparative to blue and green wavelength.

  13. Precessing deuteron polarization

    International Nuclear Information System (INIS)

    Sitnik, I.M.; Volkov, V.I.; Kirillov, D.A.; Piskunov, N.M.; Plis, Yu.A.

    2002-01-01

    The feasibility of the acceleration in the Nuclotron of deuterons polarized in the horizontal plane is considered. This horizontal polarization is named precessing polarization. The effects of the main magnetic field and synchrotron oscillations are included. The precessing polarization is supposed to be used in studying the polarization parameters of the elastic dp back-scattering and other experiments

  14. 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...

  15. A comparative view of routing protocols for underwater wireless sensor networks

    NARCIS (Netherlands)

    Bayrakdar, Y.; Meratnia, Nirvana; Kantarci, Aylin

    2011-01-01

    Design of efficient routing protocols for underwater sensor networks is challenging because of the distinctive characteristics of the water medium. Currently, many routing protocols are available for terrestrial wireless sensor networks. However, specific properties of underwater medium such as

  16. US-Japan Cooperative Research on Biology-Inspired Precision Maneuvering of Underwater Vehicles

    National Research Council Canada - National Science Library

    Kato, Naomi

    2004-01-01

    .... We constructed an underwater vehicle equipped with two pairs of mechanical pectoral fins and pectoral fin controllers to examine the swimming performance of the underwater vehicle in still water...

  17. 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...

  18. Shape optimisation of an underwater Bernoulli gripper

    Science.gov (United States)

    Flint, Tim; Sellier, Mathieu

    2015-11-01

    In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.

  19. Underwater radiated noise from modern commercial ships.

    Science.gov (United States)

    McKenna, Megan F; Ross, Donald; Wiggins, Sean M; Hildebrand, John A

    2012-01-01

    Underwater radiated noise measurements for seven types of modern commercial ships during normal operating conditions are presented. Calibrated acoustic data (autonomous seafloor-mounted acoustic recorder were combined with ship passage information from the Automatic Identification System. This approach allowed for detailed measurements (i.e., source level, sound exposure level, and transmission range) on ships of opportunity. A key result was different acoustic levels and spectral shapes observed from different ship-types. A 54 kGT container ship had the highest broadband source level at 188 dB re 1 μPa@1m; a 26 kGT chemical tanker had the lowest at 177 dB re 1 μPa@1m. Bulk carriers had higher source levels near 100 Hz, while container ship and tanker noise was predominantly below 40 Hz. Simple models to predict source levels of modern merchant ships as a group from particular ship characteristics (e.g., length, gross tonnage, and speed) were not possible given individual ship-type differences. Furthermore, ship noise was observed to radiate asymmetrically. Stern aspect noise levels are 5 to 10 dB higher than bow aspect noise levels. Collectively, these results emphasize the importance of including modern ship-types in quantifying shipping noise for predictive models of global, regional, and local marine environments. © 2012 Acoustical Society of America.

  20. 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.

  1. Autonomous Underwater Vehicle Thermoelectric Power Generation

    Science.gov (United States)

    Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.

    2013-07-01

    Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.

  2. 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.

  3. UNDERWATER STROKE KINEMATICS DURING BREATHING AND BREATH-HOLDING FRONT CRAWL SWIMMING

    Directory of Open Access Journals (Sweden)

    Nickos Vezos

    2007-03-01

    Full Text Available The aim of the present study was to determine the effects of breathing on the three - dimensional underwater stroke kinematics of front crawl swimming. Ten female competitive freestyle swimmers participated in the study. Each subject swam a number of front crawl trials of 25 m at a constant speed under breathing and breath-holding conditions. The underwater motion of each subject's right arm was filmed using two S-VHS cameras, operating at 60 Hz, which were positioned behind two underwater viewing windows. The spatial coordinates of selected points were calculated using the DLT procedure with 30 control points and after the digital filtering of the raw data with a cut-off frequency of 6 Hz, the hand's linear displacements and velocities were calculated. The results revealed that breathing caused significantly increases in the stroke duration (t9 = 2.764; p < 0.05, the backward hand displacement relative to the water (t9 = 2.471; p<0.05 and the lateral displacement of the hand in the X - axis during the downsweep (t9 = 2.638; p < 0.05. On the contrary, the peak backward hand velocity during the insweep (t9 = 2.368; p < 0.05 and the displacement of the hand during the push phase (t9 = -2.297; p < 0.05 were greatly reduced when breathing was involved. From the above, it was concluded that breathing action in front crawl swimming caused significant modifications in both the basic stroke parameters and the overall motor pattern were, possibly due to body roll during breathing

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

    Directory of Open Access Journals (Sweden)

    Pshikhopov Vyacheslav

    2015-01-01

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

  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. Modeling and Simulation of Underwater Flexible Manipulator as Raleigh Beam Using Bond Graph

    OpenAIRE

    Sumit Kumar; Sunil Kumar; Chandan Deep Singh

    2015-01-01

    This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the u...

  7. Design and implementation of an underwater sound recording device.

    Science.gov (United States)

    Martinez, Jayson J; Myers, Josh R; Carlson, Thomas J; Deng, Z Daniel; Rohrer, John S; Caviggia, Kurt A; Woodley, Christa M; Weiland, Mark A

    2011-01-01

    To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR) allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.

  8. Design and Implementation of an Underwater Sound Recording Device

    Directory of Open Access Journals (Sweden)

    Christa M. Woodley

    2011-09-01

    Full Text Available To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.

  9. Underwater topography acquired by remote sensing based on SOFM

    Science.gov (United States)

    Zhao, Jianhu; Zhou, Fengnian; Zhang, Hongmei; Li, Juanjuan

    2008-12-01

    In large-scope marine investigation, the traditional bathymetric measurement can not meet the requirement of rapid data acquisition with lower cost of financial and material resources, while remote sensing (RS) technology provides a perfect way in the work. RS can not only provide quickly and efficiently the information of underwater topography with respect to the traditional method, but also present corresponding underwater topography with different-period RS images. In this paper, we depict in detail the procedures and some key techniques in acquiring underwater topography by remote sensing inversion technology based on self-organization feature mapping (SOFM). Firstly, we introduce some basic theories about the acquisition of underwater topography by the RS inversion technology. Besides, we discuss the data acquisition and preparation in the work. Moreover, we implement correlation analysis and find out the sensitive bands used for building RS inversion model. In virtue of SOFM, we construct the mapping relation between water depth and the reflectivity of sensitive band in the studied area, and test the it in two experimental water areas. The model achieves satisfying accuracy and can meet the requirement of given bathymetric scale. Finally the mapping relation is used for the water depth inversion in the studied water area. We also use the water depth from the model to draw the underwater topographic map in the water area.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. Polare maskuliniteter

    Directory of Open Access Journals (Sweden)

    Marit Anne Hauan

    2012-05-01

    Full Text Available In this paper my aim is to read and understand the journal of Gerrit de Veer from the last journey of William Barents to the Arctic Regions in 1596 and the journal of captain Junge on his hunting trip from Tromsø to Svalbard in 1834.It is nearly 240 years between this to voyages. The first journal is known as the earliest report from the arctic era. Gerrit de Veer adds instructive copper engravings to his text and give us insight in the crews meeting with this new land. Captain Junges journal is found together with his dead crew in a house in a fjord nearby Ny-Ålesund and has no drawings, but word. Both of these journals may be read as sources of the knowledge and understanding of the polar region. They might also unveil the ideas of how to deal with and survive under the challenges that is given. In addition one can ask if the sources can tell us more about how men describe their challenges. Can the way they expressed themselves in the journals give us an understanding of masculinity? And not least help us to create good questions of the change in the ideas of masculinities which is said to follow the change in understanding of the wilderness.

  15. Architectures and assessment of next-generation CMB polarization instruments

    Data.gov (United States)

    National Aeronautics and Space Administration — Cosmological inflation predicts a background of gravitational waves that imprint a characteristic polarized pattern on the CMB. This signal is degraded by...

  16. Novel underwater soundscape: acoustic repertoire of plainfin midshipman fish.

    Science.gov (United States)

    McIver, Eileen L; Marchaterre, Margaret A; Rice, Aaron N; Bass, Andrew H

    2014-07-01

    Toadfishes are among the best-known groups of sound-producing (vocal) fishes and include species commonly known as toadfish and midshipman. Although midshipman have been the subject of extensive investigation of the neural mechanisms of vocalization, this is the first comprehensive, quantitative analysis of the spectro-temporal characters of their acoustic signals and one of the few for fishes in general. Field recordings of territorial, nest-guarding male midshipman during the breeding season identified a diverse vocal repertoire composed of three basic sound types that varied widely in duration, harmonic structure and degree of amplitude modulation (AM): 'hum', 'grunt' and 'growl'. Hum duration varied nearly 1000-fold, lasting for minutes at a time, with stable harmonic stacks and little envelope modulation throughout the sound. By contrast, grunts were brief, ~30-140 ms, broadband signals produced both in isolation and repetitively as a train of up to 200 at intervals of ~0.5-1.0 s. Growls were also produced alone or repetitively, but at variable intervals of the order of seconds with durations between those of grunts and hums, ranging 60-fold from ~200 ms to 12 s. Growls exhibited prominent harmonics with sudden shifts in pulse repetition rate and highly variable AM patterns, unlike the nearly constant AM of grunt trains and flat envelope of hums. Behavioral and neurophysiological studies support the hypothesis that each sound type's unique acoustic signature contributes to signal recognition mechanisms. Nocturnal production of these sounds against a background chorus dominated constantly for hours by a single sound type, the multi-harmonic hum, reveals a novel underwater soundscape for fish. © 2014. Published by The Company of Biologists Ltd.

  17. 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.

  18. 76 FR 31233 - Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY

    Science.gov (United States)

    2011-05-31

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

  19. 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.

  20. Chaos-Based Underwater Communication With Arbitrary Transducers and Bandwidth

    Directory of Open Access Journals (Sweden)

    Chao Bai

    2018-01-01

    Full Text Available In this work, an enhanced differential chaos shift keying (DCSK, based on a first order hybrid chaotic system, is being proposed for a high reliability underwater acoustic communication system. It can be integrated into systems that use standard existing transducers. We show that a coherent operation between the received signal and the time reversal of the basis function in a first order hybrid chaotic system maximizes the signal to noise ratio at the receiver. Concurrently, DCSK configuration is used to resist the distortion caused by the complex underwater acoustic channel. Our simulation results show that the proposed method has lower bit error rate (BER. In addition, it shows higher communication reliability over underwater acoustic channel as compared to the conventional DCSK using logistic map and its variant forms such as Correlation Delay Shift Keying (CDSK, Phase-Separate DCSK (PS-DCSK, High Efficiency DCSK (HE-DCSK, and Reference Modulated DCSK (RM-DCSK.

  1. 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.

  2. 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.

  3. Underwater Imaging Using a 1 × 16 CMUT Linear Array.

    Science.gov (United States)

    Zhang, Rui; Zhang, Wendong; He, Changde; Zhang, Yongmei; Song, Jinlong; Xue, Chenyang

    2016-03-01

    A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V) at 1 m. The -3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.

  4. Underwater Imaging Using a 1 × 16 CMUT Linear Array

    Directory of Open Access Journals (Sweden)

    Rui Zhang

    2016-03-01

    Full Text Available A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V at 1 m. The −3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.

  5. 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.

  6. A simple inexpensive method for estimating underwater weight.

    Science.gov (United States)

    Thomas, T. R.; Cook, P. L.

    1978-01-01

    A description is given of a simple, inexpensive and versatile method for estimating underwater weight. The use of a portable stock tank allows the determination of % Fat by underwater weighing without requiring a swimming pool, built-in tank, or special facility. Twenty-eight college students were weighed on two separate testing sessions 24-48 hours apart. Ten trials were performed at each session. The mean of the last five trials was used in determining underwater weight. The test-retest reliability coefficient was high, r = 0.98, and most of the successive trial correlations were above 0.99. The mean % Fat for the women (N = 9) was 22.2 +/- 5.9 and for the men (N = 19) was 13.7 +/- 5.1. Images Figure 1 PMID:630178

  7. An underwater optical wireless communication system based on LED source

    Science.gov (United States)

    Rao, Jionghui; Wei, Wei; Wang, Feng; Zhang, Xiaohui

    2011-11-01

    Compared with other communication methods, optical wireless communication (OWC) holds the merits of higher transmitting rate and sufficient secrecy. So it is an efficacious communicating measure for data transmitting between underwater carriers. However, due to the water attenuation and the transmitter & the receiver (TX/RX) collimation, this application is restrained in underwater mobile carriers. A prototype for underwater OWC was developed, in which a high-powered green LED array was used as the light source which partly raveled the TX/RX collimation out. A small pumped-multiple-tube (PMT) was used as the detector to increase the communicating range, and FPGA chips were employed to code and decode the communicating data. The data rate of the prototype approached to 4 Mb/s at 8.4m and 1 Mb/s at 22m where voice and Morse communications were achieved in a scope of 30 degree TX/RX angle.

  8. Broadband focusing of underwater sound using a transparent pentamode lens.

    Science.gov (United States)

    Su, Xiaoshi; Norris, Andrew N; Cushing, Colby W; Haberman, Michael R; Wilson, Preston S

    2017-06-01

    An inhomogeneous acoustic metamaterial lens based on spatial variation of refractive index for broadband focusing of underwater sound is reported. The index gradient follows a modified hyperbolic secant profile designed to reduce aberration and suppress side lobes. The gradient index (GRIN) lens is comprised of transversely isotropic hexagonal microstructures with tunable quasi-static bulk modulus and mass density. In addition, the unit cells are impedance-matched to water and have in-plane shear modulus negligible compared to the effective bulk modulus. The flat GRIN lens is fabricated by cutting hexagonal centimeter scale hollow microstructures in aluminum plates, which are then stacked and sealed from the exterior water. Broadband focusing effects are observed within the homogenization regime of the lattice in both finite element simulations and underwater measurements (20-40 kHz). This design approach has potential applications in medical ultrasound imaging and underwater acoustic communications.

  9. Underwater Acoustic Communication Quality Evaluation Model Based on USV

    Directory of Open Access Journals (Sweden)

    Zhichao Lv

    2018-01-01

    Full Text Available The unmanned surface vehicle (USV integrated with acoustic modems has some advantages such as easy integration, rapid placement, and low cost, which becomes a kind of selective novel node in the underwater acoustic (UWA communication network and a kind of underwater or overwater communication relay as well. However, it is difficult to ensure the communication quality among the nodes on the network due to the random underwater acoustic channel, the severe marine environment, and the complex mobile node system. Aiming to model the communication characteristics of the USV, the multipath effect and Doppler effect are main concerns for the UWA communication in this paper, so that the ray beam method is utilized, the channel transmission function and the channel gain are obtained, and the mobile communication quality evaluation model is built. The simulation and lake experiments verify that the built mobile UWA communication quality evaluation model on USV can provide preference and technique support for USV applications.

  10. Course Outline for a SCUBA Diving Speciality "UNDERWATER Survey DIVER"

    Science.gov (United States)

    Papadimitriou, K.

    2015-04-01

    The purpose of this paper is to outline a course for the training of divers with a special interest in underwater surveying (e.g. surveyors, archaeologists, biologists, geologists, photographers/videographers). This outline presents: i) the Courses' Standards ii) the Learning Objectives for the related Knowledge Development, iii) the Skills that have to be conducted, iv) the Performance Requirements for the students and v) the Open Water Considerations for the Training Dives. It is expected that the resulting course outline will be used as a reference for the training of certified divers who want to become underwater surveyors, providing them basic knowledge and skills to survey adequate data for the detailed documentation of submerged features. Moreover the combination of knowledge (what) and the skills (how) that are presented during the proposed course attempt to define a protocol for the recording of underwater features in favor of mapping and 3D modeling.

  11. 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.

  12. 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.

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

    Science.gov (United States)

    Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-Marc; Deniset, François

    2013-03-01

    Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.

  14. Development and experiments of the Sea-Wing underwater glider

    Science.gov (United States)

    Yu, Jian-Cheng; Zhang, Ai-Qun; Jin, Wen-Ming; Chen, Qi; Tian, Yu; Liu, Chong-Jie

    2011-12-01

    Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang Institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.

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

    Science.gov (United States)

    von Lukas, Uwe Freiherr

    2016-01-01

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

  16. Ancient Dwarka: Study based on recent underwater archaeological investigations

    Digital Repository Service at National Institute of Oceanography (India)

    Gaur, A.S.; Sundaresh; Tripati, S.

    -1 Migration & Diffusion, Vol. 6, Issue Number 21, 2005 ANCIENT DWARKA: STUDY BASED ON RECENT UNDERWATER ARCHAEOLOGICAL INVESTIGATIONS by A.S. Gaur, Sundaresh and Sila Tripati Summary Dwarka, one of the best-studied underwater sites in India, has...). Dwarka has been the attraction for historians since the beginning of the 20th century. The ancient town Dwarka has been described as 56 Migration & Diffusion, Vol 6, Issue Number 21, 2005 Fig.l: Dwarka is headquarter of the Okhamandal taluka in Jamnagar...

  17. 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.

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

    Science.gov (United States)

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

    2017-12-21

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

  19. Computer simulations enhance experimental demonstrations in the underwater acoustics and sonar course

    Science.gov (United States)

    Korman, Murray S.

    2002-11-01

    Underwater acoustics and sonar (SP411) is a 3 hour course that is offered to midshipmen in their senior year. Typically, general science and oceanography majors, totaling 110 students/yr, enroll. Since this course is offered without a lab, the ''in class'' experience has been enhanced with the development (over many years) of our demo carts and computer workstations which surround the classroom. In a studio classroom atmosphere, students perform a variety of experiments in small groups. How can scientific visualizations best develop learning of complex interactions? Two examples are presented. PC-IMAT (personal curriculum interactive multisensor analysis training) simulations of multielement array steering support the theory and enhance the experiments that are performed in class such as the two-element array. Mathematica simulations involving the programming and animation of a point source in a rigid-rigid infinite parallel wave guide are used to stress the method of images, superposition, group and phase velocity and far-field modal pattern that is observed as a function of depth and source frequency. Later, students have fun using a ripple tank with an eye dropper to generate a point source between two adjustable parallel boundaries, and their understanding of ''underwater sound'' is greatly enhanced.

  20. Underwater maintenance guide: A guide to diving and remotely operated vehicle operations for nuclear maintenance personnel

    International Nuclear Information System (INIS)

    Jenco, J.

    1990-12-01

    This Underwater Maintenance Guide has been developed to provide utility plant personnel with a single-source reference to underwater services. These services, which include both manned diving and remotely-operated vehicle operations, are required to perform certain underwater maintenance functions at nuclear power generating stations. This Guide provides an introduction to those underwater services and their general operations, as well as overviews of specific work tasks which have been identified thus far. This information is intended to familiarize utility maintenance personnel with the general scope and capabilities of underwater services, without encroaching upon the contractor's flexibility to develop responses to individual maintenance tasks

  1. The Improved Kriging Interpolation Algorithm for Local Underwater Terrain Based on Fractal Compensation

    Directory of Open Access Journals (Sweden)

    Pengyun Chen

    2014-01-01

    Full Text Available The interpolation-reconstruction of local underwater terrain using the underwater digital terrain map (UDTM is an important step for building an underwater terrain matching unit and directly affects the accuracy of underwater terrain matching navigation. The Kriging method is often used in terrain interpolation, but, with this method, the local terrain features are often lost. Therefore, the accuracy cannot meet the requirements of practical application. Analysis of the geographical features is performed on the basis of the randomness and self-similarity of underwater terrain. We extract the fractal features of local underwater terrain with the fractal Brownian motion model, compensating for the possible errors of the Kriging method with fractal theory. We then put forward an improved Kriging interpolation method based on this fractal compensation. Interpolation-reconstruction tests show that the method can simulate the real underwater terrain features well and that it has good usability.

  2. 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.

  3. 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.

  4. Polarized electron sources

    Energy Technology Data Exchange (ETDEWEB)

    Prepost, R. [Univ. of Wisconsin, Madison, WI (United States)

    1994-12-01

    The fundamentals of polarized electron sources are described with particular application to the Stanford Linear Accelerator Center. The SLAC polarized electron source is based on the principle of polarized photoemission from Gallium Arsenide. Recent developments using epitaxially grown, strained Gallium Arsenide cathodes have made it possible to obtain electron polarization significantly in excess of the conventional 50% polarization limit. The basic principles for Gallium and Arsenide polarized photoemitters are reviewed, and the extension of the basic technique to strained cathode structures is described. Results from laboratory measurements of strained photocathodes as well as operational results from the SLAC polarized source are presented.

  5. Polar metals by geometric design

    Science.gov (United States)

    Kim, T. H.; Puggioni, D.; Yuan, Y.; Xie, L.; Zhou, H.; Campbell, N.; Ryan, P. J.; Choi, Y.; Kim, J.-W.; Patzner, J. R.; Ryu, S.; Podkaminer, J. P.; Irwin, J.; Ma, Y.; Fennie, C. J.; Rzchowski, M. S.; Pan, X. Q.; Gopalan, V.; Rondinelli, J. M.; Eom, C. B.

    2016-05-01

    Gauss’s law dictates that the net electric field inside a conductor in electrostatic equilibrium is zero by effective charge screening; free carriers within a metal eliminate internal dipoles that may arise owing to asymmetric charge distributions. Quantum physics supports this view, demonstrating that delocalized electrons make a static macroscopic polarization, an ill-defined quantity in metals—it is exceedingly unusual to find a polar metal that exhibits long-range ordered dipoles owing to cooperative atomic displacements aligned from dipolar interactions as in insulating phases. Here we describe the quantum mechanical design and experimental realization of room-temperature polar metals in thin-film ANiO3 perovskite nickelates using a strategy based on atomic-scale control of inversion-preserving (centric) displacements. We predict with ab initio calculations that cooperative polar A cation displacements are geometrically stabilized with a non-equilibrium amplitude and tilt pattern of the corner-connected NiO6 octahedra—the structural signatures of perovskites—owing to geometric constraints imposed by the underlying substrate. Heteroepitaxial thin-films grown on LaAlO3 (111) substrates fulfil the design principles. We achieve both a conducting polar monoclinic oxide that is inaccessible in compositionally identical films grown on (001) substrates, and observe a hidden, previously unreported, non-equilibrium structure in thin-film geometries. We expect that the geometric stabilization approach will provide novel avenues for realizing new multifunctional materials with unusual coexisting properties.

  6. Synchronous and Rhythmic Vocalizations and Correlated Underwater Behavior of Free-ranging Atlantic Spotted Dolphins (Stenella frontalis and Bottlenose Dolphins (Tursiops truncatus in the Bahamas

    Directory of Open Access Journals (Sweden)

    Denise L. Herzing

    2015-02-01

    Full Text Available Since 1985 a resident community of Atlantic spotted dolphins (Stenella frontalis, and bottlenose dolphins (Tursiops truncatus, have been studied underwater in the Bahamas. Over 200 individuals of both species have been identified and observed over the years. Basic correlations with sound patterns and behavior such as whistles during contact/reunions and squawks during aggression have been reported. This paper describes a small subset of their vocal repertoire that involves synchronous/rhythmic sound production. Dolphin behavior was recorded underwater using underwater video cameras with hydrophone input. Vocalizations were correlated with basic underwater behavioral activity and analyzed using Raven 1.3. Spotted dolphins were observed using two types of synchronized vocalizations including synchronized squawks (burst pulsed vocalizations and screams- (overlapping FM whistles during intraspecific and interspecific aggression. Bottlenose dolphins used three types of synchronized vocalizations; whistles/buzz bouts, bray/buzz bouts, and buzz bouts during intraspecific aggression. Body postures were synchronous with physical movements and often mirrored the rhythm of the vocalizations. The intervals between highly synchronized vocalizations had small variance and created a rhythmic quality and cadence to the acoustic sequences. Three types of vocalizations had similar ratios of sound duration to the spacing between sounds (Screams, whistle/buzz bouts, and bray/buzz bouts. Temporal aspects of sequences of sound and postures may be important aspects of individual and group coordination and behavior in delphinids.

  7. An Energy Harvesting Underwater Acoustic Transmitter for Aquatic Animals

    Energy Technology Data Exchange (ETDEWEB)

    Li, Huidong; Tian, Chuan; Lu, Jun; Myjak, Mitchell J.; Martinez, Jayson J.; Brown, Richard S.; Deng, Zhiqun

    2016-09-20

    This paper presents a self-powered underwater acoustic transmitter using a piezoelectric beam to harvest the mechanical energy from fish swimming. This transmitter does not require a battery and is demonstrated in live fish. It transmits an acoustic waveform as the implanted fish swims. It enables long-term monitoring of aquatic animals.

  8. Different survival strategies amongst plants to cope with underwater conditions

    NARCIS (Netherlands)

    Van Veen, Hans; Vashisht, Divya; Voesenek, Laurentius A C J; Sasidharan, Rashmi

    2014-01-01

    Many plants experience flooding at some point during their life cycle. The underwater environment creates a carbon and energy crisis for the plant, for which two successful strategies have been identified, quiescence and escape. During quiescence, growth is actively reduced until the water levels

  9. 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 ...

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

    Science.gov (United States)

    Clark, James E

    2015-01-01

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

  11. 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.

  12. 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.

  13. Biophysics of underwater hearing in the clawed frog, Xenopus laevis

    DEFF Research Database (Denmark)

    Christensen-Dalsgaard, J; Elepfandt, A

    1995-01-01

    Anesthetized clawed frogs (Xenopus laevis) were stimulated with underwater sound and the tympanic disk vibrations were studied using laser vibrometry. The tympanic disk velocities ranged from 0.01 to 0.5 mm/s (at a sound pressure of 2 Pa) in the frequency range of 0.4-4 kHz and were 20-40 dB higher...

  14. Estimate-Merge-Technique-based algorithms to track an underwater ...

    Indian Academy of Sciences (India)

    D V A N Ravi Kumar

    2017-07-04

    Jul 4, 2017 ... Abstract. Bearing-only passive target tracking is a well-known underwater defence issue dealt in the recent past with the conventional nonlinear estimators like extended Kalman filter (EKF) and unscented Kalman filter. (UKF). It is being treated now-a-days with the derivatives of EKF, UKF and a highly ...

  15. Netcentric underwater warfare; The Remedy for 'Silent Subs'?

    NARCIS (Netherlands)

    Ort, C.M.; Beerens, S.P.; Theije, P.A.M. de

    2004-01-01

    Although in most recent crises around the world it would appear from a superficial glance that there was no imminent underwater threat, a closer look shows differently. In the War on Iraq, for instance, a large allied effort was spent on eliminating the very real mine threat that endangered the

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

    NARCIS (Netherlands)

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

    2016-01-01

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

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

    Indian Academy of Sciences (India)

    Development of energy-efficient data collection and routing schemes for Underwater Wireless Sensor Networks (UWSNs) is a challenging issue due to the peculiarities of the underlying physical layer technology. Since the recharging or replacement of sensor nodes is almost impossible after deployment, the critical issue of ...

  18. 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

  19. 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

    ; the second occurs for some impacts but not others. A range of conditions is described in which a bubble is produced for every drop impact, and it is shown that these conditions are likely to be met by a significant fraction of the raindrops in a typical shower. Underwater sound produced by artificial as well...

  20. Student-Built Underwater Video and Data Capturing Device

    Science.gov (United States)

    Whitt, F.

    2016-12-01

    Students from Stockbridge High School Robotics Team invention is a low cost underwater video and data capturing device. This system is capable of shooting time-lapse photography and/or video for up to 3 days of video at a time. It can be used in remote locations without having to change batteries or adding additional external hard drives for data storage. The video capturing device has a unique base and mounting system which houses a pi drive and a programmable raspberry pi with a camera module. This system is powered by two 12 volt batteries, which makes it easier for users to recharge after use. Our data capturing device has the same unique base and mounting system as the underwater camera. The data capturing device consists of an Arduino and SD card shield that is capable of collecting continuous temperature and pH readings underwater. This data will then be logged onto the SD card for easy access and recording. The low cost underwater video and data capturing device can reach depths up to 100 meters while recording 36 hours of video on 1 terabyte of storage. It also features night vision infrared light capabilities. The cost to build our invention is $500. The goal of this was to provide a device that can easily be accessed by marine biologists, teachers, researchers and citizen scientists to capture photographic and water quality data in marine environments over extended periods of time.

  1. 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.

  2. 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.

  3. 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

  4. Underwater Wireless Optical Communication System Using Blue LEDs

    Science.gov (United States)

    Lin, Aobo; Tong, Zheng; Song, Yuhang; Kong, Meiwei; Xu, Jing

    2016-02-01

    We demonstrate a self-designed underwater wireless optical communication system using blue LEDs. The performance of the transmitter and receiver was experimentally investigated. Four different square wave signals (10 KHz, 100 KHz, 500 KHz and 1 MHz) were successfully transmitted via a short water channel at the first phase.

  5. BER evaluations for multimode beams in underwater turbulence

    Science.gov (United States)

    Altay Arpali, Serap; Baykal, Yahya; Arpali, Çağlar

    2016-07-01

    In underwater optical communication links, bit error rate (BER) is an important performance criterion. For this purpose, the effects of oceanic turbulence on multimode laser beam incidences are studied and compared in terms of average BER (), which is related to the scintillation index. Based on the log-normal distribution, is analysed for underwater turbulence parameters, including the rate of dissipation of the mean squared temperature, the rate of dissipation of the turbulent kinetic energy, the parameter that determines the relative strength of temperature and salinity in driving index fluctuations, the Kolmogorov microscale length and other link parameters such as link length, wavelength and laser source size. It is shown that use of multimode improves the system performance of optical wireless communication systems operating in an underwater medium. For all the investigated multimode beams, decreasing link length, source size, the relative strength of temperature and salinity in driving the index fluctuations, the rate of dissipation of the mean squared temperature and Kolmogorov microscale length improve the . Moreover, lower values are obtained for the increasing wavelength of operation and the rate of dissipation of the turbulent kinetic energy in underwater turbulence.

  6. Experimental Assessment of Underwater Radiated Sound of Different Ship Types

    NARCIS (Netherlands)

    Jansen, H.W.; Jong, C.A.F. de

    2015-01-01

    The aim of the SONIC project is to develop tools to investigate and mitigate the effects of underwater noise generated by shipping. One way to study the contribution of shipping noise to the background noise in the seas is to produce shipping noise maps. The SONIC project delivers the required

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

    Science.gov (United States)

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

    2017-05-21

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

  8. 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.

  9. Swimming, swarming and sensing. Bio-inspired underwater robotics

    NARCIS (Netherlands)

    Henrion, S.; Vercruyssen, T.; Müller, U.K.

    2014-01-01

    For operations in complex underwater environments, bio-inspired robots offer manoeuvrability, stealth and autonomy. They integrate propulsion and control systems into one multi-purpose undulatory propeller. By generating large counteracting forces, undulating fins generate a wide range of net

  10. 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

  11. 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

  12. A network coding based routing protocol for underwater sensor networks.

    Science.gov (United States)

    Wu, Huayang; Chen, Min; Guan, Xin

    2012-01-01

    Due to the particularities of the underwater environment, some negative factors will seriously interfere with data transmission rates, reliability of data communication, communication range, and network throughput and energy consumption of underwater sensor networks (UWSNs). Thus, full consideration of node energy savings, while maintaining a quick, correct and effective data transmission, extending the network life cycle are essential when routing protocols for underwater sensor networks are studied. In this paper, we have proposed a novel routing algorithm for UWSNs. To increase energy consumption efficiency and extend network lifetime, we propose a time-slot based routing algorithm (TSR).We designed a probability balanced mechanism and applied it to TSR. The theory of network coding is introduced to TSBR to meet the requirement of further reducing node energy consumption and extending network lifetime. Hence, time-slot based balanced network coding (TSBNC) comes into being. We evaluated the proposed time-slot based balancing routing algorithm and compared it with other classical underwater routing protocols. The simulation results show that the proposed protocol can reduce the probability of node conflicts, shorten the process of routing construction, balance energy consumption of each node and effectively prolong the network lifetime.

  13. Advanced flooding-based routing protocols for underwater sensor networks

    NARCIS (Netherlands)

    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

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

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

  15. Real-time underwater image enhancement: An improved approach ...

    Indian Academy of Sciences (India)

    fers extensively from visual image processing, primarily due to three major underwater channel impairments, i.e. ... visual quality of the image by mitigating color cast with subsequent contrast enhancement. In the proposed method, ...... sincere thanks to all Robotics & Automation Group mem- bers for their help and support.

  16. Enrichment of colloidal solutions by nanoparticles in underwater spark discharge

    International Nuclear Information System (INIS)

    Lopat'ko, K.; Aftandiliants, Y.; Veklich, A.; Boretskij, V.; Taran, N.; Batsmanova, L.; Trach, V.; Tugai, T.

    2015-01-01

    The underwater spark discharge between manganese granules was studied. Optical emission spectroscopy methods were used for diagnostics of such discharge plasma. The colloidal solution with manganese nanoparticles was produced by this discharge. The biological applications of this colloid were analyzed. The mechanism of metallic nanoparticle action and their transformation at interacting with biological objects were studied in Alternaria alternata culture

  17. Survey of Temperature Measurement Techniques For Studying Underwater Shock Waves

    Science.gov (United States)

    Danehy, Paul M.; Alderfer, David W.

    2004-01-01

    Several optical methods for measuring temperature near underwater shock waves are reviewed and compared. The relative merits of the different techniques are compared, considering accuracy, precision, ease of use, applicable temperature range, maturity, spatial resolution, and whether or not special additives are required.

  18. “Diving for dope” : Controlling underwater drug trafficking

    NARCIS (Netherlands)

    Eski, Y.

    2017-01-01

    This paper will offer an ethnographic account of the everyday reality of controlling illegal underwater drug trafficking in the global Port of Rotterdam (PoR). In so doing, it will explore what it means for customs diving officers to do drug inspections under challenging circumstances in order to

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

    Sep 7, 2017 ... ditions and providing useful performance indicators prior to network deployment. Keywords. Underwater Sensor Networks .... There exists the possibility of controlling the extent of multi-hop routing that is feasible for ... standard tools; (iii) investigating the performance metrics of the proposed framework; (iv) ...

  1. 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.

  2. 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

  3. Non-line-of-sight underwater optical wireless communication network.

    Science.gov (United States)

    Arnon, Shlomi; Kedar, Debbie

    2009-03-01

    The growing need for ocean observation systems has stimulated considerable interest within the research community in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. Sensors and ad hoc sensor networks are the emerging tools for performing extensive data-gathering operations on land, and solutions in the subsea setting are being sought. Efficient communication from the sensors and within the network is critical, but the underwater environment is extremely challenging. Addressing the special features of underwater wireless communication in sensor networks, we propose a novel non-line-of-sight network concept in which the link is implemented by means of back-reflection of the propagating optic signal at the ocean-air interface and derive a mathematical model of the channel. Point-to-multipoint links can be achieved in an energy efficient manner and broadcast broadband communications, such as video transmissions, can be executed. We show achievable bit error rates as a function of sensor node separation and demonstrate the feasibility of this concept using state-of-the-art silicon photomultiplier detectors.

  4. 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 ...

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

    Indian Academy of Sciences (India)

    metal vapour from the cut kerf is spread in air. In cutting of irradiated material, debris and metal vapour creates airborne activity, which may be harmful for people working nearby, whereas, underwater cutting is advantageous in terms of a narrow. HAZ adjacent to the laser cut surface providing better samples for the analysis.

  6. HullBUG Technology Development for Underwater Hull Cleaning

    Science.gov (United States)

    2015-05-14

    period an effort was also made to estimate the cost of a reasonably simple test device that consists of a motor, bearing support and underwater...planned for use at that facility. FIT Test Vehicle Successful operation of the HullBUG system on the sailing vessel Adele was performed in

  7. OceanVideoLab: A Tool for Exploring Underwater Video

    Science.gov (United States)

    Ferrini, V. L.; Morton, J. J.; Wiener, C.

    2016-02-01

    Video imagery acquired with underwater vehicles is an essential tool for characterizing seafloor ecosystems and seafloor geology. It is a fundamental component of ocean exploration that facilitates real-time operations, augments multidisciplinary scientific research, and holds tremendous potential for public outreach and engagement. Acquiring, documenting, managing, preserving and providing access to large volumes of video acquired with underwater vehicles presents a variety of data stewardship challenges to the oceanographic community. As a result, only a fraction of underwater video content collected with research submersibles is documented, discoverable and/or viewable online. With more than 1 billion users, YouTube offers infrastructure that can be leveraged to help address some of the challenges associated with sharing underwater video with a broad global audience. Anyone can post content to YouTube, and some oceanographic organizations, such as the Schmidt Ocean Institute, have begun live-streaming video directly from underwater vehicles. OceanVideoLab (oceanvideolab.org) was developed to help improve access to underwater video through simple annotation, browse functionality, and integration with related environmental data. Any underwater video that is publicly accessible on YouTube can be registered with OceanVideoLab by simply providing a URL. It is strongly recommended that a navigational file also be supplied to enable geo-referencing of observations. Once a video is registered, it can be viewed and annotated using a simple user interface that integrates observations with vehicle navigation data if provided. This interface includes an interactive map and a list of previous annotations that allows users to jump to times of specific observations in the video. Future enhancements to OceanVideoLab will include the deployment of a search interface, the development of an application program interface (API) that will drive the search and enable querying of

  8. Fluorescence confocal polarizing microscopy: Three-dimensional ...

    Indian Academy of Sciences (India)

    Much of the modern understanding of orientational order in liquid crystals (LCs) is based on polarizing microscopy (PM). A PM image bears only two-dimensional (2D) information, integrating the 3D pattern of optical birefringence over the path of light. Recently, we proposed a technique to image 3D director patterns by ...

  9. Biological Response to the Dynamic Spectral-Polarized Underwater Light Field

    Science.gov (United States)

    2013-09-30

    Connecticut) Co-PI: Alexander Gilerson (City College of New York) Co-PI: William F. Gilly (Stanford University) Co-PI: George Kattawar (Texas A & M...Dosidicus gigas) in relation to oxygen minimum zones. Deep Sea Research II [in press]. Stewart JS, Hazen EL, Bograd SJ, Byrnes JEK, Foley DG, Gilly WF

  10. Underwater and surface strategies of 200 m world level swimmers.

    Science.gov (United States)

    Veiga, Santiago; Roig, Andreu

    2016-01-01

    Pacing strategies of elite swimmers have been consistently characterised from the average lap velocities. In the present study, we examined the racing strategies of 200 m world class-level swimmers with regard to their underwater and surface lap components. The finals and semi-finals of the 200 m races at the 2013 World Swimming Championships (Barcelona, Spain) were analysed by an innovative image-processing system (InThePool® 2.0). Free swimming velocities of elite swimmers typically decreased throughout the 200 m race laps (-0.12 m · s(-1), 95% CI -0.11 to -0.14 m · s(-1), P = 0.001, η(2) = 0.81), whereas underwater velocities, which were faster than free swimming, were not meaningfully affected by the race progress (0.02 m · s(-1), -0.01 to 0.04 m · s(-1), P = 0.01, η(2) = 0.04). When swimming underwater, elite swimmers typically travelled less distance (-0.66 m, -0.83 to -0.49 m, P = 0.001, η(2) = 0.34) from the first to the third turn of the race, although underwater distances were maintained on the backstroke and butterfly races. These strategies allowed swimmers to maintain their average velocity in the last lap despite a decrease in the free swimming velocity. Elite coaches and swimmers are advised to model their racing strategies by considering both underwater and surface race components.

  11. Coherence and Polarization of Polarization Speckle Generated by Depolarizers and Their Changes through Complex ABCD Matrix

    DEFF Research Database (Denmark)

    Ma, Ning; Hanson, Steen Grüner; Lee, Tim K.

    2015-01-01

    Recent research work on speckle patterns indicates a variation of the polarization state during propagation and its nonuniformly spatial distribution. The preliminary step for the investigation of this polarization speckle is the generation of the corresponding field. In this paper, a kind of spe...... of coherence (DoC). and degree of polarization (DoP) P. The changes of the coherence and polarization when the speckle field propagates through any optical system are analysed within the framework of the complex ABCD-matrix theory....

  12. Cosmic Microwave Background Polarization and Inflation

    Science.gov (United States)

    Chuss, David T.

    2011-01-01

    Measurements of the cosmic microwave background (CMB) offer a means to explore the universe at a very early epoch. Specifically, if the universe went through a brief period of exponential expansion called inflation as current data suggest, gravitational waves from this period would polarize the CMB in a specific pattern. At GSFC, we are currently working towards two experiments that work in concert to measure this polarization pattern in search of evidence for inflation. The Cosmology Large Angular Scale Surveyor (CLASS) will measure the polarization at frequencies between 40 and 150 GHz from the Atacama Desert in Chile. The Primordial Inflation Polarization Explorer (PIPER) is a balloon-borne experiment that will make similar measurements at frequencies between 200 and 600 GHz.

  13. Towards Enhanced Underwater Lidar Detection via Source Separation

    Science.gov (United States)

    Illig, David W.

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

  14. 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

  15. 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)].

  16. Polarized Moessbauer transitions

    International Nuclear Information System (INIS)

    Barb, D.

    1975-01-01

    Theoretical aspects of the emission, absorption and scattering of polarized gamma rays are reviewed for a general case of combined magnetic and electric hyperfine interactions; various possibilities of obtaining polarized gamma sources are described and examples are given of the applications of Moessbauer spectroscopy with polarized gamma rays in solving problems of solid state physics. (A.K.)

  17. Tribological properties of fish scale inspired underwater superoleophobic hierarchical structure in aqueous environment

    Science.gov (United States)

    Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Li, Yiquan; Yu, Zhanjiang; Liu, Qimeng; Yu, Huadong

    2017-10-01

    Underwater superoleophobic surfaces are becoming increasingly important in regard to self-cleaning, anti-fouling, oil droplet transportation and water/oil separation. Although a great number of underwater superoleophobic surfaces have been demonstrated, their tribological properties remain impractical for the purposes of real-life applications. Herein, a two-step method of high speed wire electrical discharge machining and boiling water treatment was adopted to fabricate fish scale inspired underwater oil repellent hierarchical structure on an aluminum (Al) alloy 5083 surface. The hierarchical roughness and hydroxyl groups were obtained on the surface, and the surface exhibited the ability to prevent contact with organic fluids when submerged in water. Moreover, the tribological properties of underwater superoleophobic Al surfaces in aqueous environments were analyzed. The average friction coefficient of underwater superoleophobic surfaces was decreased compared with the polished Al surface. We believe that this research will contribute to the engineering application of underwater superoleophobic surfaces in the future.

  18. Verum focus and polar questions

    Directory of Open Access Journals (Sweden)

    Ion Giurgea

    2012-11-01

    Full Text Available We argue that some word order phenomena in Romanian and Sardinian are the result of a checking operation in the left periphery involving verum focus (i.e. focus on the polarity component of the sentence. In particular, this operation accounts for some word order patterns found in polar questions. In Romanian, polarity fronting is realized as head-movement of (V+T to a higher peripheral head which bears a Focus-probe. This licenses VS orders for predications in which VS is not allowed as a neutral order (i-level predicates, iteratives, generics. In Sardinian, an entire phrase headed by the lexical predicate (verbal non-finite form or non-verbal predicate is fronted before the auxiliary. We argue that this order is obtained by two movement operations, head-raising of Aux to Foc and movement of the predicate phrase to SpecFoc. We also present the semantics of polarity focus, distinguishing several types of focus (informational, emphatic, contrastive.

  19. Verum focus and polar questions

    Directory of Open Access Journals (Sweden)

    Ion Giurgea

    2012-01-01

    Full Text Available We argue that some word order phenomena in Romanian and Sardinian are the result of a checkingoperation in the left periphery involving verum focus (i.e. focus on the polarity component of the sentence.In particular, this operation accounts for some word order patterns found in polar questions. In Romanian,polarity fronting is realized as head-movement of (V+T to a higher peripheral head which bears a Focusprobe.This licenses VS orders for predications in which VS is not allowed as a neutral order (i-levelpredicates, iteratives, generics. In Sardinian, an entire phrase headed by the lexical predicate (verbal nonfiniteform or non-verbal predicate is fronted before the auxiliary. We argue that this order is obtained bytwo movement operations, head-raising of Aux to Foc and movement of the predicate phrase to SpecFoc. Wealso present the semantics of polarity focus, distinguishing several types of focus (informational, emphatic,contrastive.

  20. Dolphin Sounds-Inspired Covert Underwater Acoustic Communication and Micro-Modem

    OpenAIRE

    Gang Qiao; Yunjiang Zhao; Songzuo Liu; Muhammad Bilal

    2017-01-01

    A novel portable underwater acoustic modem is proposed in this paper for covert communication between divers or underwater unmanned vehicles (UUVs) and divers at a short distance. For the first time, real dolphin calls are used in the modem to realize biologically inspired Covert Underwater Acoustic Communication (CUAC). A variety of dolphin whistles and clicks stored in an SD card inside the modem helps to realize different biomimetic CUAC algorithms based on the specified covert scenario. I...

  1. 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.

  2. Real-Time Dynamic Model Learning and Adaptation for Underwater Vehicles

    Science.gov (United States)

    2013-09-01

    propeller on the vLBV300 SV Starboard, vertical propeller on the vLBV300 THAUS Tethered Hovering-Class Autonomous Underwater System UUV Unmanned...inhabitance of man and machine—the aim is to fundamentally enable the transformative capability of robots as underwater co-workers. The RDAS finds...be commanded via a high- or low-level computer interface, resulting in a tethered , hovering-class autonomous underwater system (THAUS). As

  3. Modeling and Simulation of Motion of an Underwater Robot Glider for Shallow-water Ocean Applications

    OpenAIRE

    Chen Wang; Amir Anvar

    2012-01-01

    This paper describes the modeling and simulation of an underwater robot glider used in the shallow-water environment. We followed the Equations of motion derived by [2] and simplified dynamic Equations of motion of an underwater glider according to our underwater glider. A simulation code is built and operated in the MATLAB Simulink environment so that we can make improvements to our testing glider design. It may be also used to validate a robot glider design.

  4. Evaluating underwater noise regulations for piling noise in Belgium and The Netherlands

    OpenAIRE

    Rumes, B.; Erkman, A.; Haelters, J.

    2016-01-01

    There is concern about possible effects on the marine ecosystem of high levels of underwater noise generated during pile driving for the construction of offshore wind farms. As a result, various national governments in Europe have identified limits of underwater sound levels, as such imposing in many cases the use of noise mitigation measures. In this paper we compare the regulations with regard to impulsive underwater noise in the Belgian wind farm zone with those in the Dutch wind energy zo...

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

    Directory of Open Access Journals (Sweden)

    Shengming Chang

    2018-02-01

    Full Text Available This paper addresses the target localization problems based on received signal strength (RSS measurements in underwater acoustic wireless sensor network (UWSN. Firstly, the problems based on the maximum likelihood (ML criterion for estimating target localization in cases of both known and unknown transmit power are respectively derived, and fast implementation algorithms are proposed by transforming the non-convex problems into a generalized trust region subproblem (GTRS frameworks. A three-step procedure is also provided to enhance the estimation accuracy in the unknown target transmit power case. Furthermore, the Cramer–Rao lower bounds (CRLBs in both cases are derived. Computer simulation results show the superior performance of the proposed methods in the underwater environment.

  6. 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.

  7. Underwater Environment SDAP Method Using Multi Single-Beam Sonars

    Directory of Open Access Journals (Sweden)

    Zheping Yan

    2013-01-01

    Full Text Available A new autopilot system for unmanned underwater vehicle (UUV using multi-single-beam sonars is proposed for environmental exploration. The proposed autopilot system is known as simultaneous detection and patrolling (SDAP, which addresses two fundamental challenges: autonomous guidance and control. Autonomous guidance, autonomous path planning, and target tracking are based on the desired reference path which is reconstructed from the sonar data collected from the environmental contour with the predefined safety distance. The reference path is first estimated by using a support vector clustering inertia method and then refined by Bézier curves in order to satisfy the inertia property of the UUV. Differential geometry feedback linearization method is used to guide the vehicle entering into the predefined path while finite predictive stable inversion control algorithm is employed for autonomous target approaching. The experimental results from sea trials have demonstrated that the proposed system can provide satisfactory performance implying its great potential for future underwater exploration tasks.

  8. 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.

  9. A modified finite element procedure for underwater shock analysis

    International Nuclear Information System (INIS)

    Chan, S.K.

    1990-01-01

    Using the regular finite element method for analyzing wave propagation problems presents difficulties: (a) The finite element mesh gives spurious reflection of the traveling wave and (b) Since a finite element model has to have a finite boundary, the wave is reflected by the outside boundary. However, for underwater shock problems, only the response of the structure is of major interest, not the behavior of the wave itself, and the shock wave can be assumed to be spherical. By taking advantage of the limited scope of the underwater shock problem, a finite element procedure can be developed that eliminates the above difficulties. This procedure not only can give very accurate solutions but it may also include structural nonlinearities and effect of cavitation

  10. Monte Carlo study on pulse response of underwater optical channel

    Science.gov (United States)

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

    2012-06-01

    Pulse response of the underwater wireless optical channel is significant for the analysis of channel capacity and error probability. Traditional vector radiative transfer theory (VRT) is not able to deal with the effect of receiving aperture. On the other hand, general water tank experiments cannot acquire an accurate pulse response due to the limited time resolution of the photo-electronic detector. We present a Monte Carlo simulation model to extract the time-domain pulse response undersea. In comparison with the VRT model, a more accurate pulse response for practical ocean communications could be achieved through statistical analysis of the received photons. The proposed model is more reasonable for the study of the underwater optical channel.

  11. Effect of eddy diffusivity ratio on underwater optical scintillation index.

    Science.gov (United States)

    Elamassie, Mohammed; Uysal, Murat; Baykal, Yahya; Abdallah, Mohamed; Qaraqe, Khalid

    2017-11-01

    The performance of underwater optical wireless communication systems is severely affected by the turbulence that occurs due to the fluctuations in the index of refraction. Most previous studies assume a simplifying, yet inaccurate, assumption in the turbulence spectrum model that the eddy diffusivity ratio is equal to unity. It is, however, well known that the eddy diffusivities of temperature and salt are different from each other in most underwater environments. In this paper, we obtain a simplified spatial power spectrum model of turbulent fluctuations of the seawater refraction index as an explicit function of eddy diffusivity ratio. Using the derived model, we obtain the scintillation index of optical plane and spherical waves and investigate the effect of the eddy diffusivity ratio.

  12. 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...

  13. The Development of a Hybrid Underwater Micro Biped Robot

    Directory of Open Access Journals (Sweden)

    S. Guo

    2006-01-01

    Full Text Available There has been a great demand, in the medical field and in industrial applications, for a novel micro biped robot with multiple degrees of freedom that can swim smoothly in water or in aqueous medium. The fish-like micro-robot studied is a type of miniature device that is installed with sensing and actuating elements. This article describes the new structure and motion mechanism of a hybrid type of underwater micro-robot using an ion-conducting polymer film (ICPF actuator, and discusses the swimming and floating characteristics of the micro-robot in water, measured by changing the voltage frequency and the amplitude of the input voltage. Results indicate that the swimming speed of the proposed underwater micro-robot can be controlled by changing the frequency of the input voltage, and the direction (upward or downward can be manipulated by changing the frequency of the electric current applied and the amplitude of the voltage.

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

    Science.gov (United States)

    Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

    2016-01-01

    We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

  15. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

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

  16. Development of underwater robot for taking off marine life

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  17. Nonlinear underwater robot controller design with adaptive disturbance prediction

    Directory of Open Access Journals (Sweden)

    Xin Songa

    2011-08-01

    Full Text Available A new hybrid adaptive control algorithm is proposed for the nonlinear system controller design of underwater robot. Compared with the previous works in the controller design of underwater robot, the main advantages of this work are: (1 A new disturbance prediction and compensation model is proposed; (2 A new adaptive fuzzy smoother is proposed for the control input; (3 A time-varying flow disturbance is considered for the control design which is always neglected in many previous works and several practical experiments under different environment were implemented to verify the control performance. The Lyapunov stability theory proves the stability and convergence of this new control system. Simulation and experiment results demonstrate the performance and the effectiveness of this new algorithm.

  18. 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

  19. Lung physiology at play: Hemoptysis due to underwater hockey

    Directory of Open Access Journals (Sweden)

    Meghan Aversa

    2014-01-01

    Full Text Available Hemoptysis can be a very concerning symptom, and the workup of a patient with hemoptysis may be expensive and invasive. Over the past decade, there has been increasing recognition of hemoptysis that occurs in highly trained athletes under conditions of extreme physical exertion and is explained by “pulmonary capillary stress failure”. This report highlights the physiological mechanisms of pulmonary capillary stress failure in the highly trained athlete, with emphasis on the predisposition to develop this condition in underwater sports. We describe the case of an otherwise healthy 34 year-old competitive underwater hockey player who reported hemoptysis following particularly strenuous games. We postulate that the hemoptysis was a result of the pulmonary capillary stress failure caused by the cumulative hemodynamic effects of a markedly elevated cardiac output, the increased central blood volume caused by the hydrostatic effects of submersion in water, and the negative intrathoracic pressure produced by voluntary diaphragmatic contractions.

  20. 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.)

  1. 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.

  2. 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.

  3. 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.

  4. Development of a tentacle propulsion technique for underwater application

    Science.gov (United States)

    Alamgir, T.; Rashid, M. M.; Khan, M. R.

    2013-12-01

    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.

  5. Spreading of sediment due to underwater blasting and dredging

    DEFF Research Database (Denmark)

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

    2015-01-01

    leads to a wider spreading of the organic part of the sediment. Almost all material less than 2 μm, including surficial clay minerals and much organic material, was transported away from the construction site and its vicinity, which could imply mobilization and export of pollutants. Environmental...... impacts of suspended sediment from underwater blasting, which could include coverage of the benthos or increased turbidity, can be managed by timing the blast favourably relative to currents, waves and stratification. It is argued that the environmental impact of blasting can be minimized by decreasing...... 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...

  6. Autonomous Underwater Vehicle(AUV) and Towed Vehicle Technologies for Under-Ice Hydrothermal Vent Studies at the Gakkel Ridge

    Science.gov (United States)

    Singh, H.; Akin, D.; Reves-Sohn, R.; Humphris, S.; Shank, T.; Edmonds, H.

    2006-12-01

    The extreme polar environment presents a unique challenge to the use of the otherwise mature oceanographic technologies associated with Autonomous Underwater Vehicles (AUVs), Remotely Operated Vehicles (ROVs) and towed vehicles. For deep water mapping and sampling applications, ice cover in the arctic is a formidable obstacle. In pursuing our goals to locate, map and sample hydrothermal vents on the Gakkel Ridge, we have built and plan to deploy two AUVs named JAGUAR and PUMA and a towed sampling sled with hydraulically actuated sampling chambers. Our methodologies for working with AUVs in the Arctic differ significantly from standard blue-water operations. Specifically, we have focused on, deploying and calibrating acoustic transponders with the limited mobility imposed by multi-year ice; a far more robust system architecture for dealing with component failures underwater; an autonomous manipulation system on the AUV for capturing sessile biological organisms and geological samples; and a low bandwidth acoustic tether for vehicle status, navigation and mission redirection. Our sampling sled was designed with the premise that the limited mobility associated with working in ice will at best provide us with a few, short opportunities to image and sample on a hydrothermal vent site. To this end our sled is equipped with a suite of imaging and chemical sensors as well as devices for quickly obtaining multiple samples of both sessile and motile biological organisms. We plan to deploy these new technologies during the International Polar Year in 2007 as part of a collaborative international effort to characterize the biological and geological characteristics of hydrothermal venting on the ultra-slow spreading Gakkel Ridge in the eastern Arctic basin.

  7. Superheated Water-Cooled Small Modular Underwater Reactor Concept

    OpenAIRE

    Koroush Shirvan; Mujid Kazimi

    2016-01-01

    A novel fully passive small modular superheated water reactor (SWR) for underwater deployment is designed to produce 160 MWe with steam at 500ºC to increase the thermodynamic efficiency compared with standard light water reactors. The SWR design is based on a conceptual 400-MWe integral SWR using the internally and externally cooled annular fuel (IXAF). The coolant boils in the external channels throughout the core to approximately the same quality as a conventional boiling water reactor and ...

  8. The control system of an autonomous underwater vehicle

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    1995-04-01

    Full Text Available This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.

  9. A perspective on underwater photosynthesis in submerged terrestrial wetland plants

    Science.gov (United States)

    Colmer, Timothy D.; Winkel, Anders; Pedersen, Ole

    2011-01-01

    Background and aims Wetland plants inhabit flood-prone areas and therefore can experience episodes of complete submergence. Submergence impedes exchange of O2 and CO2 between leaves and the environment, and light availability is also reduced. The present review examines limitations to underwater net photosynthesis (PN) by terrestrial (i.e. usually emergent) wetland plants, as compared with submerged aquatic plants, with focus on leaf traits for enhanced CO2 acquisition. Scope Floodwaters are variable in dissolved O2, CO2, light and temperature, and these parameters influence underwater PN and the growth and survival of submerged plants. Aquatic species possess morphological and anatomical leaf traits that reduce diffusion limitations to CO2 uptake and thus aid PN under water. Many aquatic plants also have carbon-concentrating mechanisms to increase CO2 at Rubisco. Terrestrial wetland plants generally lack the numerous beneficial leaf traits possessed by aquatic plants, so submergence markedly reduces PN. Some terrestrial species, however, produce new leaves with a thinner cuticle and higher specific leaf area, whereas others have leaves with hydrophobic surfaces so that gas films are retained when submerged; both improve CO2 entry. Conclusions Submergence inhibits PN by terrestrial wetland plants, but less so in species that produce new leaves under water or in those with leaf gas films. Leaves with a thinner cuticle, or those with gas films, have improved gas diffusion with floodwaters, so that underwater PN is enhanced. Underwater PN provides sugars and O2 to submerged plants. Floodwaters often contain dissolved CO2 above levels in equilibrium with air, enabling at least some PN by terrestrial species when submerged, although rates remain well below those in air. PMID:22476500

  10. An Underwater Robot for the Maintenance of Nuclear Power Plants

    International Nuclear Information System (INIS)

    Lee, Sung-Uk; Choi, Young-Soo; Jeong, Kyung-Min

    2007-01-01

    The safety and reliability of nuclear power plants has become more important than in the past. Inspection and maintenance of a component should be achieved continuously. Two reactor types PWR (Pressurized Water Reactor) and PHWR (Pressurized Heavy Water Reactor) are normally operated in Korea. In the case of a PWR, the presence of any loose part affects the safety of a nuclear power plant. A loose part, which could be from failed components or an item inadvertently left during a construction, refueling or maintenance like as metallic parts, bolts, nuts and washers, can damage any part by frequently impacting that part in the system. Therefore, work that detects a loose part and removes it from a the nuclear reactor vessel is very important. Moreover, the inspection of the RCS (reactor coolant system) of PWR is also important. The RCS has a role to cool down the reactor's temperature. But human workers can't access the RCS easily because of the complexity of the path and the radiation level. So a robotic system is needed to inspect the RCS closely. Research on an underwater robot for an inspection of a nuclear reactor vessel began in the 1990s. Since then, many underwater robots for a nuclear power plant have been developed. But the developed underwater robots were so heavy and also they only had one function that is to inspect the nuclear reactor vessel. In this paper, an underwater robotic system is developed for inspecting the bottom of the nuclear reactor vessel, hot legs and cold legs of reactor coolant system and also for removing some particles in them

  11. Optical Sensors and Methods for Underwater 3D Reconstruction

    Science.gov (United States)

    Massot-Campos, Miquel; Oliver-Codina, Gabriel

    2015-01-01

    This paper presents a survey on optical sensors and methods for 3D reconstruction in underwater environments. The techniques to obtain range data have been listed and explained, together with the different sensor hardware that makes them possible. The literature has been reviewed, and a classification has been proposed for the existing solutions. New developments, commercial solutions and previous reviews in this topic have also been gathered and considered. PMID:26694389

  12. An Underwater Robot for the Maintenance of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sung-Uk; Choi, Young-Soo; Jeong, Kyung-Min [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2007-07-01

    The safety and reliability of nuclear power plants has become more important than in the past. Inspection and maintenance of a component should be achieved continuously. Two reactor types PWR (Pressurized Water Reactor) and PHWR (Pressurized Heavy Water Reactor) are normally operated in Korea. In the case of a PWR, the presence of any loose part affects the safety of a nuclear power plant. A loose part, which could be from failed components or an item inadvertently left during a construction, refueling or maintenance like as metallic parts, bolts, nuts and washers, can damage any part by frequently impacting that part in the system. Therefore, work that detects a loose part and removes it from a the nuclear reactor vessel is very important. Moreover, the inspection of the RCS (reactor coolant system) of PWR is also important. The RCS has a role to cool down the reactor's temperature. But human workers can't access the RCS easily because of the complexity of the path and the radiation level. So a robotic system is needed to inspect the RCS closely. Research on an underwater robot for an inspection of a nuclear reactor vessel began in the 1990s. Since then, many underwater robots for a nuclear power plant have been developed. But the developed underwater robots were so heavy and also they only had one function that is to inspect the nuclear reactor vessel. In this paper, an underwater robotic system is developed for inspecting the bottom of the nuclear reactor vessel, hot legs and cold legs of reactor coolant system and also for removing some particles in them.

  13. Technology Selection for Offshore Underwater Small Modular Reactors

    OpenAIRE

    Shirvan, Koroush; Ballinger, Ronald; Buongiorno, Jacopo; Forsberg, Charles; Kazimi, Mujid; Todreas, Neil

    2016-01-01

    This work examines the most viable nuclear technology options for future underwater designs that would meet high safety standards as well as good economic potential, for construction in the 2030–2040 timeframe. The top five concepts selected from a survey of 13 nuclear technologies were compared to a small modular pressurized water reactor (PWR) designed with a conventional layout. In order of smallest to largest primary system size where the reactor and all safety systems are contained, the ...

  14. 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.)

  15. Averaging underwater noise levels for environmental assessment of shipping

    OpenAIRE

    Merchant, Nathan D.; Blondel, Philippe; Dakin, D. Tom; Dorocicz, John

    2012-01-01

    Rising underwater noise levels from shipping have raised concerns regarding chronic impacts to marine fauna. However, there is a lack of consensus over how to average local shipping noise levels for environmental impact assessment. This paper addresses this issue using 110 days of continuous data recorded in the Strait of Georgia, Canada. Probability densities of ∼ 10 7 1-s samples in selected 1/3 octave bands were approximately stationary across one-month subsamples. Median and mode levels v...

  16. 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

  17. A trajectory observer for camera-based underwater motion measurements

    DEFF Research Database (Denmark)

    Berg, Tor; Jouffroy, Jerome; Johansen, Vegar

    This work deals with the issue of estimating the trajectory of a vehicle or object moving underwater based on camera measurements. The proposed approach consists of a diffusion-based trajectory observer (Jouffroy and Opderbecke, 2004) processing whole segments of a trajectory at a time. Additiona....... Additionally, the observer contains a Tikhonov regularizer for smoothing the estimates. Then, a method for including the camera measurements in an appropriate manner is proposed....

  18. Assessment of underwater glider performance through viscous computational fluid dynamics

    OpenAIRE

    Lidtke, Artur Konrad; Turnock, Stephen; Downes, Jon

    2016-01-01

    The process of designing an apt hydrodynamic shape for a new underwater glider is discussed. Intermediate stages include selecting a suitable axi-symmetric hull shape, adding hydrofoils and appendages, and evaluating the performance of the final design. All of the hydrodynamic characteristics are obtained using computational fluid dynamics using the kT - kL - ω transition model. It is shown that drag reduction of the main glider hull is of crucial importance to the ultimate performance. Sugge...

  19. Optical Backscattering Measured by Airborne Lidar and Underwater Glider

    OpenAIRE

    James H. Churnside; Richard D. Marchbanks; Chad Lembke; Jordon Beckler

    2017-01-01

    The optical backscattering from particles in the ocean is an important quantity that has been measured by remote sensing techniques and in situ instruments. In this paper, we compare estimates of this quantity from airborne lidar with those from an in situ instrument on an underwater glider. Both of these technologies allow much denser sampling of backscatter profiles than traditional ship surveys. We found a moderate correlation (R = 0.28, p < 10−5), with differences that are partially ex...

  20. 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

  1. CHROMOSPHERIC POLARIZATION IN THE PHOTOSPHERIC SOLAR OXYGEN INFRARED TRIPLET

    Energy Technology Data Exchange (ETDEWEB)

    Del Pino Alemán, Tanausú; Trujillo Bueno, Javier [Instituto de Astrofísica de Canarias, E-38205 La Laguna, Tenerife (Spain)

    2015-07-20

    We present multilevel radiative transfer modeling of the scattering polarization observed in the solar O i infrared triplet around 777 nm. We demonstrate that the scattering polarization pattern observed on the solar disk forms in the chromosphere, far above the photospheric region where the bulk of the emergent intensity profiles originate. We investigate the sensitivity of the polarization pattern to the thermal structure of the solar atmosphere and to the presence of weak magnetic fields (10{sup −2}–100 G) through the Hanle effect, showing that the scattering polarization signals of the oxygen infrared triplet encode information on the magnetism of the solar chromosphere.

  2. Channel analysis for single photon underwater free space quantum key distribution.

    Science.gov (United States)

    Shi, Peng; Zhao, Shi-Cheng; Gu, Yong-Jian; Li, Wen-Dong

    2015-03-01

    We investigate the optical absorption and scattering properties of underwater media pertinent to our underwater free space quantum key distribution (QKD) channel model. With the vector radiative transfer theory and Monte Carlo method, we obtain the attenuation of photons, the fidelity of the scattered photons, the quantum bit error rate, and the sifted key generation rate of underwater quantum communication. It can be observed from our simulations that the most secure single photon underwater free space QKD is feasible in the clearest ocean water.

  3. Restoration and Enhancement of Underwater Images Based on Bright Channel Prior

    Directory of Open Access Journals (Sweden)

    Yakun Gao

    2016-01-01

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

  4. Synthesis of a Controller for Swarming Robots Performing Underwater Mine Countermeasures

    National Research Council Canada - National Science Library

    Tan, Yong

    2004-01-01

    This Trident Scholar project involved the synthesis of a swarm controller that is suitable for controlling movements of a group of autonomous robots performing underwater mine countermeasures (UMCM...

  5. Mapping Underwater Sound in the Dutch Part of the North Sea.

    Science.gov (United States)

    Sertlek, H Özkan; Aarts, Geert; Brasseur, Sophie; Slabbekoorn, Hans; ten Cate, Carel; von Benda-Beckmann, Alexander M; Ainslie, Michael A

    2016-01-01

    The European Union requires member states to achieve or maintain good environmental status for their marine territorial waters and explicitly mentions potentially adverse effects of underwater sound. In this study, we focused on producing maps of underwater sound from various natural and anthropogenic origins in the Dutch North Sea. The source properties and sound propagation are simulated by mathematical methods. These maps could be used to assess and predict large-scale effects on behavior and distribution of underwater marine life and therefore become a valuable tool in assessing and managing the impact of underwater sound on marine life.

  6. 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.

  7. An Autonomous Underwater Recorder Based on a Single Board Computer

    Science.gov (United States)

    Caldas-Morgan, Manuel; Alvarez-Rosario, Alexander; Rodrigues Padovese, Linilson

    2015-01-01

    As industrial activities continue to grow on the Brazilian coast, underwater sound measurements are becoming of great scientific importance as they are essential to evaluate the impact of these activities on local ecosystems. In this context, the use of commercial underwater recorders is not always the most feasible alternative, due to their high cost and lack of flexibility. Design and construction of more affordable alternatives from scratch can become complex because it requires profound knowledge in areas such as electronics and low-level programming. With the aim of providing a solution; a well succeeded model of a highly flexible, low-cost alternative to commercial recorders was built based on a Raspberry Pi single board computer. A properly working prototype was assembled and it demonstrated adequate performance levels in all tested situations. The prototype was equipped with a power management module which was thoroughly evaluated. It is estimated that it will allow for great battery savings on long-term scheduled recordings. The underwater recording device was successfully deployed at selected locations along the Brazilian coast, where it adequately recorded animal and manmade acoustic events, among others. Although power consumption may not be as efficient as that of commercial and/or micro-processed solutions, the advantage offered by the proposed device is its high customizability, lower development time and inherently, its cost. PMID:26076479

  8. Multiuser chirp modulation for underwater acoustic channel based on VTRM

    Directory of Open Access Journals (Sweden)

    Fei Yuan

    2017-05-01

    Full Text Available In this paper, an ascheme is proposed for multiuser underwater acoustic communication by using the multi-chirp rate signals. It differs from the well known TDMA (Time Division Multiple Access, FDMA (Frequency Division Multiple Access or CDMA (Code Division Multiple Access, by assigning each users with different chirp-rate carriers instead of the time, frequency or PN code. Multi-chirp rate signals can be separated from each other by FrFT (Fractional Fourier Transform, which can be regarded as the chirp-based decomposing, and superior to the match filter in the underwater acoustic channel. VTRM (Virtual Time Reverse Mirror is applied into the system to alleviate the ISI caused by the multipatch and make the equalization more simple. Results of computer simulations and pool experiments prove that the proposed multiuser underwater acoustic communication based on the multi-chirp rate exhibit well performance. Outfield experments carrie out in Xiamen Port show that using about 10 kHz bandwidth, four users could communicate at the same time with 425 bps with low BER and can match the UAC application.

  9. Measurement and Modeling of Narrowband Channels for Ultrasonic Underwater Communications

    Science.gov (United States)

    Cañete, Francisco J.; López-Fernández, Jesús; García-Corrales, Celia; Sánchez, Antonio; Robles, Encarnación; Rodrigo, Francisco J.; Paris, José F.

    2016-01-01

    Underwater acoustic sensor networks are a promising technology that allow real-time data collection in seas and oceans for a wide variety of applications. Smaller size and weight sensors can be achieved with working frequencies shifted from audio to the ultrasonic band. At these frequencies, the fading phenomena has a significant presence in the channel behavior, and the design of a reliable communication link between the network sensors will require a precise characterization of it. Fading in underwater channels has been previously measured and modeled in the audio band. However, there have been few attempts to study it at ultrasonic frequencies. In this paper, a campaign of measurements of ultrasonic underwater acoustic channels in Mediterranean shallow waters conducted by the authors is presented. These measurements are used to determine the parameters of the so-called κ-μ shadowed distribution, a fading model with a direct connection to the underlying physical mechanisms. The model is then used to evaluate the capacity of the measured channels with a closed-form expression. PMID:26907281

  10. Measurement and Modeling of Narrowband Channels for Ultrasonic Underwater Communications

    Directory of Open Access Journals (Sweden)

    Francisco J. Cañete

    2016-02-01

    Full Text Available Underwater acoustic sensor networks are a promising technology that allow real-time data collection in seas and oceans for a wide variety of applications. Smaller size and weight sensors can be achieved with working frequencies shifted from audio to the ultrasonic band. At these frequencies, the fading phenomena has a significant presence in the channel behavior, and the design of a reliable communication link between the network sensors will require a precise characterization of it. Fading in underwater channels has been previously measured and modeled in the audio band. However, there have been few attempts to study it at ultrasonic frequencies. In this paper, a campaign of measurements of ultrasonic underwater acoustic channels in Mediterranean shallow waters conducted by the authors is presented. These measurements are used to determine the parameters of the so-called κ-μ shadowed distribution, a fading model with a direct connection to the underlying physical mechanisms. The model is then used to evaluate the capacity of the measured channels with a closed-form expression.

  11. An Autonomous Underwater Recorder Based on a Single Board Computer.

    Science.gov (United States)

    Caldas-Morgan, Manuel; Alvarez-Rosario, Alexander; Rodrigues Padovese, Linilson

    2015-01-01

    As industrial activities continue to grow on the Brazilian coast, underwater sound measurements are becoming of great scientific importance as they are essential to evaluate the impact of these activities on local ecosystems. In this context, the use of commercial underwater recorders is not always the most feasible alternative, due to their high cost and lack of flexibility. Design and construction of more affordable alternatives from scratch can become complex because it requires profound knowledge in areas such as electronics and low-level programming. With the aim of providing a solution; a well succeeded model of a highly flexible, low-cost alternative to commercial recorders was built based on a Raspberry Pi single board computer. A properly working prototype was assembled and it demonstrated adequate performance levels in all tested situations. The prototype was equipped with a power management module which was thoroughly evaluated. It is estimated that it will allow for great battery savings on long-term scheduled recordings. The underwater recording device was successfully deployed at selected locations along the Brazilian coast, where it adequately recorded animal and manmade acoustic events, among others. Although power consumption may not be as efficient as that of commercial and/or micro-processed solutions, the advantage offered by the proposed device is its high customizability, lower development time and inherently, its cost.

  12. Underwater drag-reducing effect of superhydrophobic submarine model.

    Science.gov (United States)

    Zhang, Songsong; Ouyang, Xiao; Li, Jie; Gao, Shan; Han, Shihui; Liu, Lianhe; Wei, Hao

    2015-01-01

    To address the debates on whether superhydrophobic coatings can reduce fluid drag for underwater motions, we have achieved an underwater drag-reducing effect of large superhydrophobic submarine models with a feature size of 3.5 cm × 3.7 cm × 33.0 cm through sailing experiments of submarine models, modified with and without superhydrophobic surface under similar power supply and experimental conditions. The drag reduction rate reached as high as 15%. The fabrication of superhydrophobic coatings on a large area of submarine model surfaces was realized by immobilizing hydrophobic copper particles onto a precross-linked polydimethylsiloxane (PDMS) surface. The pre-cross-linking time was optimized at 20 min to obtain good superhydrophobicity for the underwater drag reduction effect by investigating the effect of pre-cross-linking on surface wettability and water adhesive property. We do believe that superhydrophobic coatings may provide a promising application in the field of drag-reducing of vehicle motions on or under the water surface.

  13. A MAC Protocol to Support Monitoring of Underwater Spaces †

    Science.gov (United States)

    Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio F.; Meseguer, Roc; Eggly, Gabriel; Pistonesi, Marcelo F.

    2016-01-01

    Underwater sensor networks are becoming an important field of research, because of their everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geolocalization, ocean sampling and early tsunamis alert. The challenge of performing underwater communications is well known, provided that radio signals are useless in this medium, and a wired solution is too expensive. Therefore, the sensors in these networks transmit their information using acoustic signals that propagate well under water. This data transmission type not only brings an opportunity, but also several challenges to the implementation of these networks, e.g., in terms of energy consumption, data transmission and signal interference. In order to help advance the knowledge in the design and implementation of these networks for monitoring underwater spaces, this paper proposes a MAC protocol for acoustic communications between the nodes, based on a self-organized time division multiple access mechanism. The proposal was evaluated using simulations of a real monitoring scenario, and the obtained results are highly encouraging. PMID:27355950

  14. A MAC Protocol to Support Monitoring of Underwater Spaces

    Directory of Open Access Journals (Sweden)

    Rodrigo Santos

    2016-06-01

    Full Text Available Underwater sensor networks are becoming an important field of research, because of their everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills, oceanographic data collection, support for submarine geolocalization, ocean sampling and early tsunamis alert. The challenge of performing underwater communications is well known, provided that radio signals are useless in this medium, and a wired solution is too expensive. Therefore, the sensors in these networks transmit their information using acoustic signals that propagate well under water. This data transmission type not only brings an opportunity, but also several challenges to the implementation of these networks, e.g., in terms of energy consumption, data transmission and signal interference. In order to help advance the knowledge in the design and implementation of these networks for monitoring underwater spaces, this paper proposes a MAC protocol for acoustic communications between the nodes, based on a self-organized time division multiple access mechanism. The proposal was evaluated using simulations of a real monitoring scenario, and the obtained results are highly encouraging.

  15. Underwater Electromagnetic Sensor Networks—Part I: Link Characterization †

    Science.gov (United States)

    Quintana-Díaz, Gara; Mena-Rodríguez, Pablo; Pérez-Álvarez, Iván; Jiménez, Eugenio; Dorta-Naranjo, Blas-Pablo; Zazo, Santiago; Pérez, Marina; Quevedo, Eduardo; Cardona, Laura; Hernández, J. Joaquín

    2017-01-01

    Underwater Wireless Sensor Networks (UWSNs) using electromagnetic (EM) technology in marine shallow waters are examined, not just for environmental monitoring but for further interesting applications. Particularly, the use of EM waves is reconsidered in shallow waters due to the benefits offered in this context, where acoustic and optical technologies have serious disadvantages. Sea water scenario is a harsh environment for radiocommunications, and there is no standard model for the underwater EM channel. The high conductivity of sea water, the effect of seabed and the surface make the behaviour of the channel hard to predict. This justifies the need of link characterization as the first step to approach the development of EM underwater sensor networks. To obtain a reliable link model, measurements and simulations are required. The measuring setup for this purpose is explained and described, as well as the procedures used. Several antennas have been designed and tested in low frequency bands. Agreement between attenuation measurements and simulations at different distances was analysed and made possible the validation of simulation setups and the design of different communications layers of the system. This leads to the second step of this work, where data and routing protocols for the sensor network are examined. PMID:28106843

  16. Computer Simulations Imply Forelimb-Dominated Underwater Flight in Plesiosaurs.

    Directory of Open Access Journals (Sweden)

    Shiqiu Liu

    2015-12-01

    Full Text Available Plesiosaurians are an extinct group of highly derived Mesozoic marine reptiles with a global distribution that spans 135 million years from the Early Jurassic to the Late Cretaceous. During their long evolutionary history they maintained a unique body plan with two pairs of large wing-like flippers, but their locomotion has been a topic of debate for almost 200 years. Key areas of controversy have concerned the most efficient biologically possible limb stroke, e.g. whether it consisted of rowing, underwater flight, or modified underwater flight, and how the four limbs moved in relation to each other: did they move in or out of phase? Previous studies have investigated plesiosaur swimming using a variety of methods, including skeletal analysis, human swimmers, and robotics. We adopt a novel approach using a digital, three-dimensional, articulated, free-swimming plesiosaur in a simulated fluid. We generated a large number of simulations under various joint degrees of freedom to investigate how the locomotory repertoire changes under different parameters. Within the biologically possible range of limb motion, the simulated plesiosaur swims primarily with its forelimbs using an unmodified underwater flight stroke, essentially the same as turtles and penguins. In contrast, the hindlimbs provide relatively weak thrust in all simulations. We conclude that plesiosaurs were forelimb-dominated swimmers that used their hind limbs mainly for maneuverability and stability.

  17. Underwater Remote Handling Equipment for Reactor Internals Maintenance

    International Nuclear Information System (INIS)

    Motohiko Kimura; Mitsuaki Shimamura; Tomoyuki Itoh; Nobuhiko Tanaka; Yasuhiro Yuguchi; Katsuhiko Naruse

    2002-01-01

    More than fifty nuclear reactors generate about thirty-five percent of electricity in Japan. The need to operate these reactors safely and in a stable manner constitutes a very important issue. On the other hand, aged reactors are increasing and they are not necessarily designed and constructed using the latest technology. Stress Corrosion Cracking (SCC) on reactor internal components has become a major concern regarding aged reactors in recent years. Usually maintenance work such as inspection, repair, and preventive maintenance for core components is done by using underwater remote handling and robotic technology. It becomes very important to develop not only new efficient technology for inspection, repair, and preventive maintenance for all suspect components and but also the associated application technology for execution in a reactor. We have been developing several kind of remote handling equipment for underwater maintenance work. This paper describes some results obtained in the area of underwater remote handling that can contribute to the progress of plant reliability. (authors)

  18. A Survey on Underwater Acoustic Sensor Network Routing Protocols

    Directory of Open Access Journals (Sweden)

    Ning Li

    2016-03-01

    Full Text Available Underwater acoustic sensor networks (UASNs have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research.

  19. A Survey on Underwater Acoustic Sensor Network Routing Protocols.

    Science.gov (United States)

    Li, Ning; Martínez, José-Fernán; Meneses Chaus, Juan Manuel; Eckert, Martina

    2016-03-22

    Underwater acoustic sensor networks (UASNs) have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research.

  20. Status on underwater plasma arc cutting in KHI, 3

    International Nuclear Information System (INIS)

    Abe, Tadashi; Aota, Toshiichi; Nishizaki, Tadashi; Nakayama, Shigeru; Yamashita, Seiji

    1983-01-01

    In Kawasaki Heavy Industries, Ltd., the development of a remote dismantling system by underwater plasma arc cutting process has been advanced, expecting its application to the dismantling and removal of nuclear reactor facilities. In the previous two reports, the fundamental experimental results such as the comparison of the cutting capability in air and in water were shown, but this time, the remote automatic cutting of wedge-shaped specimens was carried out, using a newly installed manipulator for underwater works, therefore its outline is reported. Also the cutting experiment by overhead position and vertical position was performed by using the same equipment, and comparison was made with the cutting capability by downhand and horizontal positions. It is important to grasp the cutting characteristics in the case of upward advancing and downward advancing cuttings by overhead and vertical positions when the cutting of pressure vessels and horizontal pipes into rings is supposed. The experimental apparatus, the cutting conditions, the testing method and the test results of the cutting capability test, the test of changing direction during cutting, and the remote cutting of pipes into rings are described. The underwater plasma arc cutting can cut all metals, the cutting speed is relatively high, and the apparatus is simple and compact. (Kako, I.)

  1. Cardiovascular changes during SCUBA diving: an underwater Doppler echocardiographic study.

    Science.gov (United States)

    Marabotti, C; Scalzini, A; Menicucci, D; Passera, M; Bedini, R; L'Abbate, A

    2013-09-01

    Body immersion induces blood redistribution (from peripheral to intrathoracic vessels) and is a powerful autonomic stimulus (activating both parasympathetic and sympathetic systems). For these reasons, concerns have been raised about the safety of diving for subjects with previous heart disease. The aim of this study was to evaluate cardiovascular changes occurring during recreational SCUBA diving, as assessed by underwater Doppler echocardiography. Eighteen healthy experienced divers underwent a 2D Doppler echocardiography basally, during two 15' steps of still SCUBA diving at different depths (10 m followed by 5 m) and shortly after the end of immersion. During dive, left ventricular (LV) diastolic volume and early left ventricular filling significantly increased (5 m vs. basal: P dive vs. basal: P dive). This study documents that shallow-depth SCUBA diving induces LV enlargement and diastolic dysfunction. Direct underwater evaluation by Doppler echocardiography could be an appropriate tool for unmasking subjects at risk for underwater-related accidents. © 2013 Scandinavian Physiological Society. Published by John Wiley & Sons Ltd.

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

    Directory of Open Access Journals (Sweden)

    Il-Kwon Park

    2003-01-01

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

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

    KAUST Repository

    Debont, Matthew John Robert

    2012-08-01

    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 then distribute their locations through the network using acoustic modems. Relay nodes are deployed to remain static, but these untethered nodes may drift due to water currents, resulting in disruption of communication links. We develop a novel underwater alarm system using a cyclic graph model. In the event of link failure, a series of alarm packets are broadcast in the network. These alarms are then captured by the underwater m-courses, which can also be used to assure network connectivity and identify node failures. M-courses also allow the network to localize events and identify network issues locally before forwarding results upwards to a Surface Gateway node. This reduces communication overhead and allows for efficient management of nodes in a mobile network. Our results show that m-course routing reduces the number of sends required to report an event to a Surface Gateway by up to 80% when compared to a naïve routing implementation.

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

    KAUST Repository

    Saeed, Nasir

    2017-12-20

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

  5. Underwater Electromagnetic Sensor Networks, Part II: Localization and Network Simulations

    Directory of Open Access Journals (Sweden)

    Javier Zazo

    2016-12-01

    Full Text Available In the first part of the paper, we modeled and characterized the underwater radio channel in shallowwaters. In the second part,we analyze the application requirements for an underwaterwireless sensor network (U-WSN operating in the same environment and perform detailed simulations. We consider two localization applications, namely self-localization and navigation aid, and propose algorithms that work well under the specific constraints associated with U-WSN, namely low connectivity, low data rates and high packet loss probability. We propose an algorithm where the sensor nodes collaboratively estimate their unknown positions in the network using a low number of anchor nodes and distance measurements from the underwater channel. Once the network has been self-located, we consider a node estimating its position for underwater navigation communicating with neighboring nodes. We also propose a communication system and simulate the whole electromagnetic U-WSN in the Castalia simulator to evaluate the network performance, including propagation impairments (e.g., noise, interference, radio parameters (e.g., modulation scheme, bandwidth, transmit power, hardware limitations (e.g., clock drift, transmission buffer and complete MAC and routing protocols. We also explain the changes that have to be done to Castalia in order to perform the simulations. In addition, we propose a parametric model of the communication channel that matches well with the results from the first part of this paper. Finally, we provide simulation results for some illustrative scenarios.

  6. Validation of Underwater Sensor Package Using Feature Based SLAM

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-03-01

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

  7. Multibeam 3D Underwater SLAM with Probabilistic Registration

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2016-04-01

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

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

    Science.gov (United States)

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

    2016-01-01

    The paper reports results of experiments to estimate the mortality of ocean bottom dwellers, ostracoda, against underwater shock wave exposures. This study is motivated to verify the possible survival of ocean bottom dwellers, foraminifera, from the devastating underwater shock waves induced mass extinction of marine creatures which took place at giant asteroid impact events. Ocean bottom dwellers under study were ostracoda, the replacement of foraminifera, we readily sampled from ocean bottoms. An analogue experiment was performed on a laboratory scale to estimate the domain and boundary of over-pressures at which marine creatures' mortality occurs. Ostracods were exposed to underwater shock waves generated by the explosion of 100mg PETN pellets in a chamber at shock over-pressures ranging up to 44MPa. Pressure histories were measured simultaneously on 113 samples. We found that bottom dwellers were distinctively killed against overpressures of 12MPa and this value is much higher than the usual shock over-pressure threshold value for marine-creatures having lungs and balloons.

  9. Validation of Underwater Sensor Package Using Feature Based SLAM.

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-03-17

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

  10. Distributed Underwater Sensing: A Paradigm Change for the Future

    Science.gov (United States)

    Yang, T. C.

    Distributed netted underwater sensors (DNUS) present a paradigm change that has generated high interest all over the world. It utilizes many small spatially distributed, inexpensive sensors, and a certain number of mobile nodes, such as autonomous underwater vehicles (AUVs), forming a wireless acoustic network to relate data and provide real time monitoring of the ocean. Distributed underwater sensors can be used for oceanographic data collection, pollution monitoring, offshore exploration, disaster prevention, assisted navigation and tactical surveillance applications over wide areas. These functions were traditionally accomplished by a cabled system, such as an array of sensors deployed from a platform, or a large number of sensors moored on the ocean bottom, connected by a cable. The cabled systems are not only expensive but often require heavy ocean engineering (e.g., equipment to deploy heavy armored cables). In the future, as fabrication technology advances making low cost sensors a reality, DNUS is expected to be affordable and will become the undersea "OceanNet" for the marine industry like the current "internet" on land. This paper gives a layman view of the system concept, the state of the art, and future challenges. One of challenges, of particular interest to this conference, is to develop technologies for miniature-size sensors that are energy efficient, allowing long time deployment in the ocean.

  11. Power characterization of THUNDER actuators as underwater propulsors

    Science.gov (United States)

    Niezrecki, Christopher; Balakrishnan, Sivakumar

    2001-08-01

    Piezoelectric actuators have been used for active vibration control, noise suppression, health monitoring, etc. The large appeal in using smart material actuators stems from their high mechanical energy density. A relatively new actuator (THUNDER) has overcome the displacement hurdles that have plagued traditional piezoelectric based actuators. It is capable of providing a displacement on order of 0.5 cm. This allows the actuator to be used in some underwater applications, such as propulsion. To date the electrical power consumption and electromechanical efficiency of these actuators has not been quantified; specifically, applied as underwater propulsors. Some of the challenges in obtaining this information stems from the actuator's non traditional actuating architecture, high voltage requirements, and its electrical non-linearity. The work presented experimentally determines the electrical power consumption and mechanical displacement of THUNDER actuators used as underwater propulsors. It is found that the electrical power consumption of the clamshell actuator investigated is significantly less than that consumed by other autonomous under water vehicles. The potential thrust generated by such a device remains to be quantified.

  12. Underwater Electromagnetic Sensor Networks—Part I: Link Characterization

    Directory of Open Access Journals (Sweden)

    Gara Quintana-Díaz

    2017-01-01

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

  13. Development of underwater YAG laser repair welding robots for tanks

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Satoh, Syuichi; Ito, Kosuke; Kochi, Tsutomu; Kojima, Toshio; Ohwaki, Katsura; Morita, Ichiro

    1999-01-01

    A remote-controlled repair welding robot which uses YAG laser welding technology in underwater environment was developed. This is an underwater robot technology combined with a laser welding technology. This report will describe the structure and performance of this robot, and the welding test results. The repair welding robot consists of two parts. The one is driving equipment, and the other is welding unit. It can swim in the tank, move around the tank wall, and stay on the welding area. After that it starts YAG laser repair welding. The target of this technology is inner surface repair of some tanks made of austenitic stainless steel, for example RW (Radioactive Waste) tanks. A degradation by General Corrosion and so on might be occurred at inner surface of these tanks in BWR type nuclear power plants. If the damaged area is wide, repair welding works are done. Some workers go into the tank and set up scaffolding after full drainage. In many cases it spends too much time for draining water and repair welding preparation. If the repair welding works can be done in underwater environment, the outage period will be reduced. This is a great advantage. (author)

  14. Multibeam 3D Underwater SLAM with Probabilistic Registration.

    Science.gov (United States)

    Palomer, Albert; Ridao, Pere; Ribas, David

    2016-04-20

    This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM) using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds). An Iterative Closest Point (ICP) with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1) point-to-point association for coarse registration and (2) point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O(n2) to O(n) . The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.

  15. Validation of Underwater Sensor Package Using Feature Based SLAM

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-01-01

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

  16. The Physics of Polarization

    Science.gov (United States)

    Landi Degl'Innocenti, Egidio

    2015-10-01

    The introductory lecture that has been delivered at this Symposium is a condensed version of an extended course held by the author at the XII Canary Island Winter School from November 13 to November 21, 2000. The full series of lectures can be found in Landi Degl'Innocenti (2002). The original reference is organized in 20 Sections that are here itemized: 1. Introduction, 2. Description of polarized radiation, 3. Polarization and optical devices: Jones calculus and Muller matrices, 4. The Fresnel equations, 5. Dichroism and anomalous dispersion, 6. Polarization in everyday life, 7. Polarization due to radiating charges, 8. The linear antenna, 9. Thomson scattering, 10. Rayleigh scattering, 11. A digression on Mie scattering, 12. Bremsstrahlung radiation, 13. Cyclotron radiation, 14. Synchrotron radiation, 15. Polarization in spectral lines, 16. Density matrix and atomic polarization, 17. Radiative transfer and statistical equilibrium equations, 18. The amplification condition in polarized radiative transfer, and 19. Coupling radiative transfer and statistical equilibrium equations.

  17. Cognitive enrichment for bottlenose dolphins (Tursiops truncatus): evaluation of a novel underwater maze device.

    Science.gov (United States)

    Clark, Fay E; Davies, Samuel L; Madigan, Andrew W; Warner, Abby J; Kuczaj, Stan A

    2013-01-01

    Cognitive enrichment is gaining popularity as a tool to enhance captive animal well-being, but research on captive cetaceans is lacking. Dolphin cognition has been studied intensively since the 1950s, and several hundred bottlenose dolphins are housed in major zoos and aquaria worldwide, but most dolphin enrichment consists of simple floating objects. The aim of this study was to investigate whether a novel, underwater maze device (UMD) was cognitively enriching for one group of male and one group of female dolphins at Six Flags Discovery Kingdom, CA. The dolphin's task was to navigate a rubber ball through a maze of pipes, towards an exit pipe. We also tested a modification where an edible gelatine ball fell into the pool once the UMD was solved. The UMD was provided to each group between 8 and 11 times over a 4-week period. Male dolphins used the UMD without prior training, whereas females did not use the UMD at all. Two male dolphins solved the UMD 17 times, using a variety of problem-solving strategies. The UMD had no significant effect on circular (repetitive) swimming patterns, but males spent significantly more time underwater when the UMD was present. Males used the UMD significantly more when it contained the rubber ball, but the gelatine ball stimulated social play. The UMD is a safe and practical device for captive dolphins. It now requires further testing on other dolphins, particularly females, to in order to examine whether the sex differences we observed are a general phenomenon. © 2013 Wiley Periodicals, Inc.

  18. Hydrodynamic Performance of Aquatic Flapping: Efficiency of Underwater Flight in the Manta

    Directory of Open Access Journals (Sweden)

    Frank E. Fish

    2016-07-01

    Full Text Available The manta is the largest marine organism to swim by dorsoventral oscillation (flapping of the pectoral fins. The manta has been considered to swim with a high efficiency stroke, but this assertion has not been previously examined. The oscillatory swimming strokes of the manta were examined by detailing the kinematics of the pectoral fin movements swimming over a range of speeds and by analyzing simulations based on computational fluid dynamic potential flow and viscous models. These analyses showed that the fin movements are asymmetrical up- and downstrokes with both spanwise and chordwise waves interposed into the flapping motions. These motions produce complex three-dimensional flow patterns. The net thrust for propulsion was produced from the distal half of the fins. The vortex flow pattern and high propulsive efficiency of 89% were associated with Strouhal numbers within the optimal range (0.2–0.4 for rays swimming at routine and high speeds. Analysis of the swimming pattern of the manta provided a baseline for creation of a bio-inspired underwater vehicle, MantaBot.

  19. A Dual Communication and Imaging Underwater Acoustic System

    Science.gov (United States)

    Fu, Tricia C.

    A dual communication and imaging underwater acoustic system is proposed and developed throughout this dissertation. Due to the wide variation in underwater channel characteristics, the research here focuses more on robustness to multipath in the shallow underwater acoustic environment, rather than high bit-rate applications and signaling schemes. Lower bit-rate (in the hundreds of bits per second (bps) to low kbps), applications such as the transfer of ecological telemetry data, e.g. conductivity or temperature data, are the primary focus of this dissertation. The parallels between direct sequence spread spectrum in digital communication and pulse-echo with pulse compression in imaging, and channel estimation in communication and range profile estimation in imaging are drawn, leading to a unified communications and imaging platform. A digital communication algorithm for channel order and channel coefficient estimation and symbol demodulation using Matching Pursuit (MP) with Generalized Multiple Hypothesis Testing (GMHT) is implemented in programmable DSP in real time with field experiment results in varying underwater environments for the single receiver (Rx), single transmitter (Tx) case. The custom and off-the-shelf hardware used in the single receiver, single transmitter set of experiments are detailed as well. This work is then extended to the single-input multiple-output (SIMO) case, and then to the full multiple-input multiple-output (MIMO) case. The results of channel estimation are used for simple range profile imaging reconstructions. Successful simulated and experimental results for both transducer array configurations are presented and analyzed. Non-real-time symbol demodulation and channel estimation is performed using experimental data from a scaled testing environment. New hardware based on cost-effective fish-finder transducers for a 6 Rx--1 Tx and 6 Rx--4 Tx transducer array is detailed. Lastly, in an application that is neither communication nor

  20. Development of Nereid-UI: A Remotely Operated Underwater Vehicle for Oceanographic Access Under Ice

    Science.gov (United States)

    Whitcomb, L. L.; Bowen, A.; Yoerger, D. R.; German, C. R.; Kinsey, J. C.; Mayer, L. A.; Jakuba, M.; Gomez-Ibanez, D.; Taylor, C. L.; Machado, C.; Howland, J. C.; Kaiser, C. L.; Heintz, M.

    2012-12-01

    The Woods Hole Oceanographic Institution and collaborators from the Johns Hopkins University and the University of New Hampshire are developing a remotely-controlled underwater robotic vehicle to provide the Polar Research Community with a capability to be tele-operated under ice under direct real-time human supervision. The Nereid Under-Ice (Nereid-UI) vehicle, Figure 1, will enable exploration and detailed examination of biological and physical environments at glacial ice-tongues and ice-shelf margins through the use of HD video in addition to acoustic, chemical, and biological sensors, Table 1. We anticipate propulsion system optimization that will enable us to attain distances up to 20 km from an ice-edge boundary, as dictated by the current maximum tether length. The goal of the Nereid-UI system is to provide scientific access to under-ice and ice-margin environments that is presently impractical or infeasible. The project design phase is underway, with incremental field testing planned in 2014. We welcome input from the Polar Science Community on how best to serve your scientific objectives. The Nereid-UI vehicle will employ technology developed during the Nereus HROV project including lightweight expendable tethers and tolerance of communications failures. Performance goals include: 1. Extreme horizontal and vertical mobility - access to under-ice crevasses and glacier grounding- lines, close inspection and mapping. 2. Real-time exploration under direct human control. 3. Response to features of interest by altering sensing modality and trajectory as desired 4. Access to the calving front 5. Access to the under-ice boundary layer 6. Future manipulation, sample retrieval, and instrument emplacement capability Supported by NSF OPP under ANT-1126311, James Family Foundation, George Frederick Jewett Foundation East, and the Woods Hole Oceanographic Institution Fig. 1: Nereid-UI Concept of Operations. Table 1: Nereid-UI Specifications;

  1. Controlling Underwater Robots with Electronic Nervous Systems

    Directory of Open Access Journals (Sweden)

    Joseph Ayers

    2010-01-01

    Full Text Available We are developing robot controllers based on biomimetic design principles. The goal is to realise the adaptive capabilities of the animal models in natural environments. We report feasibility studies of a hybrid architecture that instantiates a command and coordinating level with computed discrete-time map-based (DTM neuronal networks and the central pattern generators with analogue VLSI (Very Large Scale Integration electronic neuron (aVLSI networks. DTM networks are realised using neurons based on a 1-D or 2-D Map with two additional parameters that define silent, spiking and bursting regimes. Electronic neurons (ENs based on Hindmarsh–Rose (HR dynamics can be instantiated in analogue VLSI and exhibit similar behaviour to those based on discrete components. We have constructed locomotor central pattern generators (CPGs with aVLSI networks that can be modulated to select different behaviours on the basis of selective command input. The two technologies can be fused by interfacing the signals from the DTM circuits directly to the aVLSI CPGs. Using DTMs, we have been able to simulate complex sensory fusion for rheotaxic behaviour based on both hydrodynamic and optical flow senses. We will illustrate aspects of controllers for ambulatory biomimetic robots. These studies indicate that it is feasible to fabricate an electronic nervous system controller integrating both aVLSI CPGs and layered DTM exteroceptive reflexes.

  2. RF Path and Absorption Loss Estimation for Underwater Wireless Sensor Networks in Different Water Environments

    Directory of Open Access Journals (Sweden)

    Umair Mujtaba Qureshi

    2016-06-01

    Full Text Available Underwater Wireless Sensor Network (UWSN communication at high frequencies is extremely challenging. The intricacies presented by the underwater environment are far more compared to the terrestrial environment. The prime reason for such intricacies are the physical characteristics of the underwater environment that have a big impact on electromagnetic (EM signals. Acoustics signals are by far the most preferred choice for underwater wireless communication. Because high frequency signals have the luxury of large bandwidth (BW at shorter distances, high frequency EM signals cannot penetrate and propagate deep in underwater environments. The EM properties of water tend to resist their propagation and cause severe attenuation. Accordingly, there are two questions that need to be addressed for underwater environment, first what happens when high frequency EM signals operating at 2.4 GHz are used for communication, and second which factors affect the most to high frequency EM signals. To answer these questions, we present real-time experiments conducted at 2.4 GHz in terrestrial and underwater (fresh water environments. The obtained results helped in studying the physical characteristics (i.e., EM properties, propagation and absorption loss of underwater environments. It is observed that high frequency EM signals can propagate in fresh water at a shallow depth only and can be considered for a specific class of applications such as water sports. Furthermore, path loss, velocity of propagation, absorption loss and the rate of signal loss in different underwater environments are also calculated and presented in order to understand why EM signals cannot propagate in sea water and oceanic water environments. An optimal solk6ution for underwater communication in terms of coverage distance, bandwidth and nature of communication is presented, along with possible underwater applications of UWSNs at 2.4 GHz.

  3. Fuel pattern recognition device

    International Nuclear Information System (INIS)

    Sato, Tomomi.

    1995-01-01

    The device of the present invention monitors normal fuel exchange upon fuel exchanging operation carried out in a reactor of a nuclear power plant. Namely, a fuel exchanger is movably disposed to the upper portion of the reactor and exchanges fuels. An exclusive computer receives operation signals of the fuel exchanger during operation as inputs, and outputs reactor core fuel pattern information signals to a fuel arrangement diagnosis device. An underwater television camera outputs image signals of a fuel pattern in the reactor core to an image processing device. If there is any change in the image signals for the fuel pattern as a result of the fuel exchange operation of the fuel exchanger, the image processing device outputs the change as image signals to the fuel pattern diagnosis device. The fuel pattern diagnosis device compares the pattern information signals from the exclusive computer with the image signals from the image processing device, to diagnose the result of the fuel exchange operation performed by the fuel exchanger and inform the diagnosis by means of an image display. (I.S.)

  4. [Review] Polarization and Polarimetry

    Science.gov (United States)

    Trippe, Sascha

    2014-02-01

    Polarization is a basic property of light and is fundamentally linked to the internal geometry of a source of radiation. Polarimetry complements photometric, spectroscopic, and imaging analyses of sources of radiation and has made possible multiple astrophysical discoveries. In this article I review (i) the physical basics of polarization: electromagnetic waves, photons, and parameterizations; (ii) astrophysical sources of polarization: scattering, synchrotron radiation, active media, and the Zeeman, Goldreich-Kylafis, and Hanle effects, as well as interactions between polarization and matter (like birefringence, Faraday rotation, or the Chandrasekhar-Fermi effect); (iii) observational methodology: on-sky geometry, influence of atmosphere and instrumental polarization, polarization statistics, and observational techniques for radio, optical, and X/γ wavelengths; and (iv) science cases for astronomical polarimetry: solar and stellar physics, planetary system bodies, interstellar matter, astrobiology, astronomical masers, pulsars, galactic magnetic fields, gamma-ray bursts, active galactic nuclei, and cosmic microwave background radiation.

  5. Polarization feedback laser stabilization

    Science.gov (United States)

    Esherick, P.; Owyoung, A.

    1987-09-28

    A system for locking two Nd:YAG laser oscillators includes an optical path for feeding the output of one laser into the other with different polarizations. Elliptical polarization is incorporated into the optical path so that the change in polarization that occurs when the frequencies coincide may be detected to provide a feedback signal to control one laser relative to the other. 4 figs.

  6. Polarization in Sagittarius A*

    OpenAIRE

    Bower, Geoffrey C.

    2000-01-01

    We summarize the current state of polarization observations of Sagittarius A*, the compact radio source and supermassive black hole candidate in the Galactic Center. These observations are providing new tools for understanding accretion disks, jets and their environments. Linear polarization observations have shown that Sgr A* is unpolarized at frequencies as high as 86 GHz. However, recent single-dish observations indicate that Sgr A* may have strong linear polarization at frequencies higher...

  7. Airborne Laser Polarization Sensor

    Science.gov (United States)

    Kalshoven, James, Jr.; Dabney, Philip

    1991-01-01

    Instrument measures polarization characteristics of Earth at three wavelengths. Airborne Laser Polarization Sensor (ALPS) measures optical polarization characteristics of land surface. Designed to be flown at altitudes of approximately 300 m to minimize any polarizing or depolarizing effects of intervening atmosphere and to look along nadir to minimize any effects depending on look angle. Data from measurements used in conjunction with data from ground surveys and aircraft-mounted video recorders to refine mathematical models used in interpretation of higher-altitude polarimetric measurements of reflected sunlight.

  8. Polarization at SLC

    International Nuclear Information System (INIS)

    Swartz, M.L.

    1988-07-01

    The SLAC Linear Collider has been designed to readily accommodate polarized electron beams. Considerable effort has been made to implement a polarized source, a spin rotation system, and a system to monitor the beam polarization. Nearly all major components have been fabricated. At the current time, several source and polarimeter components have been installed. The installation and commissioning of the entire system will take place during available machine shutdown periods as the commissioning of SLC progresses. It is expected that a beam polarization of 45% will be achieved with no loss in luminosity. 13 refs., 15 figs

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

    NARCIS (Netherlands)

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

    2011-01-01

    Although in recent years many research activities have been carried out on underwater communication, still many challenges need to be tackled to make the underwater communication suitable for real applications. To this end, availability of an open and well-designed platform and performing realworld

  10. Design and Performance Evaluation of Underwater Data Dissemination Strategies using Interference Avoidance and Network Coding

    DEFF Research Database (Denmark)

    Palacios, Raul; Heide, Janus; Fitzek, Frank

    2012-01-01

    The long propagation delays of the underwater acoustic channel make traditional Medium Access schemes impractical and inefficient under water. This paper introduces and studies Interference Avoidance and Network Coding for Medium Access protocol design aiming to cope with the underwater channel c...

  11. 76 FR 4529 - Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY

    Science.gov (United States)

    2011-01-26

    ...-AA00 Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY AGENCY: Coast Guard, DHS. ACTION: Temporary final rule. SUMMARY: The Coast Guard is establishing a temporary safety zone on the waters of....T01-1126 is added as follows: Sec. 165.T01-1126 Safety Zone; Underwater Hazard, Gravesend Bay...

  12. 76 FR 6728 - Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY

    Science.gov (United States)

    2011-02-08

    ...-AA00 Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY AGENCY: Coast Guard, DHS. ACTION: Notice of proposed rulemaking. SUMMARY: The Coast Guard proposes to establish a permanent safety zone.... 165.171 to read as follows: Sec. 165.171 Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY...

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

    Science.gov (United States)

    Jabba Molinares, Daladier

    2009-01-01

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

  14. A Combined Radio and Underwater Wireless Optical Communication System based on Buoys

    Science.gov (United States)

    Song, Yuhang; Tong, Zheng; Cong, Bo; Yu, Xiangyu; Kong, Meiwei; Lin, Aobo

    2016-02-01

    We propose a system of combining radio and underwater wireless optical communication based on buoys for real-time image and video transmission between underwater vehicles and the base station on the shore. We analysis how the BER performance is affected by the link distance and the deflection angle of the light source using Monte Carlo simulation.

  15. Design and Analysis of an Underwater White LED Fish-Attracting Lamp and its Light Propagation

    Directory of Open Access Journals (Sweden)

    Sheng Chih Shen

    2013-03-01

    Full Text Available Light emitting diodes (LED are a new source for replacing traditional light sources including under water illumination. As traditional underwater light sources operate under a radiative transfer model, the luminous intensity is dispersed evenly at each emission angle, with the scattering factors included in the attenuation coefficient. By contrast, LED light sources are characterized by being highly directional, causing underwater luminous energy to vary with different emission angles. Thus, the traditional theory of underwater optical transfer becomes inapplicable when an underwater LED lighting module is designed. Therefore, to construct an underwater transfer model for LED light sources, this study employed the average cosine of the underwater light field, the method for light scattering probability, the LED luminous intensity distribution curve (LIDC and axial luminous intensity. Afterwards, an underwater LED fish-attracting lamp was designed. Experimental results showed that, compared with the simulation values, the luminous intensity of the underwater LED lighting module at all emission angles had a percentage error of less than 10%.

  16. Mapping underwater sound in the dutch part of the North Sea

    NARCIS (Netherlands)

    Özkan Sertlek, H.; Aarts, Geert; Brasseur, Sophie; Slabbekoorn, Hans; Cate, ten Carel; Benda-Beckmann, von Alexander M.; Ainslie, Michael A.

    2016-01-01

    The European Union requires member states to achieve or maintain good environmental status for their marine territorial waters and explicitly mentions potentially adverse effects of underwater sound. In this study, we focused on producing maps of underwater sound from various natural and

  17. Mapping underwater sound in the Dutch part of the North Sea

    NARCIS (Netherlands)

    Sertlek, H.O.; Aarts, G.; Brasseur, S.; Slabbekoorn, H.; Cate, C. ten; Benda-Beckmann, A.M. von; Ainslie, M.A.

    2016-01-01

    The European Union requires member states to achieve or maintain good environmental status for their marine territorial waters and explicitly mentions potentially adverse effects of underwater sound. In this study, we focused on producing maps of underwater sound from various natural and

  18. 77 FR 38236 - Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA

    Science.gov (United States)

    2012-06-27

    ...-AA08 Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA AGENCY: Coast... ensure the safety of the maritime public during the Underwater Music Festival and would do so by... Music Festival is an event which includes musical performances from a barge. Spectators approach the...

  19. Specialization for underwater hearing by the tympanic middle ear of the turtle, Trachemys scripta elegans

    DEFF Research Database (Denmark)

    Christensen-Dalsgaard, J.; Brandt, Christian; Willis, K. L.

    2012-01-01

    Turtles, like other amphibious animals, face a trade-off between terrestrial and aquatic hearing. We used laser vibrometry and auditory brainstem responses to measure their sensitivity to vibration stimuli and to airborne versus underwater sound. Turtles are most sensitive to sound underwater...

  20. Fluorescence confocal polarizing microscopy: Three-dimensional ...

    Indian Academy of Sciences (India)

    Abstract. Much of the modern understanding of orientational order in liquid crystals (LCs) is based on polarizing microscopy (PM). A PM image bears only two-dimensional (2D) information, integrating the 3D pattern of optical birefringence over the path of light. Recently, we proposed a technique to image 3D director ...