WorldWideScience

Sample records for underwater polarization patterns

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

    Science.gov (United States)

    Waterman, Talbot H

    2006-02-01

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

  2. Polarization Patterns of Transmitted Celestial Light under Wavy Water Surfaces

    Directory of Open Access Journals (Sweden)

    Guanhua Zhou

    2017-03-01

    Full Text Available This paper presents a model to describe the polarization patterns of celestial light, which includes sunlight and skylight, when refracted by wavy water surfaces. The polarization patterns and intensity distribution of refracted light through the wave water surface were calculated. The model was validated by underwater experimental measurements. The experimental and theoretical values agree well qualitatively. This work provides a quantitative description of the repolarization and transmittance of celestial light transmitted through wave water surfaces. The effects of wind speed and incident sources on the underwater refraction polarization patterns are discussed. Scattering skylight dominates the polarization patterns while direct solar light is the dominant source of the intensity of the underwater light field. Wind speed has an influence on disturbing the patterns under water.

  3. 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.

  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. Polarization patterns of the twilight sky

    Science.gov (United States)

    Cronin, Thomas W.; Warrant, Eric J.; Greiner, Birgit

    2005-08-01

    Although natural light sources produce depolarized light, patterns of partially linearly polarized light appear in the sky due to scattering from air molecules, dust, and aerosols. Many animals, including bees and ants, orient themselves to patterns of polarization that are present in daytime skies, when the intensity is high and skylight polarization is strong and predictable. The halicitid bee Megalopta genalis inhabits rainforests in Central America. Unlike typical bees, it forages before sunrise and after sunset, when light intensities under the forest canopy are very low, and must find its way to food sources and return to its nest in visually challenging circumstances. An important cue for the orientation could be patterns of polarization in the twilight sky. Therefore, we used a calibrated digital camera to image skylight polarization in an overhead patch of sky, 87.6° across, before dawn on Barro Colorado Island in Panama, where the bees are found. We simultaneously measured the spectral properties of polarized light in a cloudless patch of sky 15° across centered on the zenith. We also performed full-sky imaging of polarization before dawn and after dusk on Lizard Island in Australia, another tropical island. During twilight, celestial polarized light occurs in a wide band stretching perpendicular to the location of the hidden sun and reaching typical degrees of polarization near 80% at wavelengths >600 nm. This pattern appears about 45 minutes before local sunrise or disappears 45 minutes after local sunset (about 20 minutes after the onset of astronomical twilight at dawn, or before its end at dusk) and extends with little change through the entire twilight period. Such a strong and reliable orientation cue could be used for flight orientation by any animal with polarization sensitivity that navigates during twilight.

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

    Science.gov (United States)

    2013-09-30

    by studying a homogeneous turbid medium. The diffuse reflection is produced by incoherent multiple scattering and is solved through radiative...polarization manipulation experiments revealed that polarization reflectance in Atlantic needlefish is controlled at the periphery (Fig 28). 6 19...with camouflage researchers on isopod and kelp crab camouflage against algae and seagrasses at several different west coast universities (Dierssen

  7. Investigating circular patterns in linear polarization observations of Venus

    NARCIS (Netherlands)

    Mahapatra, G.; Stam, D.M.; Rossi, L.C.G.; Rodenhuis, M.; Snik, Frans; Keller, C.U.

    2017-01-01

    In this work, we analyse linear polarization data of the planet at a distance, obtained with the Extreme Polarimeter (ExPo) on the William Herschel Telescope
    on La Palma. These spatially resolved, high-accuracy polarization observations of Venus show faint circular patterns centered on the

  8. 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 ...

  9. 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...

  10. 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…

  11. Cognition of normal pattern of myocardial polar map

    International Nuclear Information System (INIS)

    Fujisawa, Yasuo; Sasaki, Jiro; Kashima, Kenji; Matsumura, Yasushi; Yamamoto, Kazuhiro; Kodama, Kazuhisa

    1989-01-01

    When we diagnose the presence of ischemic heart disease by the diagrams of computer-generated polar map of exercised thallium images, the estimation of the presence of the deficit is not sufficient, because many normal subjects are considered as abnormal. The mean+2SD of defect severity index (DSI) of 118 normal subjects was 120, and we defined the patients with DSI≤120 as normal. But in 139 patients with their DSI≤120, 28 patients had significant coronary stenosis (>75%) and this means that false negative was 20%. We estimated the pattern of the deficit and found that in 109 of 111 subjects with normal coronary arteries, and 16 of 28 patients with ischemic heart disease, the patterns of the diagrams of polar map were patchy. This means that the diagram of the polar map show patchy pattern more frequently in normal subjects. In 125 patients whose diagrams of polar map were patchy, 16 patients with ischemic heart disease were included (false negative was 13%). We conclude that the estimation of DSI and the pattern of the diagram of polar map should be simultaneously considered and this makes the more accurate diagnosis possible. (author)

  12. Photo electron emission microscopy of polarity-patterned materials

    International Nuclear Information System (INIS)

    Yang, W-C; Rodriguez, B J; Gruverman, A; Nemanich, R J

    2005-01-01

    This study presents variable photon energy photo electron emission microscopy (PEEM) of polarity-patterned epitaxial GaN films, and ferroelectric LiNbO 3 (LNO) single crystals and PbZrTiO 3 (PZT) thin films. The photo electrons were excited with spontaneous emission from the tunable UV free electron laser (FEL) at Duke University. We report PEEM observation of polarity contrast and measurement of the photothreshold of each polar region of the materials. For a cleaned GaN film with laterally patterned Ga- and N-face polarities, we found a higher photoelectric yield from the N-face regions compared with the Ga-face regions. Through the photon energy dependent contrast in the PEEM images of the surfaces, we can deduce that the threshold of the N-face region is less than ∼4.9 eV while that of the Ga-face regions is greater than 6.3 eV. In both LNO and PZT, bright emission was detected from the negatively poled domains, indicating that the emission threshold of the negative domain is lower than that of the positive domain. For LNO, the measured photothreshold was ∼4.6 eV at the negative domain and ∼6.2 eV at the positive domain, while for PZT, the threshold of the negative domain was less than 4.3 eV. Moreover, PEEM observation of the PZT surface at elevated temperatures displayed that the domain contrast disappeared near the Curie temperature of ∼300 deg. C. The PEEM polarity contrast of the polar materials is discussed in terms of internal screening from free carriers and defects and the external screening due to adsorbed ions

  13. Photo electron emission microscopy of polarity-patterned materials

    Science.gov (United States)

    Yang, W.-C.; Rodriguez, B. J.; Gruverman, A.; Nemanich, R. J.

    2005-04-01

    This study presents variable photon energy photo electron emission microscopy (PEEM) of polarity-patterned epitaxial GaN films, and ferroelectric LiNbO3 (LNO) single crystals and PbZrTiO3 (PZT) thin films. The photo electrons were excited with spontaneous emission from the tunable UV free electron laser (FEL) at Duke University. We report PEEM observation of polarity contrast and measurement of the photothreshold of each polar region of the materials. For a cleaned GaN film with laterally patterned Ga- and N-face polarities, we found a higher photoelectric yield from the N-face regions compared with the Ga-face regions. Through the photon energy dependent contrast in the PEEM images of the surfaces, we can deduce that the threshold of the N-face region is less than ~4.9 eV while that of the Ga-face regions is greater than 6.3 eV. In both LNO and PZT, bright emission was detected from the negatively poled domains, indicating that the emission threshold of the negative domain is lower than that of the positive domain. For LNO, the measured photothreshold was ~4.6 eV at the negative domain and ~6.2 eV at the positive domain, while for PZT, the threshold of the negative domain was less than 4.3 eV. Moreover, PEEM observation of the PZT surface at elevated temperatures displayed that the domain contrast disappeared near the Curie temperature of ~300 °C. The PEEM polarity contrast of the polar materials is discussed in terms of internal screening from free carriers and defects and the external screening due to adsorbed ions.

  14. Inward Greenfield FDI and Patterns of Job Polarization

    Directory of Open Access Journals (Sweden)

    Sara Amoroso

    2018-04-01

    Full Text Available The unprecedented growth in foreign direct investment in the last few decades has caused drastic changes in the labor markets of the host countries. The major part of FDI takes place in low-tech industries, where the wages and skills are low, or in high-tech, where they offer a wage premium for the highly skilled workers. This mechanism may increase the polarization of employment into high-wage and low-wage jobs, at the expense of middle-skill jobs. This paper looks at the effects of two types of FDI inflows, namely foreign investment in high-skill and low-skill activities, on job polarization. We match data on greenfield FDI aggregated by country and sector with data on employment by occupational skill to investigate the extent to which different types of greenfield FDI are responsible for skill polarization. Our results show that low-skill foreign investment shifts employment from high- to medium- and low-skill jobs, while skill-intensive FDI generally leads to skill upgrading. Only FDI in information and communication technology (ICT is associated with job polarization, but only when accounting for the plurality of job polarization patterns across European sectors.

  15. Multi-q pattern classification of polarization curves

    Science.gov (United States)

    Fabbri, Ricardo; Bastos, Ivan N.; Neto, Francisco D. Moura; Lopes, Francisco J. P.; Gonçalves, Wesley N.; Bruno, Odemir M.

    2014-02-01

    Several experimental measurements are expressed in the form of one-dimensional profiles, for which there is a scarcity of methodologies able to classify the pertinence of a given result to a specific group. The polarization curves that evaluate the corrosion kinetics of electrodes in corrosive media are applications where the behavior is chiefly analyzed from profiles. Polarization curves are indeed a classic method to determine the global kinetics of metallic electrodes, but the strong nonlinearity from different metals and alloys can overlap and the discrimination becomes a challenging problem. Moreover, even finding a typical curve from replicated tests requires subjective judgment. In this paper, we used the so-called multi-q approach based on the Tsallis statistics in a classification engine to separate the multiple polarization curve profiles of two stainless steels. We collected 48 experimental polarization curves in an aqueous chloride medium of two stainless steel types, with different resistance against localized corrosion. Multi-q pattern analysis was then carried out on a wide potential range, from cathodic up to anodic regions. An excellent classification rate was obtained, at a success rate of 90%, 80%, and 83% for low (cathodic), high (anodic), and both potential ranges, respectively, using only 2% of the original profile data. These results show the potential of the proposed approach towards efficient, robust, systematic and automatic classification of highly nonlinear profile curves.

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

    Directory of Open Access Journals (Sweden)

    Jüri Sildam

    2010-01-01

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

  17. 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.       

  18. Underwater Ranging

    OpenAIRE

    S. P. Gaba

    1984-01-01

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

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

    Science.gov (United States)

    Javaid, Nadeem; Ejaz, Mudassir; Abdul, Wadood; Alamri, Atif; Almogren, Ahmad; Niaz, Iftikhar Azim; Guizani, Nadra

    2017-01-01

    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. PMID:28335377

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

    Science.gov (United States)

    Javaid, Nadeem; Ejaz, Mudassir; Abdul, Wadood; Alamri, Atif; Almogren, Ahmad; Niaz, Iftikhar Azim; Guizani, Nadra

    2017-03-13

    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.

  1. 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.

  2. Simple model for polar cap convection patterns and generation of theta auroras

    International Nuclear Information System (INIS)

    Lyons, L.R.

    1985-01-01

    The simple addition of a uniform interplanetary magnetic field and the Earth's dipole magnetic field is used to evaluate electric field convection patterns over the polar caps that result from solar wind flow across open geomagnetic field lines. This model is found to account for observed polar-cap convection patterns as a function of the interplanetary magnetic field components B/sub y/ and B/sub z/. In particular, the model offers an explanation for sunward and antisunward convection over the polar caps for B/sub z/>0. Observed field-aligned current patterns within the polar cap and observed auroral arcs across the polar cap are also explained by the model. In addition, the model gives several predictions concerning the polar cap that should be testable. Effects of solar wind pressure and magnetospheric currents on magnetospheric electric and magnetic fields are neglected. That observed polar cap features are reproduced suggests that the neglected effects do not modify the large-scale topology of magnetospheric electric and magnetic fields along open polar cap field lines. Of course, the neglected effects significantly modify the magnetic geometry, so that the results of this paper are not quantitatively realistic and many details may be incorrect. Nevertheless, the model provides a simple explanation for many qualitative features of polar cap convection

  3. Macrophage polarization alters the expression and sulfation pattern of glycosaminoglycans.

    Science.gov (United States)

    Martinez, Pierre; Denys, Agnès; Delos, Maxime; Sikora, Anne-Sophie; Carpentier, Mathieu; Julien, Sylvain; Pestel, Joël; Allain, Fabrice

    2015-05-01

    Macrophages are major cells of inflammatory process and take part in a large number of physiological and pathological processes. According to tissue environment, they can polarize into pro-inflammatory (M1) or alternative (M2) cells. Although many evidences have hinted to a potential role of cell-surface glycosaminoglycans (GAGs) in the functions of macrophages, the effect of M1 or M2 polarization on the biosynthesis of these polysaccharides has not been investigated so far. GAGs are composed of repeat sulfated disaccharide units. Heparan (HS) and chondroitin/dermatan sulfates (CS/DS) are the major GAGs expressed at the cell membrane. They are involved in numerous biological processes, which rely on their ability to selectively interact with a large panel of proteins. More than 20 genes encoding sulfotransferases have been implicated in HS and CS/DS biosynthesis, and the functional repertoire of HS and CS/DS has been related to the expression of these isoenzymes. In this study, we analyzed the expression of sulfotransferases as a response to macrophage polarization. We found that M1 and M2 activation drastically modified the profiles of expression of numerous HS and CS/DS sulfotransferases. This was accompanied by the expression of GAGs with distinct structural features. We then demonstrated that GAGs of M2 macrophages were efficient to present fibroblast growth factor-2 in an assay of tumor cell proliferation, thus indicating that changes in GAG structure may contribute to the functions of polarized macrophages. Altogether, our findings suggest a regulatory mechanism in which fine modifications in GAG biosynthesis may participate to the plasticity of macrophage functions. © The Author 2014. Published by Oxford University Press. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

  4. Receptive fields of locust brain neurons are matched to polarization patterns of the sky.

    Science.gov (United States)

    Bech, Miklós; Homberg, Uwe; Pfeiffer, Keram

    2014-09-22

    Many animals, including insects, are able to use celestial cues as a reference for spatial orientation and long-distance navigation [1]. In addition to direct sunlight, the chromatic gradient of the sky and its polarization pattern are suited to serve as orientation cues [2-5]. Atmospheric scattering of sunlight causes a regular pattern of E vectors in the sky, which are arranged along concentric circles around the sun [5, 6]. Although certain insects rely predominantly on sky polarization for spatial orientation [7], it has been argued that detection of celestial E vector orientation may not suffice to differentiate between solar and antisolar directions [8, 9]. We show here that polarization-sensitive (POL) neurons in the brain of the desert locust Schistocerca gregaria can overcome this ambiguity. Extracellular recordings from POL units in the central complex and lateral accessory lobes revealed E vector tunings arranged in concentric circles within large receptive fields, matching the sky polarization pattern at certain solar positions. Modeling of neuronal responses under an idealized sky polarization pattern (Rayleigh sky) suggests that these "matched filter" properties allow locusts to unambiguously determine the solar azimuth by relying solely on the sky polarization pattern for compass navigation. Copyright © 2014 Elsevier Ltd. All rights reserved.

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

    Science.gov (United States)

    2010-09-01

    several techniques for speckle suppression in optical imaging [19]. However, averaging nonimaged laser speckle patterns does not yield the same result...Comparison”. Applied Optics , 21(15):2758–2769, August 1982. 13. Fienup, James R. “Image Formation from Nonimaged Laser Speckle Patterns”. S. R. Robinson...6 ν Optical Frequency . . . . . . . . . . . . . . . . . . . . . . 6 t Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 ϕ

  6. Navigation by light polarization in clear and turbid waters

    Science.gov (United States)

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

    2011-01-01

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

  7. Polarized luminescence of nc-Si-SiO x nanostructures on silicon substrates with patterned surface

    Science.gov (United States)

    Michailovska, Katerina; Mynko, Viktor; Indutnyi, Ivan; Shepeliavyi, Petro

    2018-05-01

    Polarization characteristics and spectra of photoluminescence (PL) of nc-Si-SiO x structures formed on the patterned and plane c-Si substrates are studied. The interference lithography with vacuum chalcogenide photoresist and anisotropic wet etching are used to form a periodic relief (diffraction grating) on the surface of the substrates. The studied nc-Si-SiO x structures were produced by oblique-angle deposition of Si monoxide in vacuum and the subsequent high-temperature annealing. The linear polarization memory (PM) effect in PL of studied structure on plane substrate is manifested only after the treatment of the structures in HF and is explained by the presence of elongated Si nanoparticles in the SiO x nanocolumns. But the PL output from the nc-Si-SiO x structure on the patterned substrate depends on how this radiation is polarized with respect to the grating grooves and is much less dependent on the polarization of the exciting light. The measured reflection spectra of nc-Si-SiO x structure on the patterned c-Si substrate confirmed the influence of pattern on the extraction of polarized PL.

  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. Diurnal dung beetles use the intensity gradient and the polarization pattern of the sky for orientation.

    Science.gov (United States)

    el Jundi, Basil; Smolka, Jochen; Baird, Emily; Byrne, Marcus J; Dacke, Marie

    2014-07-01

    To escape competition at the dung pile, a ball-rolling dung beetle forms a piece of dung into a ball and rolls it away. To ensure their efficient escape from the dung pile, beetles rely on a 'celestial compass' to move along a straight path. Here, we analyzed the reliability of different skylight cues for this compass and found that dung beetles rely not only on the sun but also on the skylight polarization pattern. Moreover, we show the first evidence of an insect using the celestial light-intensity gradient for orientation. Using a polarizer, we manipulated skylight so that the polarization pattern appeared to turn by 90 deg. The beetles then changed their bearing close to the expected 90 deg. This behavior was abolished if the sun was visible to the beetle, suggesting that polarized light is hierarchically subordinate to the sun. When the sky was depolarized and the sun was invisible, the beetles could still move along straight paths. Therefore, we analyzed the use of the celestial light-intensity gradient for orientation. Artificial rotation of the intensity pattern by 180 deg caused beetles to orient in the opposite direction. This light-intensity cue was also found to be subordinate to the sun and could play a role in disambiguating the polarization signal, especially at low sun elevations. © 2014. Published by The Company of Biologists Ltd.

  10. Cell polarity and patterning by PIN trafficking through early endosomal compartments in Arabidopsis thaliana.

    Directory of Open Access Journals (Sweden)

    Hirokazu Tanaka

    2013-05-01

    Full Text Available PIN-FORMED (PIN proteins localize asymmetrically at the plasma membrane and mediate intercellular polar transport of the plant hormone auxin that is crucial for a multitude of developmental processes in plants. PIN localization is under extensive control by environmental or developmental cues, but mechanisms regulating PIN localization are not fully understood. Here we show that early endosomal components ARF GEF BEN1 and newly identified Sec1/Munc18 family protein BEN2 are involved in distinct steps of early endosomal trafficking. BEN1 and BEN2 are collectively required for polar PIN localization, for their dynamic repolarization, and consequently for auxin activity gradient formation and auxin-related developmental processes including embryonic patterning, organogenesis, and vasculature venation patterning. These results show that early endosomal trafficking is crucial for cell polarity and auxin-dependent regulation of plant architecture.

  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. 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.

  13. Common and distinctive localization patterns of Crumbs polarity complex proteins in the mammalian eye.

    Science.gov (United States)

    Kim, Jin Young; Song, Ji Yun; Karnam, Santi; Park, Jun Young; Lee, Jamie J H; Kim, Seonhee; Cho, Seo-Hee

    2015-01-01

    Crumbs polarity complex proteins are essential for cellular and tissue polarity, and for adhesion of epithelial cells. In epithelial tissues deletion of any of three core proteins disrupts localization of the other proteins, indicating structural and functional interdependence among core components. Despite previous studies of function and co-localization that illustrated the properties that these proteins share, it is not known whether an individual component of the complex plays a distinct role in a unique cellular and developmental context. In order to investigate this question, we primarily used confocal imaging to determine the expression and subcellular localization of the core Crumbs polarity complex proteins during ocular development. Here we show that in developing ocular tissues core Crumbs polarity complex proteins, Crb, Pals1 and Patj, generally appear in an overlapping pattern with some exceptions. All three core complex proteins localize to the apical junction of the retinal and lens epithelia. Pals1 is also localized in the Golgi of the retinal cells and Patj localizes to the nuclei of the apically located subset of progenitor cells. These findings suggest that core Crumbs polarity complex proteins exert common and independent functions depending on cellular context. Copyright © 2015 Elsevier B.V. All rights reserved.

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

    International Nuclear Information System (INIS)

    Kaneda, K.; Misawa, H.; Tsuchiya, F.; Obara, T.; Iwai, K.; Katoh, Y.; Masuda, S.

    2017-01-01

    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.

  15. 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.

  16. 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

  17. Blind equalization for underwater communications

    NARCIS (Netherlands)

    Blom, K.C.H.

    2014-01-01

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

  18. 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

  19. 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.

  20. 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.

  1. Underwater welding of steel

    International Nuclear Information System (INIS)

    Ibarra, S.; Olson, D.L.

    1992-01-01

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

  2. Underwater Acoustic Networking Techniques

    CERN Document Server

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

    2012-01-01

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

  3. Underwater Acoustic Tracer System

    Science.gov (United States)

    2009-03-13

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

  4. Divergence in Patterns of Leaf Growth Polarity Is Associated with the Expression Divergence of miR396.

    Science.gov (United States)

    Das Gupta, Mainak; Nath, Utpal

    2015-10-01

    Lateral appendages often show allometric growth with a specific growth polarity along the proximo-distal axis. Studies on leaf growth in model plants have identified a basipetal growth direction with the highest growth rate at the proximal end and progressively lower rates toward the distal end. Although the molecular mechanisms governing such a growth pattern have been studied recently, variation in leaf growth polarity and, therefore, its evolutionary origin remain unknown. By surveying 75 eudicot species, here we report that leaf growth polarity is divergent. Leaf growth in the proximo-distal axis is polar, with more growth arising from either the proximal or the distal end; dispersed with no apparent polarity; or bidirectional, with more growth contributed by the central region and less growth at either end. We further demonstrate that the expression gradient of the miR396-GROWTH-REGULATING FACTOR module strongly correlates with the polarity of leaf growth. Altering the endogenous pattern of miR396 expression in transgenic Arabidopsis thaliana leaves only partially modified the spatial pattern of cell expansion, suggesting that the diverse growth polarities might have evolved via concerted changes in multiple gene regulatory networks. © 2015 American Society of Plant Biologists. All rights reserved.

  5. Axi-symmetric patterns of active polar filaments on spherical and composite surfaces

    Science.gov (United States)

    Srivastava, Pragya; Rao, Madan

    2014-03-01

    Experiments performed on Fission Yeast cells of cylindrical and spherical shapes, rod-shaped bacteria and reconstituted cylindrical liposomes suggest the influence of cell geometry on patterning of cortical actin. A theoretical model based on active hydrodynamic description of cortical actin that includes curvature-orientation coupling predicts spontaneous formation of acto-myosin rings, cables and nodes on cylindrical and spherical geometries [P. Srivastava et al, PRL 110, 168104(2013)]. Stability and dynamics of these patterns is also affected by the cellular shape and has been observed in experiments performed on Fission Yeast cells of spherical shape. Motivated by this, we study the stability and dynamics of axi-symmetric patterns of active polar filaments on the surfaces of spherical, saddle shaped and conical geometry and classify the stable steady state patterns on these surfaces. Based on the analysis of the fluorescence images of Myosin-II during ring slippage we propose a simple mechanical model for ring-sliding based on force balance and make quantitative comparison with the experiments performed on Fission Yeast cells. NSF Grant DMR-1004789 and Syracuse Soft Matter Program.

  6. The Rho GTPase Cdc42 regulates hair cell planar polarity and cellular patterning in the developing cochlea

    Directory of Open Access Journals (Sweden)

    Anna Kirjavainen

    2015-03-01

    Full Text Available Hair cells of the organ of Corti (OC of the cochlea exhibit distinct planar polarity, both at the tissue and cellular level. Planar polarity at tissue level is manifested as uniform orientation of the hair cell stereociliary bundles. Hair cell intrinsic polarity is defined as structural hair bundle asymmetry; positioning of the kinocilium/basal body complex at the vertex of the V-shaped bundle. Consistent with strong apical polarity, the hair cell apex displays prominent actin and microtubule cytoskeletons. The Rho GTPase Cdc42 regulates cytoskeletal dynamics and polarization of various cell types, and, thus, serves as a candidate regulator of hair cell polarity. We have here induced Cdc42 inactivation in the late-embryonic OC. We show the role of Cdc42 in the establishment of planar polarity of hair cells and in cellular patterning. Abnormal planar polarity was displayed as disturbances in hair bundle orientation and morphology and in kinocilium/basal body positioning. These defects were accompanied by a disorganized cell-surface microtubule network. Atypical protein kinase C (aPKC, a putative Cdc42 effector, colocalized with Cdc42 at the hair cell apex, and aPKC expression was altered upon Cdc42 depletion. Our data suggest that Cdc42 together with aPKC is part of the machinery establishing hair cell planar polarity and that Cdc42 acts on polarity through the cell-surface microtubule network. The data also suggest that defects in apical polarization are influenced by disturbed cellular patterning in the OC. In addition, our data demonstrates that Cdc42 is required for stereociliogenesis in the immature cochlea.

  7. Design of underwater work systems

    International Nuclear Information System (INIS)

    Lovelace, R.B.

    1980-01-01

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

  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. 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.

  10. Simulation of organ patterning on the floral meristem using a polar auxin transport model.

    Directory of Open Access Journals (Sweden)

    Simon van Mourik

    Full Text Available An intriguing phenomenon in plant development is the timing and positioning of lateral organ initiation, which is a fundamental aspect of plant architecture. Although important progress has been made in elucidating the role of auxin transport in the vegetative shoot to explain the phyllotaxis of leaf formation in a spiral fashion, a model study of the role of auxin transport in whorled organ patterning in the expanding floral meristem is not available yet. We present an initial simulation approach to study the mechanisms that are expected to play an important role. Starting point is a confocal imaging study of Arabidopsis floral meristems at consecutive time points during flower development. These images reveal auxin accumulation patterns at the positions of the organs, which strongly suggests that the role of auxin in the floral meristem is similar to the role it plays in the shoot apical meristem. This is the basis for a simulation study of auxin transport through a growing floral meristem, which may answer the question whether auxin transport can in itself be responsible for the typical whorled floral pattern. We combined a cellular growth model for the meristem with a polar auxin transport model. The model predicts that sepals are initiated by auxin maxima arising early during meristem outgrowth. These form a pre-pattern relative to which a series of smaller auxin maxima are positioned, which partially overlap with the anlagen of petals, stamens, and carpels. We adjusted the model parameters corresponding to properties of floral mutants and found that the model predictions agree with the observed mutant patterns. The predicted timing of the primordia outgrowth and the timing and positioning of the sepal primordia show remarkable similarities with a developing flower in nature.

  11. Polar Pattern Formation in Driven Filament Systems Require Non-Binary Particle Collisions.

    Science.gov (United States)

    Suzuki, Ryo; Weber, Christoph A; Frey, Erwin; Bausch, Andreas R

    2015-10-01

    Living matter has the extraordinary ability to behave in a concerted manner, which is exemplified throughout nature ranging from the self-organisation of the cytoskeleton to flocks of animals [1-4]. The microscopic dynamics of constituents have been linked to the system's meso- or macroscopic behaviour in silico via the Boltzmann equation for propelled particles [5-10]. Thereby, simplified binary collision rules between the constituents had to be assumed due to the lack of experimental data. We report here experimentally determined binary collision statistics by studying the recently introduced molecular system, the high density actomyosin motility assay [11-13]. We demonstrate that the alignment effect of the binary collision statistics is too weak to account for the observed ordering transition. The transition density for polar pattern formation decreases quadratically with filament length, which indicates that multi-filament collisions drive the observed ordering phenomenon and that a gas-like picture cannot explain the transition of the system to polar order. The presented findings demonstrate that the unique properties of biological active matter systems require a description that goes well beyond a gas-like picture developed in the framework of kinetic theories.

  12. Polar pattern formation in driven filament systems requires non-binary particle collisions

    Science.gov (United States)

    Suzuki, Ryo; Weber, Christoph A.; Frey, Erwin; Bausch, Andreas R.

    2015-10-01

    From the self-organization of the cytoskeleton to the synchronous motion of bird flocks, living matter has the extraordinary ability to behave in a concerted manner. The Boltzmann equation for self-propelled particles is frequently used in silico to link a system’s meso- or macroscopic behaviour to the microscopic dynamics of its constituents. But so far such studies have relied on an assumption of simplified binary collisions owing to a lack of experimental data suggesting otherwise. We report here experimentally determined binary-collision statistics by studying a recently introduced molecular system, the high-density actomyosin motility assay. We demonstrate that the alignment induced by binary collisions is too weak to account for the observed ordering transition. The transition density for polar pattern formation decreases quadratically with filament length, indicating that multi-filament collisions drive the observed ordering phenomenon and that a gas-like picture cannot explain the transition of the system to polar order. Our findings demonstrate that the unique properties of biological active-matter systems require a description that goes well beyond that developed in the framework of kinetic theories.

  13. 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.

  14. 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.

  15. Quantum mechanical modeling the emission pattern and polarization of nanoscale light emitting diodes.

    Science.gov (United States)

    Wang, Rulin; Zhang, Yu; Bi, Fuzhen; Frauenheim, Thomas; Chen, GuanHua; Yam, ChiYung

    2016-07-21

    Understanding of the electroluminescence (EL) mechanism in optoelectronic devices is imperative for further optimization of their efficiency and effectiveness. Here, a quantum mechanical approach is formulated for modeling the EL processes in nanoscale light emitting diodes (LED). Based on non-equilibrium Green's function quantum transport equations, interactions with the electromagnetic vacuum environment are included to describe electrically driven light emission in the devices. The presented framework is illustrated by numerical simulations of a silicon nanowire LED device. EL spectra of the nanowire device under different bias voltages are obtained and, more importantly, the radiation pattern and polarization of optical emission can be determined using the current approach. This work is an important step forward towards atomistic quantum mechanical modeling of the electrically induced optical response in nanoscale systems.

  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 wireless communication system

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  18. Smelling and Tasting Underwater.

    Science.gov (United States)

    Atema, Jelle

    1980-01-01

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

  19. Autonomous Underwater Gliders

    OpenAIRE

    Wood,; Stephen,

    2009-01-01

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

  20. Underwater Gliders: A Review

    OpenAIRE

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

    2014-01-01

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

  1. Practical 3-D Beam Pattern Based Channel Modeling for Multi-Polarized Massive MIMO Systems.

    Science.gov (United States)

    Aghaeinezhadfirouzja, Saeid; Liu, Hui; Balador, Ali

    2018-04-12

    In this paper, a practical non-stationary three-dimensional (3-D) channel models for massive multiple-input multiple-output (MIMO) systems, considering beam patterns for different antenna elements, is proposed. The beam patterns using dipole antenna elements with different phase excitation toward the different direction of travels (DoTs) contributes various correlation weights for rays related towards/from the cluster, thus providing different elevation angle of arrivals (EAoAs) and elevation angle of departures (EAoDs) for each antenna element. These include the movements of the user that makes our channel to be a non-stationary model of clusters at the receiver (RX) on both the time and array axes. In addition, their impacts on 3-D massive MIMO channels are investigated via statistical properties including received spatial correlation. Additionally, the impact of elevation/azimuth angles of arrival on received spatial correlation is discussed. Furthermore, experimental validation of the proposed 3-D channel models on azimuth and elevation angles of the polarized antenna are specifically evaluated and compared through simulations. The proposed 3-D generic models are verified using relevant measurement data.

  2. Photosensitive response of azobenzene containing films towards pure intensity or polarization interference patterns

    Energy Technology Data Exchange (ETDEWEB)

    Yadavalli, Nataraja Sekhar; Santer, Svetlana, E-mail: santer@uni-potsdam.de [Department of Experimental Physics, Institute of Physics and Astronomy, University of Potsdam, 14476 Potsdam (Germany); Saphiannikova, Marina [Leibniz Institute of Polymer Research Dresden, 01069 Dresden (Germany)

    2014-08-04

    In this paper, we report on differences in the response of photosensitive azobenzene containing films upon irradiation with the intensity or polarization interference patterns. Two materials are studied differing in the molecular weight: an azobenzene-containing polymer and a molecular glass formed from a much smaller molecule consisting of three connected azobenzene units. Topography changes occurring along with the changes in irradiation conditions are recorded using a homemade set-up combining an optical part for generation and shaping of interference patterns and an atomic force microscope for acquiring the kinetics of film deformation. In this way, we could reveal the unique behavior of photosensitive materials during the first few minutes of irradiation: the change in topography is initially driven by an increase in the azobenzene free volume along with the trans-cis isomerization, followed by the mass transport finally resulting in the surface relief grating. This study demonstrates the great potential of our setup to experimentally highlight puzzling processes governing the formation of surface relief gratings.

  3. 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

  4. 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.

  5. 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 ...

  6. Imaging polarimetry of forest canopies: how the azimuth direction of the sun, occluded by vegetation, can be assessed from the polarization pattern of the sunlit foliage

    Science.gov (United States)

    Hegedüs, Ramón; Barta, András; Bernáth, Balázs; Benno Meyer-Rochow, Victor; Horváth, Gábor

    2007-08-01

    Radiance, color, and polarization of the light in forests combine to create complex optical patterns. Earlier sporadic polarimetric studies in forests were limited by the narrow fields of view of the polarimeters used in such studies. Since polarization patterns in the entire upper hemisphere of the visual environment of forests could be important for forest-inhabiting animals that make use of linearly polarized light for orientation, we measured 180° field-of-view polarization distributions in Finnish forests. From a hot air balloon we also measured the polarization patterns of Hungarian grasslands lit by the rising sun. We found that the pattern of the angle of polarization α of sunlit grasslands and sunlit tree canopies was qualitatively the same as that of the sky. We show here that contrary to an earlier assumption, the α-pattern characteristic of the sky always remains visible underneath overhead vegetation, independently of the solar elevation and the sky conditions (clear or partly cloudy with visible sun's disc), provided the foliage is sunlit and not only when large patches of the clear sky are visible through the vegetation. Since the mirror symmetry axis of the α-pattern of the sunlit foliage is the solar-antisolar meridian, the azimuth direction of the sun, occluded by vegetation, can be assessed in forests from this polarization pattern. Possible consequences of this robust polarization feature of the optical environment in forests are briefly discussed with regard to polarization-based animal navigation.

  7. Unusual polarity-dependent patterns in a bent-core nematic liquid crystal under low-frequency ac field.

    Science.gov (United States)

    Xiang, Ying; Zhou, Meng-jie; Xu, Ming-Ya; Salamon, Péter; Éber, Nándor; Buka, Ágnes

    2015-04-01

    Electric-field-induced patterns of diverse morphology have been observed over a wide frequency range in a recently synthesized bent-core nematic (BCN) liquid crystal. At low frequencies (up to ∼25 Hz), the BCN exhibited unusual polarity-dependent patterns. When the amplitude of the ac field was enhanced, these two time-asymmetrical patterns turned into time-symmetrical prewavylike stripes. At ac frequencies in the middle-frequency range (∼50-3000 Hz), zigzag patterns were detected whose obliqueness varied with the frequency. Finally, if the frequency was increased above 3 kHz, the zigzag pattern was replaced by another, prewavylike pattern, whose threshold voltage depended on the frequency; however, the wave vector did not. For a more complete characterization, material parameters such as elastic constants, dielectric permittivities, and the anisotropy of the diamagnetic susceptibility were also determined.

  8. 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…

  9. Underwater 3D filming

    OpenAIRE

    Rinaldi, Roberto

    2014-01-01

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

  10. 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.

  11. Conversion of proteins from a non-polarized to an apical secretory pattern in MDCK cells

    International Nuclear Information System (INIS)

    Vogel, Lotte K.; Larsen, Jakob E.; Hansen, Martin; Truffer, Renato

    2005-01-01

    Previously it was shown that fusion proteins containing the amino terminus of an apical targeted member of the serpin family fused to the corresponding carboxyl terminus of the non-polarized secreted serpin, antithrombin, are secreted mainly to the apical side of MDCK cells. The present study shows that this is neither due to the transfer of an apical sorting signal from the apically expressed proteins, since a sequence of random amino acids acts the same, nor is it due to the deletion of a conserved signal for correct targeting from the non-polarized secreted protein. Our results suggest that the polarity of secretion is determined by conformational sensitive sorting signals

  12. 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)

  13. The temporal and geographical mercury patterns in polar bears and birds of prey

    DEFF Research Database (Denmark)

    Dietz, R.; Riget, F.; Olsen, M.T.

    2004-01-01

    Mercury compounds are bio-accumulated. As a consequence the highest levels of mercury are measured in top predators like seals, toothed whales, polar bears, and also humans. The main mercury source for humans is the diet but the processes that links emission with effects through the transport chain...... and seals. The coupling between transport pathways of carbon and mercury is weak at lower trophic levels. A substantial decrease of Hg concentrations in teeth and hair of polar bears since 1960 was found. Hg concentrations in hair of polar bears sampled in East Greenland during 1999-2001 was 8.3 times...... a new parameterisation of the removal of atmospheric mercury for Danish Eulerian Hemispheric Model (DEHM) and to validate the model. As a first estimate about 200 tons/year is deposited to the surface north of polar circle. In undisturbed sediment cores the mercury concentration and the mercury...

  14. 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.

  15. 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)

  16. Colour reconstruction of underwater images

    OpenAIRE

    Hoth, Julian; Kowalczyk, Wojciech

    2017-01-01

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

  17. Underwater Welding Techniques

    OpenAIRE

    Esam F. Alajmi; Ahmad A. Alqenaei

    2017-01-01

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

  18. 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.

  19. 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.)

  20. Regimes of wave type patterning driven by refractory actin feedback: transition from static polarization to dynamic wave behaviour

    International Nuclear Information System (INIS)

    Holmes, W R; Edelstein-Keshet, L; Carlsson, A E

    2012-01-01

    Patterns of waves, patches, and peaks of actin are observed experimentally in many living cells. Models of this phenomenon have been based on the interplay between filamentous actin (F-actin) and its nucleation promoting factors (NPFs) that activate the Arp2/3 complex. Here we present an alternative biologically-motivated model for F-actin-NPF interaction based on properties of GTPases acting as NPFs. GTPases (such as Cdc42, Rac) are known to promote actin nucleation, and to have active membrane-bound and inactive cytosolic forms. The model is a natural extension of a previous mathematical mini-model of small GTPases that generates static cell polarization. Like other modellers, we assume that F-actin negative feedback shapes the observed patterns by suppressing the trailing edge of NPF-generated wave-fronts, hence localizing the activity spatially. We find that our NPF-actin model generates a rich set of behaviours, spanning a transition from static polarization to single pulses, reflecting waves, wave trains, and oscillations localized at the cell edge. The model is developed with simplicity in mind to investigate the interaction between nucleation promoting factor kinetics and negative feedback. It explains distinct types of pattern initiation mechanisms, and identifies parameter regimes corresponding to distinct behaviours. We show that weak actin feedback yields static patterning, moderate feedback yields dynamical behaviour such as travelling waves, and strong feedback can lead to wave trains or total suppression of patterning. We use a recently introduced nonlinear bifurcation analysis to explore the parameter space of this model and predict its behaviour with simulations validating those results. (paper)

  1. 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

  2. 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.

  3. Underwater running device

    International Nuclear Information System (INIS)

    Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

    1996-01-01

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

  4. 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

  5. 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.

  6. Polarized cellular patterns of endocannabinoid production and detection shape cannabinoid signaling in neurons

    Directory of Open Access Journals (Sweden)

    Delphine eLadarre

    2015-01-01

    Full Text Available Neurons display important differences in plasma membrane composition between somatodendritic and axonal compartments, potentially leading to currently unexplored consequences in G-protein-coupled-receptor signaling. Here, by using highly-resolved biosensor imaging to measure local changes in basal levels of key signaling components, we explored features of type-1 cannabinoid receptor (CB1R signaling in individual axons and dendrites of cultured rat hippocampal neurons. Activation of endogenous CB1Rs led to rapid, Gi/o-protein- and cAMP-mediated decrease of cyclic-AMP-dependent protein kinase (PKA activity in the somatodendritic compartment. In axons, PKA inhibition was significantly stronger, in line with axonally-polarized distribution of CB1Rs. Conversely, inverse agonist AM281 produced marked rapid increase of basal PKA activation in somata and dendrites, but not in axons, removing constitutive activation of CB1Rs generated by local production of the endocannabinoid 2-arachidonoylglycerol (2-AG. Interestingly, somatodendritic 2-AG levels differently modified signaling responses to CB1R activation by Δ9-THC, the psychoactive compound of marijuana, and by the synthetic cannabinoids WIN55,212-2 and CP55,940. These highly contrasted differences in sub-neuronal signaling responses warrant caution in extrapolating pharmacological profiles, which are typically obtained in non-polarized cells, to predict in vivo responses of axonal (i.e. presynaptic GPCRs. Therefore, our results suggest that enhanced comprehension of GPCR signaling constraints imposed by neuronal cell biology may improve the understanding of neuropharmacological action.

  7. 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

  8. Bifunctional, Chemically Patterned Flat Stamps for Microcontact Printing of Polar Inks

    NARCIS (Netherlands)

    Duan, X.; Sadhu, V.B.; Perl, A.; Péter, M.; Reinhoudt, David; Huskens, Jurriaan

    2008-01-01

    Different methods to create chemically patterned, flat PDMS stamps with two different chemical functionalities were compared. The best method for making such stamps, functionalized with 1H,1H,2H,2H-perfluorodecyltrichlorosilane (PFDTS) and 3-(aminopropyl)triethoxysilane (APTS), appeared to be full

  9. Spatiotemporal change of sky polarization during the total solar eclipse on 29 March 2006 in Turkey: polarization patterns of the eclipsed sky observed by full-sky imaging polarimetry.

    Science.gov (United States)

    Sipocz, Brigitta; Hegedüs, Ramón; Kriska, György; Horváth, Gábor

    2008-12-01

    Using 180 degrees field-of-view (full-sky) imaging polarimetry, we measured the spatiotemporal change of the polarization of skylight during the total solar eclipse on 29 March 2006 in Turkey. We present our observations here on the temporal variation of the celestial patterns of the degree p and angle alpha of linear polarization of the eclipsed sky measured in the red (650 nm), green (550 nm), and blue (450 nm) parts of the spectrum. We also report on the temporal and spectral change of the positions of neutral (unpolarized, p = 0) points, and points with local minima or maxima of p of the eclipsed sky. Our results are compared with the observations performed by the same polarimetric technique during the total solar eclipse on 11 August 1999 in Hungary. Practically the same characteristics of celestial polarization were encountered during both eclipses. This shows that the observed polarization phenomena of the eclipsed sky may be general.

  10. Field-aligned currents and convection patterns in the Southern Polar Cap during stable northward, southward, and azimuthal IMF

    International Nuclear Information System (INIS)

    Papitashvili, V.O.; Belov, B.A.; Gromova, L.I.

    1989-01-01

    Equivalent ionospheric current patterns are derived from ground-based geomagnetic observations for events on 11-12 November 1979 (B/sub z/ >> 0), 24 November 1981 (B/sub z/ > 0) (B/sub y/ >> 0), and 25-26 November 1979 (B/sub y/ 0 . Due to stable external conditions, it is possible to calculate the field-aligned current (FAC) density within cells formed by two adjacent stations by taking into account the uniform conductivity of the summer polar ionosphere. These results completely correspond to regressional analysis of interplanetary magnetic fields (IMF) and ground-based geomagnetic data, and also to satellite observations of the NBZ current system. During stable southward IMF a new result was obtained, a reversal of antisunward convection flow is identified, and an NBZ-like FAC system is restored in the central part of the southern polar cap. The authors conclude that there may be an additional NBZ-like FAC system poleward of -85 0 , which is independent of the IMF and is generated by the quasi-viscous interaction between solar-wind plasma and high-latitude lobes of the magnetospheric tail

  11. 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

  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.

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

  13. 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.

  14. 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.

  15. 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.

  16. How small communities respond to environmental change: patterns from tropical to polar ecosystems

    Directory of Open Access Journals (Sweden)

    Henry P. Huntington

    2017-09-01

    Full Text Available Local communities throughout the world are experiencing extensive social, cultural, economic, environmental, and climatic changes. Rather than passively accepting the effects of such changes, many communities are responding in various ways to take advantage of opportunities and to minimize negative impacts. We review examples from 13 cases around the world to identify patterns in how communities have been able to respond to change. Communities are able to respond by making changes in the time and location of activities, by using different species, by developing or using new technologies, and by organizing themselves internally or in networks. The possible responses a community can make on its own constitute the autonomous response space. When communities work with others to respond, they are in the collaborative response space. These findings suggest that assessments concerning climate and other forms of change should include local responses as a foundation for policy recommendations, recognizing that both autonomous and collaborative responses can contribute to adaptation. Policies designed to achieve adaptation or sustainability should consider ways to expand the autonomous response space, thus freeing local initiative, while also making the collaborative response space more cooperative, thus providing support to communities rather than imposing limitations.

  17. Underwater radiation measuring device

    International Nuclear Information System (INIS)

    Seki, Noriyuki; Suzuki, Yasuo

    1998-01-01

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

  18. An underwater shear compactor

    International Nuclear Information System (INIS)

    Biver, E.; Sims, J.

    1997-01-01

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

  19. 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)

  20. Development of underwater laser cutting technology

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  1. Underwater Gliders by Dr. Kevin Smith [video

    OpenAIRE

    Naval Postgraduate School Physics

    2015-01-01

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

  2. 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.

  3. 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 (p<0.05) in the blood (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.

  4. UNDERWATER COATINGS FOR CONTAMINATION CONTROL

    International Nuclear Information System (INIS)

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

    2004-01-01

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

  5. Operational experience in underwater photogrammetry

    Science.gov (United States)

    Leatherdale, John D.; John Turner, D.

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

  6. 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.

  7. Variations in the polar cap area during intervals of substorm activity on 20-21 March 1990 deduced from AMIE convection patterns

    Directory of Open Access Journals (Sweden)

    J. R. Taylor

    1996-09-01

    Full Text Available The dynamic behaviour of the northern polar cap area is studied employing Northern Hemisphere electric potential patterns derived by the Assimilative Mapping of Ionospheric Electrodynamics (AMIE procedure. The rate of change in area of the polar cap, which can be defined as the region of magnetospheric field lines open to the interplanetary magnetic field (IMF, has been calculated during two intervals when the IMF had an approximately constant southward component (1100–2200 UT, 20 March 1990 and 1300–2100 UT, 21 March 1990. The estimates of the polar cap area are based on the approximation of the polar cap boundary by the flow reversal boundary. The change in the polar cap area is then compared to the predicted expansion rate based on a simple application of Faraday\\'s Law. Furthermore, timings of magnetospheric substorms are also related to changes in the polar cap area. Once the convection electric field reconfigures following a southward turning of the IMF, the growth rate of the observed polar cap boundary is consistent with that predicted by Faraday\\'s Law. A delay of typically 20 min to 50 min is observed between a substorm expansion phase onset and a reduction in the polar cap area. Such a delay is consistent with a synthesis between the near Earth neutral line and current disruption models of magnetospheric substorms in which the dipolarisation in the magnetotail may act as a trigger for reconnection. These delays may represent a propagation time between near geosynchronous orbit dipolarisation and subsequent reconnection further down tail. We estimate, from these delays, that the neutral X line occurs between ~35RE and ~75RE downstream in the tail.

  8. 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)

  9. 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.

  10. Underwater noise due to precipitation

    DEFF Research Database (Denmark)

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

    1989-01-01

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

  11. 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)

  12. 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…

  13. 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...

  14. 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, ...

  15. Cutting method and device underwater

    International Nuclear Information System (INIS)

    Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

    1998-01-01

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

  16. Celestial polarization patterns sufficient for Viking navigation with the naked eye: detectability of Haidinger's brushes on the sky versus meteorological conditions

    Science.gov (United States)

    Horváth, Gábor; Takács, Péter; Kretzer, Balázs; Szilasi, Szilvia; Száz, Dénes; Farkas, Alexandra; Barta, András

    2017-02-01

    If a human looks at the clear blue sky from which light with high enough degree of polarization d originates, an 8-shaped bowtie-like figure, the yellow Haidinger's brush can be perceived, the long axis of which points towards the sun. A band of high d arcs across the sky at 90° from the sun. A person can pick two points on that band, observe the yellow brushes and triangulate the position of the sun based on the orientation of the two observed brushes. This method has been suggested to have been used on the open sea by Viking navigators to determine the position of the invisible sun occluded by cloud or fog. Furthermore, Haidinger's brushes can also be used to locate the sun when it is below the horizon or occluded by objects on the horizon. To determine the position of the sun using the celestial polarization pattern, the d of the portion of the sky used must be greater than the viewer's degree of polarization threshold d* for perception of Haidinger's brushes. We studied under which sky conditions the prerequisite d > d* is satisfied. Using full-sky imaging polarimetry, we measured the d-pattern of skylight in the blue (450 nm) spectral range for 1296 different meteorological conditions with different solar elevation angles θ and per cent cloud cover ρ. From the measured d-patterns of a given sky we determined the proportion P of the sky for which d > d*. We obtained that P is the largest at low solar elevations θ ≈ 0° and under totally or nearly clear skies with cloud coverage ρ = 0%, when the sun's position is already easily determined. If the sun is below the horizon (-5° ≤ θ Viking navigation based on Haidinger's brushes is most useful after sunset and prior to sunrise, when the sun is not visible and large sky regions are bright, clear and polarized enough for perception of Haidinger's brushes.

  17. Taiwan's underwater cultural heritage documentation management

    Science.gov (United States)

    Tung, Y.-Y.

    2015-09-01

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

  18. 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...

  19. Underwater colorectal EMR: remodeling endoscopic mucosal resection.

    Science.gov (United States)

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

    2015-05-01

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

  20. 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

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

    Directory of Open Access Journals (Sweden)

    Xin Liu

    2018-01-01

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

  2. 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.

  3. ROV Based Underwater Blurred Image Restoration

    Institute of Scientific and Technical Information of China (English)

    LIU Zhishen; DING Tianfu; WANG Gang

    2003-01-01

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

  4. Quantum imaging for underwater arctic navigation

    Science.gov (United States)

    Lanzagorta, Marco

    2017-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Xiaolin Bian

    2017-06-01

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

  6. LAKE BAIKAL: Underwater neutrino detector

    International Nuclear Information System (INIS)

    Anon.

    1991-01-01

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

  7. Polarity-sensitive transient patterned state in a twisted nematic liquid crystal driven by very low frequency fields.

    Science.gov (United States)

    Krishnamurthy, K S; Kumar, Pramoda; Kumar, M Vijay

    2013-02-01

    We report, for a rodlike nematic liquid crystal with small positive dielectric and conductivity anisotropies, and in the 90°-twisted configuration, low frequency (wave electric field generated Carr-Helfrich director modulation appearing transiently over a few seconds at each polarity reversal and vanishing almost completely under steady field conditions. Significantly, the instability is polarity sensitive, with the maximum distortion localized in the vicinity of the negative electrode, rather than in the midplane of the layer. This is revealed by the wave vector alternating in the two halves of the driving cycle between the alignment directions at the two substrates. Besides the Carr-Helfrich mechanism, quadrupolar flexoelectric polarization arising under electric field gradient is strongly indicated as being involved in the development of the transient periodic order. Similar transient instability is also observed in other nematic compounds with varying combinations of dielectric and conductivity anisotropies, showing its general nature. The study also deals with various characteristics of the electro-optic effect that emerge from the temporal variation of optical response for different driving voltages, frequencies, and temperatures.

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

    Science.gov (United States)

    2017-06-01

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

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

    OpenAIRE

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

    2007-01-01

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

  10. 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.

  11. 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.

  12. 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

  13. Polarized neutrons

    International Nuclear Information System (INIS)

    Williams, W.G.

    1988-01-01

    The book on 'polarized neutrons' is intended to inform researchers in condensed matter physics and chemistry of the diversity of scientific problems that can be investigated using polarized neutron beams. The contents include chapters on:- neutron polarizers and instrumentation, polarized neutron scattering, neutron polarization analysis experiments and precessing neutron polarization. (U.K.)

  14. 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.

  15. 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.)

  16. 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.

  17. 3D Laser Scanner for Underwater Manipulation

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2018-04-01

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

  18. 3D Laser Scanner for Underwater Manipulation.

    Science.gov (United States)

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

    2018-04-04

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

  19. Stage-specific regulation of four HD-ZIP III transcription factors during polar pattern formation in Larix leptolepis somatic embryos.

    Science.gov (United States)

    Li, Shui-gen; Li, Wan-feng; Han, Su-ying; Yang, Wen-hua; Qi, Li-wang

    2013-06-15

    Polar auxin transport provides a developmental signal for cell fate specification during somatic embryogenesis. Some members of the HD-ZIP III transcription factors participate in regulation of auxin transport, but little is known about this regulation in somatic embryogenesis. Here, four HD-ZIP III homologues from Larix leptolepis were identified and designated LaHDZ31, 32, 33 and 34. The occurrence of a miR165/166 target sequence in all four cDNA sequences indicated that they might be targets of miR165/166. Identification of the cleavage products of LaHDZ31 and LaHDZ32 in vivo confirmed that they were regulated by miRNA. Their mRNA accumulation patterns during somatic embryogenesis and the effects of 1-N-naphthylphthalamic acid (NPA) on their transcript levels and somatic embryo maturation were investigated. The results showed that the four genes had higher transcript levels at mature stages than at the proliferation stage, and that NPA treatment down-regulated the mRNA abundance of LaHDZ31, 32 and 33 at cotyledonary embryo stages, but had no effect on the mRNA abundance of LaHDZ34. We concluded that these four members of Larix HD-ZIP III family might participate in polar auxin transport and the development of somatic embryos, providing new insights into the regulatory mechanisms of somatic embryogenesis. Copyright © 2013 Elsevier B.V. All rights reserved.

  20. Underwater welding and repair technologies applied in PWR environment

    International Nuclear Information System (INIS)

    Scandella, Fabrice; Carpreau, Jean-Michel

    2012-01-01

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

  1. 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

  2. Human Injury Criteria for Underwater Blasts.

    Directory of Open Access Journals (Sweden)

    Rachel M Lance

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

  3. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

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

    2013-01-01

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

  4. 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

  5. Underwater Calibration of Dome Port Pressure Housings

    Science.gov (United States)

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

    2016-03-01

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

  6. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  7. 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.

  8. 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

  9. Application of underwater radon measurements in geology

    Energy Technology Data Exchange (ETDEWEB)

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

    1988-01-01

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

  10. The Intensity, Directionality, and Statistics of Underwater Noise From Melting Icebergs

    Science.gov (United States)

    Glowacki, Oskar; Deane, Grant B.; Moskalik, Mateusz

    2018-05-01

    Freshwater fluxes from melting icebergs and glaciers are important contributors to both sea level rise and anomalies of seawater salinity in polar regions. However, the hazards encountered close to icebergs and glaciers make it difficult to quantify their melt rates directly, motivating the development of cryoacoustics as a remote sensing technique. Recent studies have shown a qualitative link between ice melting and the accompanying underwater noise, but the properties of this signal remain poorly understood. Here we examine the intensity, directionality, and temporal statistics of the underwater noise radiated by melting icebergs in Hornsund Fjord, Svalbard, using a three-element acoustic array. We present the first estimate of noise energy per unit area associated with iceberg melt and demonstrate its qualitative dependence on exposure to surface current. Finally, we show that the analysis of noise directionality and statistics makes it possible to distinguish iceberg melt from the glacier terminus melt.

  11. 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

  12. 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 ...

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

    Science.gov (United States)

    2011-03-01

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

  14. 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

  15. 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

  16. 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

  17. Underwater image mosaicking and visual odometry

    Science.gov (United States)

    Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

    2017-05-01

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

  18. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  19. 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.

  20. MOSES, development of an Underwater Warfare Testbed

    NARCIS (Netherlands)

    Lentze, S.G.

    2001-01-01

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

  1. Human Injury Criteria for Underwater Blasts

    Science.gov (United States)

    2014-09-08

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

  2. 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

  3. 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

  4. Communication and cooperation in underwater acoustic networks

    Science.gov (United States)

    Yerramalli, Srinivas

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

  5. Polarization properties of linearly polarized parabolic scaling Bessel beams

    Energy Technology Data Exchange (ETDEWEB)

    Guo, Mengwen; Zhao, Daomu, E-mail: zhaodaomu@yahoo.com

    2016-10-07

    The intensity profiles for the dominant polarization, cross polarization, and longitudinal components of modified parabolic scaling Bessel beams with linear polarization are investigated theoretically. The transverse intensity distributions of the three electric components are intimately connected to the topological charge. In particular, the intensity patterns of the cross polarization and longitudinal components near the apodization plane reflect the sign of the topological charge. - Highlights: • We investigated the polarization properties of modified parabolic scaling Bessel beams with linear polarization. • We studied the evolution of transverse intensity profiles for the three components of these beams. • The intensity patterns of the cross polarization and longitudinal components can reflect the sign of the topological charge.

  6. 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.

  7. 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

  8. 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

  9. 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

  10. 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.

  11. 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.

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

    KAUST Repository

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

    2017-01-01

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

  13. 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...

  14. 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)

  15. 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.

  16. Underwater noise modelling for environmental impact assessment

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  17. 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.

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

    International Nuclear Information System (INIS)

    Krueger, P.

    1976-01-01

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

  19. 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

  20. Inspecting the inside of underwater hull

    Science.gov (United States)

    Valkovic, Vladivoj; Sudac, Davorin

    2009-05-01

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

  1. Underwater bipedal locomotion by octopuses in disguise.

    Science.gov (United States)

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

    2005-03-25

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

  2. 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.

  3. Study on underwater plasma arc cutting technology

    International Nuclear Information System (INIS)

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

    1980-01-01

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

  4. Underwater Acoustic Target Tracking: A Review

    Science.gov (United States)

    Han, Ying; Fan, Liying

    2018-01-01

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

  5. Underwater detection by using ultrasonic sensor

    Science.gov (United States)

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

    2017-09-01

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

  6. Afocal viewport optics for underwater imaging

    Science.gov (United States)

    Slater, Dan

    2014-09-01

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

  7. 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.

  8. Environmental effects on underwater optical transmission

    Science.gov (United States)

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

    2017-05-01

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

  9. 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

  10. 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...

  11. 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...

  12. 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...

  13. 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...

  14. Polarimetry and Schlieren diagnostics of underwater exploding wires

    Science.gov (United States)

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

    2009-11-01

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

  15. Polarimetry and Schlieren diagnostics of underwater exploding wires

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  16. 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

  17. 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)

    OpenAIRE

    Zivkovic, Dana; Créton, Robbert; Zwaan, Gideon; Bruijn, Wim; 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 was distributed in a polar fashion, along the cytoplasmic face of the plasma membrane. In the eggs of Lymnaea it was found only in the vegetal hemisphere, whereas in Bithynia eggs it was localized...

  18. 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

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

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  20. Remarks on the observability of single beacon underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Ross, Andrew

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

  1. Underwater laser cladding and seal welding for INCONEL 52

    International Nuclear Information System (INIS)

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

    2007-01-01

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

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

    Science.gov (United States)

    Russell F. Thurow

    1994-01-01

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

  3. 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

  4. Neutron polarization

    International Nuclear Information System (INIS)

    Firk, F.W.K.

    1976-01-01

    Some recent experiments involving polarized neutrons are discussed; they demonstrate how polarization studies provide information on fundamental aspects of nuclear structure that cannot be obtained from more traditional neutron studies. Until recently, neutron polarization studies tended to be limited either to very low energies or to restricted regions at higher energies, determined by the kinematics of favorable (p, vector n) and (d, vector n) reactions. With the advent of high intensity pulsed electron and proton accelerators and of beams of vector polarized deuterons, this is no longer the case. One has entered an era in which neutron polarization experiments are now being carried out, in a routine way, throughout the entire range from thermal energies to tens-of-MeV. The significance of neutron polarization studies is illustrated in discussions of a wide variety of experiments that include the measurement of T-invariance in the β-decay of polarized neutrons, a search for the effects of meson exchange currents in the photo-disintegration of the deuteron, the determination of quantum numbers of states in the fission of aligned 235 U and 237 Np induced by polarized neutrons, and the double- and triple-scattering of fast neutrons by light nuclei

  5. Visual communication system among underwater robots and divers. Kaichu robot ya diver kan no shikaku ni yoru tsushin

    Energy Technology Data Exchange (ETDEWEB)

    Chiba, H. (East Japan Railway Co., Tokyo (Japan)); Ura, T.; Fujii, T. (The University of Tokyo, Tokyo (Japan). Institute of Industrial Science)

    1993-07-01

    Performing coordinated works between underwater robots and divers, often called undersea agents, requires communication means to promote mutual understanding. This paper describes a system to make visual communications as a communication means used under sea, and discusses elementary technologies to realize mutual communications between the agents. The visual communication system comprises a device to indicate command patterns that correspond to intentions to be communicated using five electroluminescence (EL) panels, a CCD camera, and a transponder. Discussions were given on image processing to recognize the command patterns, EL panel positions, and communication protocols. As a result of experiments assuming underwater communications between divers and robots, using a water tank, it was found that the command patterns can be recognized if illuminance in the water tank is 100 lux or lower. Validity of the system was verified in the experiments. 4 refs., 9 figs., 1 tab.

  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. Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    M. Fauzi Nor Shah

    2011-08-01

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

  8. 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.

  9. Acquisition and tracking for underwater optical communications

    Science.gov (United States)

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

    2017-10-01

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

  10. 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

  11. Leakage warning system for flexible underwater pipelines

    Energy Technology Data Exchange (ETDEWEB)

    Moeller, E; Bernstein, L

    1985-08-01

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

  12. 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.

  13. Underwater photography - A visual survey method

    Digital Repository Service at National Institute of Oceanography (India)

    Sharma, R.

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

  14. 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

  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. Underwater Activities in the Soviet Union

    Science.gov (United States)

    1975-03-01

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

  17. Hydraulic lifter for an underwater drilling rig

    Energy Technology Data Exchange (ETDEWEB)

    Garan' ko, Yu L

    1981-01-15

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

  18. Forecast of Remote Underwater Sensing Technology.

    Science.gov (United States)

    1980-07-01

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

  19. 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...

  20. Working underwater: deepwater drilling support by ROV

    Energy Technology Data Exchange (ETDEWEB)

    1958-01-01

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

  1. Determining spherical lens correction for astronaut training underwater.

    Science.gov (United States)

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

    2011-09-01

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

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

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  3. Polar bears at risk

    Energy Technology Data Exchange (ETDEWEB)

    Norris, S.; Rosentrater, L.; Eid, P.M. [WWF International Arctic Programme, Oslo (Norway)

    2002-05-01

    Polar bears, the world's largest terrestrial carnivore, spend much of their lives on the arctic sea ice. This is where they hunt and move between feeding, denning, and resting areas. The world population, estimated at 22,000 bears, is made up of 20 relatively distinct populations varying in size from a few hundred to a few thousand animals. About 60 per cent of all polar bears are found in Canada. In general, the status of this species is stable, although there are pronounced differences between populations. Reductions in the extent and thickness of sea ice has lead the IUCN Polar Bear Specialist Group to describe climate change as one of the major threats facing polar bears today. Though the long-term effects of climate change will vary in different areas of the Arctic, impacts on the condition and reproductive success of polar bears and their prey are likely to be negative. Longer ice-free periods resulting from earlier break-up of sea ice in the spring and later formation in the fall is already impacting polar bears in the southern portions of their range. In Canada's Hudson Bay, for example, bears hunt on the ice through the winter and into early summer, after which the ice melts completely, forcing bears ashore to fast on stored fat until freeze-up in the fall. The time bears have on the ice to hunt and build up their body condition is cut short when the ice melts early. Studies from Hudson Bay show that for every week earlier that ice break-up occurs, bears will come ashore 10 kg lighter and in poorer condition. It is likely that populations of polar bears dividing their time between land and sea will be severely reduced and local extinctions may occur as greenhouse gas emissions continue to rise and sea ice melts. Expected changes in regional weather patterns will also impact polar bears. Rain in the late winter can cause maternity dens to collapse before females and cubs have departed, thus exposing occupants to the elements and to predators. Such

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

    International Nuclear Information System (INIS)

    Drews, P.; Fuchs, K.

    1990-01-01

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

  5. Underwater sediment-contact radiation survey method

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  6. Underwater inspection training in intense radiation field

    International Nuclear Information System (INIS)

    Taniguchi, Ryoichi

    2017-01-01

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

  7. Underwater noise from a wave energy converter

    DEFF Research Database (Denmark)

    Tougaard, Jakob

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

  8. 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.

  9. 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.

  10. 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.

  11. Ionic polarization

    International Nuclear Information System (INIS)

    Mahan, G.D.

    1992-01-01

    Ferroelectricity occurs in many different kinds of materials. Many of the technologically important solids, which are ferroelectric, can be classified as ionic. Any microscopic theory of ferroelectricity must contain a description of local polarization forces. We have collaborated in the development of a theory of ionic polarization which is quite successful. Its basic assumption is that the polarization is derived from the properties of the individual ions. We have applied this theory successfully to diverse subjects as linear and nonlinear optical response, phonon dispersion, and piezoelectricity. We have developed numerical methods using the local Density approximation to calculate the multipole polarizabilities of ions when subject to various fields. We have also developed methods of calculating the nonlinear hyperpolarizability, and showed that it can be used to explain light scattering experiments. This paper elaborates on this polarization theory

  12. Polarization experiments

    International Nuclear Information System (INIS)

    Halzen, F.

    1977-02-01

    In a theoretical review of polarization experiments two important points are emphasized: (a) their versatility and their relevance to a large variety of aspects of hadron physics (tests of basic symmetries; a probe of strong interaction dynamics; a tool for hadron spectroscopy); (b) the wealth of experimental data on polarization parameters in pp and np scattering in the Regge language and in the diffraction language. (author)

  13. Underwater cladding with laser beam and plasma arc welding

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  14. 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.

  15. Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Francisco García-Córdova

    2013-04-01

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

  16. The influence of underwater turbulence on optical phase measurements

    Science.gov (United States)

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

    2016-05-01

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

  17. 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.)

  18. Polarization measurement for internal polarized gaseous targets

    International Nuclear Information System (INIS)

    Ye Zhenyu; Ye Yunxiu; Lv Haijiang; Mao Yajun

    2004-01-01

    The authors present an introduction to internal polarized gaseous targets, polarization method, polarization measurement method and procedure. To get the total nuclear polarization of hydrogen atoms (including the polarization of the recombined hydrogen molecules) in the target cell, authors have measured the parameters relating to atomic polarization and polarized hydrogen atoms and molecules. The total polarization of the target during our measurement is P T =0.853 ± 0.036. (authors)

  19. 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

  20. 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)

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

    International Nuclear Information System (INIS)

    Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

    2013-01-01

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

  2. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2002-09-01

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

  4. WODA Technical Guidance on Underwater Sound from Dredging.

    Science.gov (United States)

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

    2016-01-01

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

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

    International Nuclear Information System (INIS)

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

    2009-01-01

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

  6. Polar localization of plasma membrane Ca2+/Mg2+ ATPase correlates with the pattern of steady ionic currents in eggs ofLymnaea stagnalis andBithynia tentaculata (Mollusca).

    Science.gov (United States)

    Zivkovic, Danica; Créton, Robbert; Zwaan, Gideon; de Bruijn, Willem C; Dohmen, M René

    1990-11-01

    During extrusion of the first polar body in eggs ofLymnaea stagnalis andBithynia tentaculata a localized Ca 2+ /Mg 2+ 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 was distributed in a polar fashion, along the cytoplasmic face of the plasma membrane. In the eggs ofLymnaea it was found only in the vegetal hemisphere, whereas inBithynia eggs it was localized both in the vegetal hemisphere and at the animal pole. This pattern of enzyme activity corresponds to the polar pattern of transcellular ionic currents measured with the vibrating probe, which we showed to be partially carried or regulated by calcium [Zivkovic and Dohmen (1989) Biol Bull (Woods Hole) 176 (Suppl):103-109]. The characteristics of the ATPase were studied using a variety of approaches such as ion and substrate depletions and substitutions, addition of specific inhibitors of ATPase activity, treatment with EDTA/EGTA and electron energy-loss spectrometry. The results indicate that, inLymnaea, there are at least two enzymatic entities. The first one is a Ca 2+ /Mg 2+ ATPase localized along the membrane and in the cortex of the vegetal hemisphere. The second one is a Ca 2+ -stimulated ATPase (calcium pump of the plasma membrane) localized in a small region of the membrane at the vegetal pole. We speculate that in the eggs ofLymnaea andBithynia a functional relationship exists between the plasma-membrane-associated ATPase activity and the transcellular ionic currents measured in the same region.

  7. 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.

  8. 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.

  9. Multiuser underwater acoustic communication using single-element virtual time reversal mirror

    Institute of Scientific and Technical Information of China (English)

    YIN JingWei; WANG YiLin; WANG Lei; HUI JunYing

    2009-01-01

    Pattern time delay shift coding (PDS) scheme is introduced and combined with spread spectrum tech-nique called SS-PDS for short which is power-saving and competent for long-range underwater acous-tic networks.Single-element virtual time reversal mirror (VTRM) is presented in this paper and validated by the lake trial results.Employing single-element VTRM in multiuser communication system based on SS-PDS can separate different users' information simultaneously at master node as indicated in the simulation results.

  10. Sources of polarized neutrons

    International Nuclear Information System (INIS)

    Walter, L.

    1983-01-01

    Various sources of polarized neutrons are reviewed. Monoenergetic source produced with unpolarized or polarized beams, white sources of polarized neutrons, production by transmissions through polarized hydrogen targets and polarized thermal neutronsare discussed, with appropriate applications included. (U.K.)

  11. 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.

  12. 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...

  13. Collision Detection for Underwater ROV Manipulator Systems

    Directory of Open Access Journals (Sweden)

    Satja Sivčev

    2018-04-01

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

  14. 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.

  15. Silent Localization of Underwater Sensors Using Magnetometers

    Directory of Open Access Journals (Sweden)

    Jonas Callmer

    2010-01-01

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

  16. Morphing hull implementation for unmanned underwater vehicles

    Science.gov (United States)

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

    2013-11-01

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

  17. 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)

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

    KAUST Repository

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2017-10-01

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

  20. 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.

  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. Localization of Energy Harvesting Empowered Underwater Optical Wireless Sensor Networks

    KAUST Repository

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

    2017-01-01

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

  3. Study of archaeological underwater finds: deterioration and conservation

    Science.gov (United States)

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

    2010-09-01

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

  4. 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.

  5. Underwater target positioning with a single acoustic sensor

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  6. Filming Underwater in 3d Respecting Stereographic Rules

    Science.gov (United States)

    Rinaldi, R.; Hordosch, H.

    2015-04-01

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

  7. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    Directory of Open Access Journals (Sweden)

    R. Rinaldi

    2015-04-01

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

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

    Directory of Open Access Journals (Sweden)

    Ahmed Hawass

    2015-12-01

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

  9. Low-contrast underwater living fish recognition using PCANet

    Science.gov (United States)

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

    2018-04-01

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

  10. 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.

  11. 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.

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

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

  13. 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

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

    OpenAIRE

    Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih

    2015-01-01

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

  15. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    OpenAIRE

    R. Rinaldi; H. Hordosch

    2015-01-01

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

  16. 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

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

    Institute of Scientific and Technical Information of China (English)

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

    2007-01-01

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

  18. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

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

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

    Science.gov (United States)

    1997-04-01

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

  20. Monterey Bay ambient noise profiles using underwater gliders

    OpenAIRE

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

    2013-01-01

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

  1. 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.

  2. 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.

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

    Science.gov (United States)

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

    2014-10-01

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

  4. 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.

  5. Polarization study

    International Nuclear Information System (INIS)

    Nurushev, S.B.

    1989-01-01

    Brief review is presented of the high energy polarization study including experimental data and the theoretical descriptions. The mostimportant proposals at the biggest accelerators and the crucial technical developments are also listed which may become a main-line of spin physics. 35 refs.; 10 figs.; 4 tabs

  6. Polar Stratigraphy

    Science.gov (United States)

    1999-01-01

    These three images were taken on three different orbits over the north polar cap in April 1999. Each shows a different part of the same ice-free trough. The left and right images are separated by a distance of more than 100 kilometers (62 miles). Note the similar layers in each image.

  7. 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.

  8. Polarized coincidence electroproduction

    International Nuclear Information System (INIS)

    Heimann, R.L.

    1975-03-01

    A study is made of the inclusive electroproduction of single hadrons off a polarized target. Bjorken scaling laws and the hadron azimuthal distribution are derived from the quark parton model. The polarization asymmetries scale when the target spin is along the direction of the virtual photon, and (apart from significant exception) vanish for transverse spin. These results have a simple explanation; emphasis is given both to the general mathematical formalism and to intuitive physical reasoning. Through this framework other cases are considered: quarks with anomalous magnetic moment; renormalization group effects and asymptotic freedom; production of vector mesons (whose spin state is analysed by their decay); relation to large transverse momentum hadron production; and a covariant parton model calculation. Spin 0 partons and Regge singularities are also considered. All of these cases (apart from the last two) modify the pattern of conclusions. Vector meson production shows polarization enhancements in the density matrix element rhosub(0+); the renormalization group approach does not lead to any significant suppressions. They are also less severe in parton models for large Psub(T) hadrons, and are not supported by the covariantly formulated calculation. The origins of these differences are isolated and used to exemplify the sensitivity polarized hadron electroproduction has to delicate detail that is otherwise concealed. (author)

  9. 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.

  10. 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.

  11. Underwater hydraulic shock shovel control system

    Science.gov (United States)

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

    2008-06-01

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

  12. 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.

  13. 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.

  14. 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...

  15. 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...

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

    KAUST Repository

    Lu, Yimeng

    2018-01-01

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

  17. 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

  18. 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.

  19. 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

  20. 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.

  1. 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.

  2. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1997-12-31

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

  3. 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.

  4. 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.

  5. Underwater Shock Wave Research Applied to Therapeutic Device Developments

    Science.gov (United States)

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

    2013-07-01

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

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

    OpenAIRE

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

    2015-01-01

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

  7. Polar Polygons

    Science.gov (United States)

    2005-01-01

    18 August 2005 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows dark-outlined polygons on a frost-covered surface in the south polar region of Mars. In summer, this surface would not be bright and the polygons would not have dark outlines--these are a product of the presence of seasonal frost. Location near: 77.2oS, 204.8oW Image width: width: 3 km (1.9 mi) Illumination from: upper left Season: Southern Spring

  8. 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.

  9. 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.

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

    International Nuclear Information System (INIS)

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

    2010-01-01

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

  11. 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.

  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. 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.

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

    Science.gov (United States)

    Xue, Wei; Wang, Tianyu; Wang, Qi

    2018-04-01

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

  15. 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.

  16. Automated gravity gradient tensor inversion for underwater object detection

    International Nuclear Information System (INIS)

    Wu, Lin; Tian, Jinwen

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    K. Ovaliadis

    2014-07-01

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

  18. 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.

  19. 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.

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

    Science.gov (United States)

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

    2018-02-01

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

  1. Airborne lidar detection of an underwater thermal vent

    Science.gov (United States)

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

    2017-07-01

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

  2. Reduced Attitude Control of a Robotic Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Bláha Lukáš

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    S. D’Amelio

    2015-04-01

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

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

    Science.gov (United States)

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

    2014-07-14

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

  5. Pressure vessel made by free forming using underwater explosion

    Directory of Open Access Journals (Sweden)

    H Iyama

    2016-03-01

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

  6. Underwater Shock Response Analysis of a Floating Vessel

    Directory of Open Access Journals (Sweden)

    J.E. van Aanhold

    1998-01-01

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

  7. Analysis and experimental results of frequency splitting of underwater wireless power transfer

    Directory of Open Access Journals (Sweden)

    Wangqiang Niu

    2017-06-01

    Full Text Available Underwater wireless power transfer (UWPT is an important technique to power underwater devices while its frequency splitting phenomena are not fully elucidated. In this study, frequency splitting phenomena of a symmetrical planar two-coil wireless power transfer (WPT system resonated at 90 kHz are investigated in seawater and freshwater. A concise frequency splitting analysis of this WPT system in air based on circuit model is given first and then experimental data are reported to show there is little difference between power transfer in air, freshwater and seawater in the range of 40–140 kHz of this WPT system. Consequently, the frequency splitting analysis and observations in air are also applicable in freshwater and seawater. It is found a V-type frequency splitting pattern exists in this WPT system under seawater and freshwater. Frequency shift is observed in this UWPT system in overcoupled region, and no frequency shift is observed in undercoupled region. In undercoupled region, in the low frequency zone of 40–90 kHz the load voltage characteristics in three media are identical; in the high-frequency zone of 90–140 kHz, the load voltage in air is slightly larger than those in freshwater and seawater.

  8. 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.

  9. Polarized secondary radioactive beams

    International Nuclear Information System (INIS)

    Zaika, N.I.

    1992-01-01

    Three methods of polarized radioactive nuclei beam production: a) a method nuclear interaction of the non-polarized or polarized charged projectiles with target nuclei; b) a method of polarization of stopped reaction radioactive products in a special polarized ion source with than following acceleration; c) a polarization of radioactive nuclei circulating in a storage ring are considered. Possible life times of the radioactive ions for these methods are determined. General schemes of the polarization method realizations and depolarization problems are discussed

  10. Polar crane

    International Nuclear Information System (INIS)

    Makosinski, S.

    1981-01-01

    In many applications polar cranes have to be repeatedly positioned with high accuracy. A guidance system is disclosed which has two pairs of guides. Each guide consists of two rollers carried by a sheave rotatable mounted on the crane bridge, the rollers being locatable one on each side of a guideway, e.g. the circular track on which the bridge runs. The pairs of guides are interconnected by respective rope loops which pass around and are locked to the respective pairs of sheaves in such a manner that movement of one guide results in equal movement of the other guide in a sense to maintain the repeatability of positioning of the centre of the bridge. A hydraulically-linked guide system is also described. (author)

  11. 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.

  12. 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.

  13. 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...

  14. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

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

  15. Spreading of sediment due to underwater blasting and dredging

    DEFF Research Database (Denmark)

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

    2015-01-01

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

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

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  17. Underwater sound produced by individual drop impacts and rainfall

    DEFF Research Database (Denmark)

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

    1989-01-01

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

  18. 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

  19. 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.

  20. Underwater Munitions Expert System to Predict Mobility and Burial

    Science.gov (United States)

    2017-11-14

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

  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. 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.

  4. 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

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

    International Nuclear Information System (INIS)

    Yousri, K.M.

    2005-01-01

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

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

    KAUST Repository

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

    2018-01-01

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

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

    African Journals Online (AJOL)

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

  8. Underwater navigation using diffusion-based trajectory observers

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Opderbecke, Jan

    2007-01-01

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

  9. 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.

  10. 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.

  11. 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 ...

  12. 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.

  13. 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

  14. 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 ...

  15. 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.

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

    Science.gov (United States)

    2013-04-23

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

  17. 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

  18. 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.

  19. Underwater inverse LIBS (iLIBS) for marine archaeology

    Science.gov (United States)

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

    2013-05-01

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

  20. Bioelectric modulation of macrophage polarization

    Science.gov (United States)

    Li, Chunmei; Levin, Michael; Kaplan, David L.

    2016-02-01

    Macrophages play a critical role in regulating wound healing and tissue regeneration by changing their polarization state in response to local microenvironmental stimuli. The native roles of polarized macrophages encompass biomaterials and tissue remodeling needs, yet harnessing or directing the polarization response has been largely absent as a potential strategy to exploit in regenerative medicine to date. Recent data have revealed that specific alteration of cells’ resting potential (Vmem) is a powerful tool to direct proliferation and differentiation in a number of complex tissues, such as limb regeneration, craniofacial patterning and tumorigenesis. In this study, we explored the bioelectric modulation of macrophage polarization by targeting ATP sensitive potassium channels (KATP). Glibenclamide (KATP blocker) and pinacidil (KATP opener) treatment not only affect macrophage polarization, but also influence the phenotype of prepolarized macrophages. Furthermore, modulation of cell membrane electrical properties can fine-tune macrophage plasticity. Glibenclamide decreased the secretion and gene expression of selected M1 markers, while pinacidil augmented M1 markers. More interestingly, glibencalmide promoted macrophage alternative activation by enhancing certain M2 markers during M2 polarization. These findings suggest that control of bioelectric properties of macrophages could offer a promising approach to regulate macrophage phenotype as a useful tool in regenerative medicine.

  1. Polarization study of spiral galaxies

    Energy Technology Data Exchange (ETDEWEB)

    Ward-Thompson, D

    1987-01-01

    Optical polarimetry results are presented for four spiral galaxies: NGC 5194 (M51), NGC 1068, NGC 4565 and NGC 4594 (M104). M51 and NGC 1068 show spiral polarization patterns interpreted as indicating a spiral magnetic field in each case. NGC 4565 and M104 show polarizations in their dust lanes which are parallel to their galactic planes, and which are interpreted in terms of a magnetic field in the plane of each. It is hypothesized that the observed magnetic fields may be linked to galactic shocks. A discussion of the origin of galactic magnetic fields concludes that there is not evidence that necessitates a primordial magnetic field.

  2. Nuclear polarization and neutrons

    International Nuclear Information System (INIS)

    Glaettli, H.

    1985-01-01

    Different possibilities for the use of polarized nuclei in thermal neutron scattering on condensed matter are reviewed. Highly polarized nuclei are the starting point for studying dipolar magnetic order. Systematic measurement of spin-dependent scattering lengths is possible on samples with polarized nuclei. Highly polarized hydrogen should help to unravel complicated structures in chemistry and biology. The use of polarized proton targets as an energy-independent neutron polarizer in the thermal and epithermal region should be considered afresh. (author)

  3. Sky light polarization detection with linear polarizer triplet in light field camera inspired by insect vision.

    Science.gov (United States)

    Zhang, Wenjing; Cao, Yu; Zhang, Xuanzhe; Liu, Zejin

    2015-10-20

    Stable information of a sky light polarization pattern can be used for navigation with various advantages such as better performance of anti-interference, no "error cumulative effect," and so on. But the existing method of sky light polarization measurement is weak in real-time performance or with a complex system. Inspired by the navigational capability of a Cataglyphis with its compound eyes, we introduce a new approach to acquire the all-sky image under different polarization directions with one camera and without a rotating polarizer, so as to detect the polarization pattern across the full sky in a single snapshot. Our system is based on a handheld light field camera with a wide-angle lens and a triplet linear polarizer placed over its aperture stop. Experimental results agree with the theoretical predictions. Not only real-time detection but simple and costless architecture demonstrates the superiority of the approach proposed in this paper.

  4. Neutron polarization in polarized 3He targets

    International Nuclear Information System (INIS)

    Friar, J.L.; Gibson, B.F.; Payne, G.L.; Bernstein, A.M.; Chupp, T.E.

    1990-01-01

    Simple formulas for the neutron and proton polarizations in polarized 3 He targets are derived assuming (1) quasielastic final states; (2) no final-state interactions; (3) no meson-exchange currents; (4) large momentum transfers; (5) factorizability of 3 He SU(4) response-function components. Numerical results from a wide variety of bound-state solutions of the Faddeev equations are presented. It is found that this simple model predicts the polarization of neutrons in a fully polarized 3 He target to be 87%, while protons should have a slight residual polarization of -2.7%. Numerical studies show that this model works very well for quasielastic electron scattering

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

    Science.gov (United States)

    2010-01-01

    Texas coastal fish skin preparations with the HyperSpectral Imager mounted on a stereomicroscope in Norway in April (Dierssen). g) Camouflage...on fish skin preparations. B) Matlab image of skin preparation showing the boxed area used in the spectral analysis. C) Median reflectance

  6. 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

  7. 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)].

  8. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-01-01

    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

  9. Polarized electron sources

    International Nuclear Information System (INIS)

    Prepost, R.

    1994-01-01

    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

  10. 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.

  11. 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 ...

  12. 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

  13. 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

  14. 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.

  15. 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.

  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. Development of underwater camera using high-definition camera

    International Nuclear Information System (INIS)

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

    2012-01-01

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

  18. Isolation and biochemical characterization of underwater adhesives from diatoms.

    Science.gov (United States)

    Poulsen, Nicole; Kröger, Nils; Harrington, Matthew J; Brunner, Eike; Paasch, Silvia; Buhmann, Matthias T

    2014-01-01

    Many aquatic organisms are able to colonize surfaces through the secretion of underwater adhesives. Diatoms are unicellular algae that have the capability to colonize any natural and man-made submerged surfaces. There is great technological interest in both mimicking and preventing diatom adhesion, yet the biomolecules responsible have so far remained unidentified. A new method for the isolation of diatom adhesive material is described and its amino acid and carbohydrate composition determined. The adhesive materials from two model diatoms show differences in their amino acid and carbohydrate compositions, but also share characteristic features including a high content of uronic acids, the predominance of hydrophilic amino acid residues, and the presence of 3,4-dihydroxyproline, an extremely rare amino acid. Proteins containing dihydroxyphenylalanine, which mediate underwater adhesion of mussels, are absent. The data on the composition of diatom adhesives are consistent with an adhesion mechanism based on complex coacervation of polyelectrolyte-like biomolecules.

  19. 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.)

  20. Cosmic ray muons and their associated shower particles underwater

    International Nuclear Information System (INIS)

    Anderson, S.N.

    1978-01-01

    The nucleonic contamination of the underwater cosmic ray muon flux is studied as a function of depth. Stacks of Ilford G-5 photographic emulsions were assembled and processed in an underground laboratory (9 hg/cm 2 below sea level). In between the assembly and the development they were exposed, stored in small pressure chambers, at various depths underwater for periods of time up to six months. At each depth approximately 10 cm 3 of emulsion were scanned for stopping particles and nuclear disintegrations. Altogether approximately 2000 stopping muons, 50 stopping mesons, and 200 recoil protons were found and analyzed. Comparison with theories as to how the underground cosmic ray muon beam produces a secondary flux of nuclearly active particles are made. Additionally measurements on the residue flux at 440mwe underground are made. Projected rates from the shallow depth studies are used to analyze the results at large depth. Anomalous particle production is observed at the large depth

  1. 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.

  2. Underwater lidar system: design challenges and application in pollution detection

    Science.gov (United States)

    Gupta, Pradip; Sankolli, Swati; Chakraborty, A.

    2016-05-01

    The present remote sensing techniques have imposed limitations in the applications of LIDAR Technology. The fundamental sampling inadequacy of the remote sensing data obtained from satellites is that they cannot resolve in the third spatial dimension, the vertical. This limits our possibilities of measuring any vertical variability in the water column. Also the interaction between the physical and biological process in the oceans and their effects at subsequent depths cannot be modeled with present techniques. The idea behind this paper is to introduce underwater LIDAR measurement system by using a LIDAR mounted on an Autonomous Underwater Vehicle (AUV). The paper introduces working principles and design parameters for the LIDAR mounted AUV (AUV-LIDAR). Among several applications the papers discusses the possible use and advantages of AUV-LIDAR in water pollution detection through profiling of Dissolved Organic Matter (DOM) in water bodies.

  3. First hvdc underwater transmission links mainland and Vancouver

    Energy Technology Data Exchange (ETDEWEB)

    1967-06-01

    Delicate and complex equipment for North America's first hvdc underwater transmission line is being installed. The power link will connect British Columbia Hydro and power authority's switchyards on the mainland near Ladner with the western terminus of the transmission scheme at Duncan on Vancouver Island, a distance of 42 miles. Nearly 19 miles of the transmission will be underwater, between Tsawwassen and Galiano Island, and between Parker and Saltspring Islands. The remaining distance will be spanned by a conventional aerial conductor. The submarine conductor cable will be approximately 3-1/2 inches in diameter and its copper core will be sheathed in lead and armored with a ring of steel wire. The cable, which is being manufactured in Calais, France, and coiled in a planned sequence aboard the cable laying vessel, Marcel Bayard, will be placed across the Gulf of Georgia in the spring of 1968.

  4. 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.

  5. 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...

  6. Microcontroller-based underwater acoustic ECG telemetry system.

    Science.gov (United States)

    Istepanian, R S; Woodward, B

    1997-06-01

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

  7. The cormorant ear – an adaptation to underwater hearing?

    DEFF Research Database (Denmark)

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

    Depending on species, diving birds may spend 2-20 minutes under water during a single foraging dive when they may reach depths ranging from one to several hundred meters. Surprisingly little is known about avian underwater hearing despite the fact that several hundred species dive for food. We do...... was similar to that reported for birds of the same size in air. The bandwidth and slopes of the audiograms were similar in air and water. However, in air the highest sensitivity was found at 1-2 kHz, whereas it was displaced towards lower frequencies under water. These results suggest that cormorants have...... rather poor in-air hearing compared to similar-sized birds. Their underwater hearing sensitivity, however, is higher than what would have been expected for purely air-adapted ears. A possible reason for the poor in-air sensitivity is the special ear anatomy with the central eardrum shaped as a rigid...

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

    OpenAIRE

    Kia, Chua; Arshad, Mohd Rizal

    2006-01-01

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

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

    OpenAIRE

    Li, Chongyi; Guo, Jichang; Guo, Chunle

    2017-01-01

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

  11. 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.

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

    Science.gov (United States)

    2005-07-18

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

  13. Polarized neutron spectrometer

    International Nuclear Information System (INIS)

    Abov, Yu.G.; Novitskij, V.V.; Alfimenkov, V.P.; Galinskij, E.M.; Mareev, Yu.D.; Pikel'ner, L.B.; Chernikov, A.N.; Lason', L.; Tsulaya, V.M.; Tsulaya, M.I.

    2000-01-01

    The polarized neutron spectrometer, intended for studying the interaction of polarized neutrons with nuclei and condensed media in the area of energies from thermal up to several electron-volt, is developed at the IBR-2 reactor (JINR, Dubna). Diffraction on the Co(92%)-Fe(8%) magnetized monocrystals is used for the neutron polarization and polarization analysis. The neutron polarization within the whole energy range equals ∼ 95% [ru

  14. Diver Operated Tools and Applications for Underwater Construction

    Science.gov (United States)

    1987-01-01

    Performing underwater tasks can distract the diver from observing mandatory safety precautions and therefore he must be hlert and knowledgeable about...Insulating layer when heat loss, their blood flow is reduced to protect the core. Entry into cold water is itself a shock that can distract Once in the...torahhesfc. fotadpossibly a minor case of hemorrhage into the If the maxillary sinus is involved, the blood supply to skin from pinching, the inf

  15. A new electronic control system for unmanned underwater vehicles

    OpenAIRE

    Molina Molina, J.C.; Guerrero González, A.; Gilabert, J.

    2015-01-01

    In this paper a new electronic control system for unmanned underwater vehicles is presented. This control system is characterized by a distribution in control over two network of type CANBus and Ethernet. This new electronic control system integrates functionalities of AUVs, as the automatic execution of preprogrammed trajectories. The control system also integrates an acoustic positioning system based on USBL. The information of relative positioning is sent through specific...

  16. Development of a handling technology for underwater inspection and dismantling

    International Nuclear Information System (INIS)

    Rose, N.

    1994-01-01

    For the purpose of underwater inspection and dismantling of nuclear facilities, a prototype of a freely submersible, remote-controlled handling system was developed and tested under laboratory conditions. Particular interest was taken in the specific boundary conditions of the area of application and the methodological concept. The system was developed in three phases; in each phase, a prototype was constructed and tested. (orig.) [de

  17. 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.)

  18. An algebraic perspective to single-transponder underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Reger, Johann

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

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

    OpenAIRE

    Isufi, E.; Dol, H.; Leus, G.J.T.

    2016-01-01

    Flooding-based protocols are a reliable solution to deliver packets in underwater sensor networks. However, these protocols potentially involve all the nodes in the forwarding process. Thus, the performance and energy efficiency are not optimal. In this work, we propose some advances of a flooding-based protocol with the goal to improve the performance and the energy efficiency. The first idea considers the node position information in order to reduce the number of relays that may apply flood...

  20. Numerical Computational Technique for Scattering from Underwater Objects

    OpenAIRE

    T. Ratna Mani; Raj Kumar; Odamapally Vijay Kumar

    2013-01-01

    This paper presents a computational technique for mono-static and bi-static scattering from underwater objects of different shape such as submarines. The scatter has been computed using finite element time domain (FETD) method, based on the superposition of reflections, from the different elements reaching the receiver at a particular instant in time. The results calculated by this method has been verified with the published results based on ramp response technique. An in-depth parametric s...

  1. 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

  2. World's longest underwater line part of new dc transmission link

    Energy Technology Data Exchange (ETDEWEB)

    1967-04-01

    The world's seventh dc transmission system including the world's longest underwater power cable is now operative. The system, linking the Italian Mainland with Sardinia, was designed and engineered by the English Electric Co. Ltd. It will ensure a constant power supply for Sardinia and allow export of 200 MW of power to the Tuscany area in Italy. Proving test began on the link in Decmeber and continued until full demand is made on it from Italy.

  3. 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

  4. Design of a device for sky light polarization measurements.

    Science.gov (United States)

    Wang, Yujie; Hu, Xiaoping; Lian, Junxiang; Zhang, Lilian; Xian, Zhiwen; Ma, Tao

    2014-08-14

    Sky polarization patterns can be used both as indicators of atmospheric turbidity and as a sun compass for navigation. The objective of this study is to improve the precision of sky light polarization measurements by optimal design of the device used. The central part of the system is composed of a Charge Coupled Device (CCD) camera; a fish-eye lens and a linear polarizer. Algorithms for estimating parameters of the polarized light based on three images are derived and the optimal alignments of the polarizer are analyzed. The least-squares estimation is introduced for sky light polarization pattern measurement. The polarization patterns of sky light are obtained using the designed system and they follow almost the same patterns of the single-scattering Rayleigh model. Deviations of polarization angles between observation and the theory are analyzed. The largest deviations occur near the sun and anti-sun directions. Ninety percent of the deviations are less than 5° and 40% percent of them are less than 1°. The deviations decrease evidently as the degree of polarization increases. It also shows that the polarization pattern of the cloudy sky is almost identical as in the blue sky.

  5. 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.

  6. 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.

  7. Simulation of the behavior of pressurized underwater concrete

    Directory of Open Access Journals (Sweden)

    Ashraf Mohamed Heniegal

    2015-06-01

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

  8. 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.

  9. 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.)

  10. Cognitive Routing in Software-Defined Underwater Acoustic Networks

    Directory of Open Access Journals (Sweden)

    Huma Ghafoor

    2017-12-01

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

  11. Development of underwater and hyperbaric medicine in Malaysia.

    Science.gov (United States)

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

    2006-12-01

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

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. 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)

  17. 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.

  18. 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.

  19. 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

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

    DEFF Research Database (Denmark)

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

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

  1. 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...

  2. 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.

  3. 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.

  4. Polarized targets and beams

    International Nuclear Information System (INIS)

    Meyer, W.

    1985-01-01

    First the experimental situation of the single-pion photoproduction and the photodisintegration of the deuteron is briefly discussed. Then a description of the Bonn polarization facilities is given. The point of main effort is put on the polarized target which plays a vital role in the program. A facility for photon induced double polarization experiments at ELSA will be presented in section 4. Properties of a tensor polarized deuteron target are discussed in section 5. The development in the field of polarized targets, especially on new target materials, enables a new generation of polarized target experiments with (polarized) electrons. Some comments on the use of a polarized target in combination with electron beams will be discussed in section 6. Electron deuteron scattering from a tensor polarized deuteron target is considered and compared with other experimental possibilities. (orig./HSI)

  5. 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.

  6. 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.

  7. 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.)

  8. Ortho-Babinet polarization-interrogating filter: an interferometric approach to polarization measurement.

    Science.gov (United States)

    Van Delden, Jay S

    2003-07-15

    A novel, interferometric, polarization-interrogating filter assembly and method for the simultaneous measurement of all four Stokes parameters across a partially polarized irradiance image in a no-moving-parts, instantaneous, highly sensitive manner is described. In the reported embodiment of the filter, two spatially varying linear retarders and a linear polarizer comprise an ortho-Babinet, polarization-interrogating (OBPI) filter. The OBPI filter uniquely encodes the incident ensemble of electromagnetic wave fronts comprising a partially polarized irradiance image in a controlled, deterministic, spatially varying manner to map the complete state of polarization across the image to local variations in a superposed interference pattern. Experimental interferograms are reported along with a numerical simulation of the method.

  9. Scattering with polarized neutrons

    International Nuclear Information System (INIS)

    Schweizer, J.

    2007-01-01

    In the history of neutron scattering, it was shown very soon that the use of polarized neutron beams brings much more information than usual scattering with unpolarized neutrons. We shall develop here the different scattering methods that imply polarized neutrons: 1) polarized beams without polarization analysis, the flipping ratio method; 2) polarized beams with a uniaxial polarization analysis; 3) polarized beams with a spherical polarization analysis. For all these scattering methods, we shall give examples of the physical problems which can been solved by these methods, particularly in the field of magnetism: investigation of complex magnetic structures, investigation of spin or magnetization densities in metals, insulators and molecular compounds, separation of magnetic and nuclear scattering, investigation of magnetic properties of liquids and amorphous materials and even, for non magnetic material, separation between coherent and incoherent scattering. (author)

  10. Reflection of a polarized light cone

    Science.gov (United States)

    Brody, Jed; Weiss, Daniel; Berland, Keith

    2013-01-01

    We introduce a visually appealing experimental demonstration of Fresnel reflection. In this simple optical experiment, a polarized light beam travels through a high numerical-aperture microscope objective, reflects off a glass slide, and travels back through the same objective lens. The return beam is sampled with a polarizing beam splitter and produces a surprising geometric pattern on an observation screen. Understanding the origin of this pattern requires careful attention to geometry and an understanding of the Fresnel coefficients for S and P polarized light. We demonstrate that in addition to a relatively simple experimental implementation, the shape of the observed pattern can be computed both analytically and by using optical modeling software. The experience of working through complex mathematical computations and demonstrating their agreement with a surprising experimental observation makes this a highly educational experiment for undergraduate optics or advanced-lab courses. It also provides a straightforward yet non-trivial system for teaching students how to use optical modeling software.

  11. Techniques in polarization physics

    International Nuclear Information System (INIS)

    Clausnitzer, G.

    1974-01-01

    A review of the current status of the technical tools necessary to perform different kinds of polarization experiments is presented, and the absolute and relative accuracy with which data can be obtained is discussed. A description of polarized targets and sources of polarized fast neutrons is included. Applications of polarization techniques to other fields is mentioned briefly. (14 figures, 3 tables, 110 references) (U.S.)

  12. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

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

  13. 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...

  14. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

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

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

  15. 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…

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

    DEFF Research Database (Denmark)

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

    2015-01-01

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

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

    Science.gov (United States)

    Schloesser, Donald W.

    1986-01-01

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

  18. Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

    Science.gov (United States)

    1998-03-31

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

  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, an...

  20. 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.

  1. 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.

  2. 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.)

  3. Calculation of polarization effects

    International Nuclear Information System (INIS)

    Chao, A.W.

    1983-09-01

    Basically there are two areas of accelerator applications that involve beam polarization. One is the acceleration of a polarized beam (most likely a proton beam) in a synchrotron. Another concerns polarized beams in an electron storage ring. In both areas, numerical techniques have been very useful

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

    Science.gov (United States)

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

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Pengfei Shi

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

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

    Directory of Open Access Journals (Sweden)

    Wang Lihui

    2015-09-01

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

  7. Ocean Wave Energy: Underwater Substation System for Wave Energy Converters

    International Nuclear Information System (INIS)

    Rahm, Magnus

    2010-01-01

    This thesis deals with a system for operation of directly driven offshore wave energy converters. The work that has been carried out includes laboratory testing of a permanent magnet linear generator, wave energy converter mechanical design and offshore testing, and finally design, implementation, and offshore testing of an underwater collector substation. Long-term testing of a single point absorber, which was installed in March 2006, has been performed in real ocean waves in linear and in non-linear damping mode. The two different damping modes were realized by, first, a resistive load, and second, a rectifier with voltage smoothing capacitors and a resistive load in the DC-link. The loads are placed on land about 2 km east of the Lysekil wave energy research site, where the offshore experiments have been conducted. In the spring of 2009, another two wave energy converter prototypes were installed. Records of array operation were taken with two and three devices in the array. With two units, non-linear damping was used, and with three units, linear damping was employed. The point absorbers in the array are connected to the underwater substation, which is based on a 3 m3 pressure vessel standing on the seabed. In the substation, rectification of the frequency and amplitude modulated voltages from the linear generators is made. The DC voltage is smoothened by capacitors and inverted to 50 Hz electrical frequency, transformed and finally transmitted to the on-shore measuring station. Results show that the absorption is heavily dependent on the damping. It has also been shown that by increasing the damping, the standard deviation of electrical power can be reduced. The standard deviation of electrical power is reduced by array operation compared to single unit operation. Ongoing and future work include the construction and installation of a second underwater substation, which will connect the first substation and seven new WECs

  8. Effectiveness of an Automatic Tracking Software in Underwater Motion Analysis

    Directory of Open Access Journals (Sweden)

    Fabrício A. Magalhaes

    2013-12-01

    Full Text Available Tracking of markers placed on anatomical landmarks is a common practice in sports science to perform the kinematic analysis that interests both athletes and coaches. Although different software programs have been developed to automatically track markers and/or features, none of them was specifically designed to analyze underwater motion. Hence, this study aimed to evaluate the effectiveness of a software developed for automatic tracking of underwater movements (DVP, based on the Kanade-Lucas-Tomasi feature tracker. Twenty-one video recordings of different aquatic exercises (n = 2940 markers’ positions were manually tracked to determine the markers’ center coordinates. Then, the videos were automatically tracked using DVP and a commercially available software (COM. Since tracking techniques may produce false targets, an operator was instructed to stop the automatic procedure and to correct the position of the cursor when the distance between the calculated marker’s coordinate and the reference one was higher than 4 pixels. The proportion of manual interventions required by the software was used as a measure of the degree of automation. Overall, manual interventions were 10.4% lower for DVP (7.4% than for COM (17.8%. Moreover, when examining the different exercise modes separately, the percentage of manual interventions was 5.6% to 29.3% lower for DVP than for COM. Similar results were observed when analyzing the type of marker rather than the type of exercise, with 9.9% less manual interventions for DVP than for COM. In conclusion, based on these results, the developed automatic tracking software presented can be used as a valid and useful tool for underwater motion analysis.

  9. Micromachined fiber optic Fabry-Perot underwater acoustic probe

    Science.gov (United States)

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

    2014-08-01

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

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

    Directory of Open Access Journals (Sweden)

    Lin Yi

    2010-01-01

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

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

    KAUST Repository

    Debont, Matthew

    2011-11-01

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

  12. Point features extraction: towards slam for an autonomous underwater vehicle

    CSIR Research Space (South Africa)

    Matsebe, O

    2010-07-01

    Full Text Available and Control. Available: http://www.robots.ox.ac.uk/~pnewman/papers/Robotica.pdf, date accessed: [2009, 05/20] [7] Williams, S.B., Newman, P., Rosenblatt, J., Dissanayake, G. & Whyte, H.D., Autonomous Underwater Simultaneous and Localisation and Map Building.... Available: http://www.robots.ox.ac.uk/~pnewman/papers/Robotica.pdf., date accessed: [2009, 05/20] [8]http://www.tritech.co.uk/products/products-micron_sonar.htm, date accessed: [10/01/10] [9] Tena, I., Petillot, Y., Lane, D.M.,Salson. Feature Extraction...

  13. Corrosion Resistant Cladding by YAG Laser Welding in Underwater Environment

    International Nuclear Information System (INIS)

    Tsutomi Kochi; Toshio Kojima; Suemi Hirata; Ichiro Morita; Katsura Ohwaki

    2002-01-01

    It is known that stress-corrosion cracking (SCC) will occur in nickel-base alloys used in Reactor Pressure Vessel (RPV) and Internals of nuclear power plants. A SCC sensitivity has been evaluated by IHI in each part of RPV and Internals. There are several water level instrumentation nozzles installed in domestic BWR RPV. In water level instrumentation nozzles, 182 type nickel-base alloys were used for the welding joint to RPV. It is estimated the SCC potential is high in this joint because of a higher residual stress than the yield strength (about 400 MPa). This report will describe a preventive maintenance method to these nozzles Heat Affected Zone (HAZ) and welds by a corrosion resistant cladding (CRC) by YAG Laser in underwater environment (without draining a reactor water). There are many kinds of countermeasures for SCC, for example, Induction Heating Stress Improvement (IHSI), Mechanical Stress Improvement Process (MSIP) and so on. A YAG laser CRC is one of them. In this technology a laser beam is used for heat source and irradiated through an optical fiber to a base metal and SCC resistant material is used for welding wires. After cladding the HAZ and welds are coated by the corrosion resistant materials so their surfaces are improved. A CRC by gas tungsten arc welding (GTAW) in an air environment had been developed and already applied to a couple of operating plants (16 Nozzles). This method was of course good but it spent much time to perform because of an installation of some water-proof working boxes to make a TIG-weldability environment. CRC by YAG laser welding in underwater environment has superior features comparing to this conventional TIG method as follows. At the viewpoint of underwater environment, (1) an outage term reduction (no drainage water). (2) a radioactive exposure dose reduction for personnel. At that of YAG laser welding, (1) A narrower HAZ. (2) A smaller distortion. (3) A few cladding layers. A YAG laser CRC test in underwater

  14. ECS: Efficient Communication Scheduling for Underwater Sensor Networks

    Directory of Open Access Journals (Sweden)

    Lu Hong

    2011-03-01

    Full Text Available TDMA protocols have attracted a lot of attention for underwater acoustic sensor networks (UWSNs, because of the unique characteristics of acoustic signal propagation such as great energy consumption in transmission, long propagation delay and long communication range. Previous TDMA protocols all allocated transmission time to nodes based on discrete time slots. This paper proposes an efficient continuous time scheduling TDMA protocol (ECS for UWSNs, including the continuous time based and sender oriented conflict analysis model, the transmission moment allocation algorithm and the distributed topology maintenance algorithm. Simulation results confirm that ECS improves network throughput by 20% on average, compared to existing MAC protocols.

  15. Annotated Bibliography of Underwater Acoustic Research, 1942-1945.

    Science.gov (United States)

    1983-11-02

    easily be produced in underwater-telephony adapter was quantities by existing facilities at sea-tested on USS LIONFISH . The New the Submarine Base...including 7500 lacquering, waxing, making and yd, with the LIONFISH operating fitting pointers, and maintenance, underway at periscope deptn and the Two...R61 1-452 D24/R62i -462 * USS PERCH (SS-313) USS JORDAN (DE204) D24/R736-564 P42 /R75 9-584 D16/R1388-i 152 D24/R780-603 054 /R992-783 USS LIONFISH (SS

  16. NEMD study for supercavitation mechanism with underwater object

    Energy Technology Data Exchange (ETDEWEB)

    Gong Bozhi [Department of Chemistry, Zhejiang University, Hangzhou, Zhejiang 310027 (China); Zhang Bingjian [Department of Chemistry, Zhejiang University, Hangzhou, Zhejiang 310027 (China)], E-mail: zbj@mail.ha.zj.cn; Zhang Hui [Department of Chemistry, Ohio State University, Columbus, OH 43210 (United States)

    2008-11-24

    An open system model was introduced for Non-Equilibrium Molecular Dynamics (NEMD) simulation for studying flow phenomenon surrounding different underwater object. Cavitation number {sigma} criterion was proved to be applicable in predicting local cavitation mechanism. An interesting phenomenon was found that low {sigma} areas and actual cavities were spatially separated in molecular scale, and stable supercavitation would require a large enough low {sigma} area to sustain. Effects of cavitator shape and flow velocity were compared with macro scale flow under similar {sigma}, providing a new computational method to study the molecular scale mechanism of this phenomenon.

  17. NEMD study for supercavitation mechanism with underwater object

    International Nuclear Information System (INIS)

    Gong Bozhi; Zhang Bingjian; Zhang Hui

    2008-01-01

    An open system model was introduced for Non-Equilibrium Molecular Dynamics (NEMD) simulation for studying flow phenomenon surrounding different underwater object. Cavitation number σ criterion was proved to be applicable in predicting local cavitation mechanism. An interesting phenomenon was found that low σ areas and actual cavities were spatially separated in molecular scale, and stable supercavitation would require a large enough low σ area to sustain. Effects of cavitator shape and flow velocity were compared with macro scale flow under similar σ, providing a new computational method to study the molecular scale mechanism of this phenomenon

  18. Swarm Underwater Acoustic 3D Localization: Kalman vs Monte Carlo

    Directory of Open Access Journals (Sweden)

    Sergio Taraglio

    2015-07-01

    Full Text Available Two three-dimensional localization algorithms for a swarm of underwater vehicles are presented. The first is grounded on an extended Kalman filter (EKF scheme used to fuse some proprioceptive data such as the vessel's speed and some exteroceptive measurements such as the time of flight (TOF sonar distance of the companion vessels. The second is a Monte Carlo particle filter localization processing the same sensory data suite. The results of several simulations using the two approaches are presented, with comparison. The case of a supporting surface vessel is also considered. An analysis of the robustness of the two approaches against some system parameters is given.

  19. Spatiotemporal dynamics of underwater conical shock wave focusing

    Czech Academy of Sciences Publication Activity Database

    Hoffer, Petr; Lukeš, Petr; Akiyama, H.; Hosseini, H.

    2017-01-01

    Roč. 27, č. 4 (2017), s. 685-690 ISSN 0938-1287 Grant - others:Rada Programu interní podpory projektů mezinárodní spolupráce AV ČR(CZ) M100431203 Program:M Institutional support: RVO:61389021 Keywords : Underwater shock wave focusing * multichannel * electrohydraulic discharge * conical shock wave reflection * medical application Subject RIV: BI - Acoustics OBOR OECD: Applied mechanics Impact factor: 1.107, year: 2016 https://link.springer.com/article/10.1007/s00193-016-0703-7

  20. Acceleration of polarized particles

    International Nuclear Information System (INIS)

    Buon, J.

    1992-05-01

    The spin kinetics of polarized beams in circular accelerators is reviewed in the case of spin-1/2 particles (electrons and protons) with emphasis on the depolarization phenomena. The acceleration of polarized proton beams in synchrotrons is described together with the cures applied to reduce depolarization, including the use of 'Siberian Snakes'. The in-situ polarization of electrons in storage rings due to synchrotron radiation is studied as well as depolarization in presence of ring imperfections. The applications of electron polarization to accurately calibrate the rings in energy and to use polarized beams in colliding-beam experiments are reviewed. (author) 76 refs., 19 figs., 1 tab

  1. Polarization effects. Volume 2

    Energy Technology Data Exchange (ETDEWEB)

    Courant, E.

    1981-01-01

    The use of polarized proton beams in ISABELLE is important for several general reasons: (1) With a single longitudinally polarized proton beam, effects involving parity violation can be identified and hence processes involving weak interactions can be separated from those involving strong and electromagnetic interactions. (2) Spin effects are important in the strong interactions and can be useful for testing QCD. The technique for obtaining polarized proton beams in ISABELLE appears promising, particularly in view of the present development of a polarized proton beam for the AGS. Projections for the luminosity in ISABELLE for collisions of polarized protons - one or both beams polarized with longitudinal or transverse polarization - range from 1/100 to 1 times the luminosity for unpolarized protons.

  2. 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.

  3. A Localization Method for Underwater Wireless Sensor Networks Based on Mobility Prediction and Particle Swarm Optimization Algorithms

    Directory of Open Access Journals (Sweden)

    Ying Zhang

    2016-02-01

    Full Text Available Due to their special environment, Underwater Wireless Sensor Networks (UWSNs are usually deployed over a large sea area and the nodes are usually floating. This results in a lower beacon node distribution density, a longer time for localization, and more energy consumption. Currently most of the localization algorithms in this field do not pay enough consideration on the mobility of the nodes. In this paper, by analyzing the mobility patterns of water near the seashore, a localization method for UWSNs based on a Mobility Prediction and a Particle Swarm Optimization algorithm (MP-PSO is proposed. In this method, the range-based PSO algorithm is used to locate the beacon nodes, and their velocities can be calculated. The velocity of an unknown node is calculated by using the spatial correlation of underwater object’s mobility, and then their locations can be predicted. The range-based PSO algorithm may cause considerable energy consumption and its computation complexity is a little bit high, nevertheless the number of beacon nodes is relatively smaller, so the calculation for the large number of unknown nodes is succinct, and this method can obviously decrease the energy consumption and time cost of localizing these mobile nodes. The simulation results indicate that this method has higher localization accuracy and better localization coverage rate compared with some other widely used localization methods in this field.

  4. A Localization Method for Underwater Wireless Sensor Networks Based on Mobility Prediction and Particle Swarm Optimization Algorithms.

    Science.gov (United States)

    Zhang, Ying; Liang, Jixing; Jiang, Shengming; Chen, Wei

    2016-02-06

    Due to their special environment, Underwater Wireless Sensor Networks (UWSNs) are usually deployed over a large sea area and the nodes are usually floating. This results in a lower beacon node distribution density, a longer time for localization, and more energy consumption. Currently most of the localization algorithms in this field do not pay enough consideration on the mobility of the nodes. In this paper, by analyzing the mobility patterns of water near the seashore, a localization method for UWSNs based on a Mobility Prediction and a Particle Swarm Optimization algorithm (MP-PSO) is proposed. In this method, the range-based PSO algorithm is used to locate the beacon nodes, and their velocities can be calculated. The velocity of an unknown node is calculated by using the spatial correlation of underwater object's mobility, and then their locations can be predicted. The range-based PSO algorithm may cause considerable energy consumption and its computation complexity is a little bit high, nevertheless the number of beacon nodes is relatively smaller, so the calculation for the large number of unknown nodes is succinct, and this method can obviously decrease the energy consumption and time cost of localizing these mobile nodes. The simulation results indicate that this method has higher localization accuracy and better localization coverage rate compared with some other widely used localization methods in this field.

  5. Study on polarized optical flow algorithm for imaging bionic polarization navigation micro sensor

    Science.gov (United States)

    Guan, Le; Liu, Sheng; Li, Shi-qi; Lin, Wei; Zhai, Li-yuan; Chu, Jin-kui

    2018-05-01

    At present, both the point source and the imaging polarization navigation devices only can output the angle information, which means that the velocity information of the carrier cannot be extracted from the polarization field pattern directly. Optical flow is an image-based method for calculating the velocity of pixel point movement in an image. However, for ordinary optical flow, the difference in pixel value as well as the calculation accuracy can be reduced in weak light. Polarization imaging technology has the ability to improve both the detection accuracy and the recognition probability of the target because it can acquire the extra polarization multi-dimensional information of target radiation or reflection. In this paper, combining the polarization imaging technique with the traditional optical flow algorithm, a polarization optical flow algorithm is proposed, and it is verified that the polarized optical flow algorithm has good adaptation in weak light and can improve the application range of polarization navigation sensors. This research lays the foundation for day and night all-weather polarization navigation applications in future.

  6. An IPMC-enabled bio-inspired bending/twisting fin for underwater applications

    International Nuclear Information System (INIS)

    Palmre, Viljar; Pugal, David; Kim, Sungjun; Kim, Kwang J; Hubbard, Joel J; Fleming, Maxwell; Leang, Kam K

    2013-01-01

    This paper discusses the design, fabrication, and characterization of an ionic polymer–metal composite (IPMC) actuator-based bio-inspired active fin capable of bending and twisting motion. It is pointed out that IPMC strip actuators are used in the simple cantilever configuration to create simple bending (flapping-like) motion for propulsion in underwater autonomous systems. However, the resulting motion is a simple 1D bending and performance is rather limited. To enable more complex deformation, such as the flapping (pitch and heaving) motion of real pectoral and caudal fish fins, a new approach which involves molding or integrating IPMC actuators into a soft boot material to create an active control surface (called a ‘fin’) is presented. The fin can be used to realize complex deformation depending on the orientation and placement of the actuators. In contrast to previously created IPMCs with patterned electrodes for the same purpose, the proposed design avoids (1) the more expensive process of electroless plating platinum all throughout the surface of the actuator and (2) the need for specially patterning the electrodes. Therefore, standard shaped IPMC actuators such as those with rectangular dimensions with varying thicknesses can be used. One unique advantage of the proposed structural design is that custom shaped fins and control surfaces can be easily created without special materials processing. The molding process is cost effective and does not require functionalizing or ‘activating’ the boot material similar to creating IPMCs. For a prototype fin (90 mm wide × 60 mm long × 1.5 mm thick), the measured maximum tip displacement was approximately 44 mm and the twist angle of the fin exceeded 10°. Lift and drag measurements in water where the prototype fin with an airfoil profile was dragged through water at a velocity of 21 cm s −1 showed that the lift and drag forces can be affected by controlling the IPMCs embedded into the fin structure

  7. An IPMC-enabled bio-inspired bending/twisting fin for underwater applications

    Science.gov (United States)

    Palmre, Viljar; Hubbard, Joel J.; Fleming, Maxwell; Pugal, David; Kim, Sungjun; Kim, Kwang J.; Leang, Kam K.

    2013-01-01

    This paper discusses the design, fabrication, and characterization of an ionic polymer-metal composite (IPMC) actuator-based bio-inspired active fin capable of bending and twisting motion. It is pointed out that IPMC strip actuators are used in the simple cantilever configuration to create simple bending (flapping-like) motion for propulsion in underwater autonomous systems. However, the resulting motion is a simple 1D bending and performance is rather limited. To enable more complex deformation, such as the flapping (pitch and heaving) motion of real pectoral and caudal fish fins, a new approach which involves molding or integrating IPMC actuators into a soft boot material to create an active control surface (called a ‘fin’) is presented. The fin can be used to realize complex deformation depending on the orientation and placement of the actuators. In contrast to previously created IPMCs with patterned electrodes for the same purpose, the proposed design avoids (1) the more expensive process of electroless plating platinum all throughout the surface of the actuator and (2) the need for specially patterning the electrodes. Therefore, standard shaped IPMC actuators such as those with rectangular dimensions with varying thicknesses can be used. One unique advantage of the proposed structural design is that custom shaped fins and control surfaces can be easily created without special materials processing. The molding process is cost effective and does not require functionalizing or ‘activating’ the boot material similar to creating IPMCs. For a prototype fin (90 mm wide × 60 mm long × 1.5 mm thick), the measured maximum tip displacement was approximately 44 mm and the twist angle of the fin exceeded 10°. Lift and drag measurements in water where the prototype fin with an airfoil profile was dragged through water at a velocity of 21 cm s-1 showed that the lift and drag forces can be affected by controlling the IPMCs embedded into the fin structure. These

  8. Underwater Coatings Testing for INEEL Fuel Basin Applications

    International Nuclear Information System (INIS)

    Julia L. Tripp

    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

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

    Directory of Open Access Journals (Sweden)

    Daijin Li

    2015-05-01

    Full Text Available 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 model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA. The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.

  10. Trajectory-Based Visual Localization in Underwater Surveying Missions

    Directory of Open Access Journals (Sweden)

    Antoni Burguera

    2015-01-01

    Full Text Available We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF, which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF. Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates.

  11. Underwater Photosynthesis of Submerged Plants – Recent Advances and Methods

    Science.gov (United States)

    Pedersen, Ole; Colmer, Timothy D.; Sand-Jensen, Kaj

    2013-01-01

    We describe the general background and the recent advances in research on underwater photosynthesis of leaf segments, whole communities, and plant dominated aquatic ecosystems and present contemporary methods tailor made to quantify photosynthesis and carbon fixation under water. The majority of studies of aquatic photosynthesis have been carried out with detached leaves or thalli and this selectiveness influences the perception of the regulation of aquatic photosynthesis. We thus recommend assessing the influence of inorganic carbon and temperature on natural aquatic communities of variable density in addition to studying detached leaves in the scenarios of rising CO2 and temperature. Moreover, a growing number of researchers are interested in tolerance of terrestrial plants during flooding as torrential rains sometimes result in overland floods that inundate terrestrial plants. We propose to undertake studies to elucidate the importance of leaf acclimation of terrestrial plants to facilitate gas exchange and light utilization under water as these acclimations influence underwater photosynthesis as well as internal aeration of plant tissues during submergence. PMID:23734154

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

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2018-03-01

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

  13. Spectral analysis of underwater explosions in the Dead Sea

    Science.gov (United States)

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

    1998-08-01

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

  14. Potential role of resurfacing Subtropical Underwater in ENSO evolution

    Science.gov (United States)

    Qu, T.; Chi, J.

    2017-12-01

    Results from a model of the Estimating the Circulation and Climate of the Ocean (ECCO) have shown that the resurfacing of high salinity Subtropical Underwater contributes to the sea surface salinity variability in the equatorial Pacific. On interannual time scale, this contribution can account for as much as 25% of the surface freshwater flux anomalies and is believed to play a role in ENSO evolution. Having these results in mind, this study investigates the surface salinity budget and its primary controls in the equatorial Pacific using ECCO output for the period 1993-2016. Particular attention is paid to 2014/2015 and 2015/2016. Preliminary analyses of the model results suggest that enhanced subsurface processes and in particular enhanced entrainment of Subtropical Underwater are primarily responsible for the positive sea surface salinity anomalies in the central equatorial Pacific during 2014/2015, which represents an opposite phase of El Niño. These subsurface processes weakened during 2015/2016, diretly contributing to the development of the 2015/2016 El Niño. The mechanisms controlling these subsurface processes are discussed.

  15. A Survey on Intermediation Architectures for Underwater Robotics

    Directory of Open Access Journals (Sweden)

    Xin Li

    2016-02-01

    Full Text Available Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.. However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.

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

    Science.gov (United States)

    Zandi, Rahman; Kamarei, Mahmoud; Amiri, Hadi

    2016-05-01

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

  17. A trajectory tracking controller for an underwater hexapod vehicle.

    Science.gov (United States)

    Plamondon, N; Nahon, M

    2009-09-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 degrees in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 degrees.

  18. A trajectory tracking controller for an underwater hexapod vehicle

    International Nuclear Information System (INIS)

    Plamondon, N; Nahon, M

    2009-01-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 deg. in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 deg.

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

    Directory of Open Access Journals (Sweden)

    Cem Gazioğlu

    2016-12-01

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

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

    International Nuclear Information System (INIS)

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

    1999-01-01

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

  1. Path Diversity Improved Opportunistic Routing for Underwater Sensor Networks.

    Science.gov (United States)

    Bai, Weigang; Wang, Haiyan; He, Ke; Zhao, Ruiqin

    2018-04-23

    The packets carried along a pre-defined route in underwater sensor networks are very vulnerble. Node mobility or intermittent channel availability easily leads to unreachable routing. Opportunistic routing has been proven to be a promising paradigm to design routing protocols for underwater sensor networks. It takes advantage of the broadcast nature of the wireless medium to combat packet losses and selects potential paths on the fly. Finding an appropriate forwarding candidate set is a key issue in opportunistic routing. Many existing solutions ignore the impact of candidates location distribution on packet forwarding. In this paper, a path diversity improved candidate selection strategy is applied in opportunistic routing to improve packet forwarding efficiency. It not only maximizes the packet forwarding advancements but also takes the candidate’s location distribution into account. Based on this strategy, we propose two effective routing protocols: position improved candidates selection (PICS) and position random candidates selection (PRCS). PICS employs two-hop neighbor information to make routing decisions. PRCS only uses one-hop neighbor information. Simulation results show that both PICS and PRCS can significantly improve network performance when compared with the previous solutions, in terms of packet delivery ratio, average energy consumption and end-to-end delay.

  2. Path Diversity Improved Opportunistic Routing for Underwater Sensor Networks

    Directory of Open Access Journals (Sweden)

    Weigang Bai

    2018-04-01

    Full Text Available The packets carried along a pre-defined route in underwater sensor networks are very vulnerble. Node mobility or intermittent channel availability easily leads to unreachable routing. Opportunistic routing has been proven to be a promising paradigm to design routing protocols for underwater sensor networks. It takes advantage of the broadcast nature of the wireless medium to combat packet losses and selects potential paths on the fly. Finding an appropriate forwarding candidate set is a key issue in opportunistic routing. Many existing solutions ignore the impact of candidates location distribution on packet forwarding. In this paper, a path diversity improved candidate selection strategy is applied in opportunistic routing to improve packet forwarding efficiency. It not only maximizes the packet forwarding advancements but also takes the candidate’s location distribution into account. Based on this strategy, we propose two effective routing protocols: position improved candidates selection (PICS and position random candidates selection (PRCS. PICS employs two-hop neighbor information to make routing decisions. PRCS only uses one-hop neighbor information. Simulation results show that both PICS and PRCS can significantly improve network performance when compared with the previous solutions, in terms of packet delivery ratio, average energy consumption and end-to-end delay.

  3. Energy balance during underwater implosion of ductile metallic cylinders.

    Science.gov (United States)

    Chamberlin, Ryan E; Guzas, Emily L; Ambrico, Joseph M

    2014-11-01

    Energy-based metrics are developed and applied to a numerical test case of implosion of an underwater pressure vessel. The energy metrics provide estimates of the initial energy in the system (potential energy), the energy released into the fluid as a pressure pulse, the energy absorbed by the imploding structure, and the energy absorbed by air trapped within the imploding structure. The primary test case considered is the implosion of an aluminum cylinder [diameter: 2.54 cm (1 in.), length: 27.46 cm (10.81 in.)] that collapses flat in a mode-2 shape with minimal fracture. The test case indicates that the structure absorbs the majority (92%) of the initial energy in the system. Consequently, the energy emitted as a pressure pulse into the fluid is a small fraction, approximately 5%, of the initial energy. The energy absorbed by the structure and the energy emitted into the fluid are calculated for additional simulations of underwater pressure vessel implosions. For all cases investigated, there is minimal fracture in the collapse, the structure absorbs more than 80% of the initial energy of the system, and the released pressure pulse carries away less than 6% of the initial energy.

  4. Underwater Coatings Testing for INEEL Fuel Basin Applications

    Energy Technology Data Exchange (ETDEWEB)

    Julia L. Tripp

    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.

  5. Acoustically sticky topographic metasurfaces for underwater sound absorption.

    Science.gov (United States)

    Lee, Hunki; Jung, Myungki; Kim, Minsoo; Shin, Ryung; Kang, Shinill; Ohm, Won-Suk; Kim, Yong Tae

    2018-03-01

    A class of metasurfaces for underwater sound absorption, based on a design principle that maximizes thermoviscous loss, is presented. When a sound meets a solid surface, it leaves a footprint in the form of thermoviscous boundary layers in which energy loss takes place. Considered to be a nuisance, this acoustic to vorticity/entropy mode conversion and the subsequent loss are often ignored in the existing designs of acoustic metamaterials and metasurfaces. The metasurface created is made of a series of topographic meta-atoms, i.e., intaglios and reliefs engraved directly on the solid object to be concealed. The metasurface is acoustically sticky in that it rather facilitates the conversion of the incident sound to vorticity and entropy modes, hence the thermoviscous loss, leading to the desired anechoic property. A prototype metasurface machined on a brass object is tested for its anechoicity, and shows a multitude of absorption peaks as large as unity in the 2-5 MHz range. Computations also indicate that a topographic metasurface is robust to hydrostatic pressure variation, a quality much sought-after in underwater applications.

  6. Underwater Shock Response of Circular HSLA Steel Plates

    Directory of Open Access Journals (Sweden)

    R. Rajendran

    2000-01-01

    Full Text Available Studies on shock response of circular plates subjected to underwater explosion is of interest to ship designers. Non-contact underwater explosion experiments were carried out on air backed circular High Strength Low Alloy (HSLA steel plates of 4 mm thickness and 290 mm diameter. The experiments were carried out in two phases. In the first phase, strain gauges were fixed at intervals of 30 mm from the centre of the plate and strains were recorded for the shock intensity gradually increasing to yielding. Semi-analytical models were derived for the elastic strain prediction which showed good agreement with the experiments. Dynamic yield stress and the shock factor for yielding were established. In the second phase, individual plates were subjected to increasing shock severity until fracture and the apex bulge depth and the thickness strains were measured. Empirical models were derived to predict the plastic deformation which were validated through a fresh set of experiments. Analysis of the fractured surface by visual examination showed that there was slant fracture indicating ductile mode of failure and the same was corroborated by Scanning Electron Microscopic (SEM examination.

  7. Explicit Modeling of Solid Ocean Floor in Shallow Underwater Explosions

    Directory of Open Access Journals (Sweden)

    A.P. Walters

    2013-01-01

    Full Text Available Current practices for modeling the ocean floor in underwater explosion simulations call for application of an inviscid fluid with soil properties. A method for modeling the ocean floor as a Lagrangian solid, vice an Eulerian fluid, was developed in order to determine its effects on underwater explosions in shallow water using the DYSMAS solver. The Lagrangian solid bottom model utilized transmitting boundary segments, exterior nodal forces acting as constraints, and the application of prestress to minimize any distortions into the fluid domain. For simplicity, elastic materials were used in this current effort, though multiple constitutive soil models can be applied to improve the overall accuracy of the model. Even though this method is unable to account for soil cratering effects, it does however provide the distinct advantage of modeling contoured ocean floors such as dredged channels and sloped bottoms absent in Eulerian formulations. The study conducted here showed significant differences among the initial bottom reflections for the different solid bottom contours that were modeled. The most important bottom contour effect was the distortion to the gas bubble and its associated first pulse timing. In addition to its utility in bottom modeling, implementation of the non-reflecting boundary along with realistic material models can be used to drastically reduce the size of current fluid domains.

  8. Power Control Optimization of an Underwater Piezoelectric Energy Harvester

    Directory of Open Access Journals (Sweden)

    Iñigo Aramendia

    2018-03-01

    Full Text Available Over the past few years, it has been established that vibration energy harvesters with intentionally designed components can be used for frequency bandwidth enhancement under excitation for sufficiently high vibration amplitudes. Pipelines are often necessary means of transporting important resources such as water, gas, and oil. A self-powered wireless sensor network could be a sustainable alternative for in-pipe monitoring applications. A new control algorithm has been developed and implemented into an underwater energy harvester. Firstly, a computational study of a piezoelectric energy harvester for underwater applications has been studied for using the kinetic energy of water flow at four different Reynolds numbers Re = 3000, 6000, 9000, and 12,000. The device consists of a piezoelectric beam assembled to an oscillating cylinder inside the water of pipes from 2 to 5 inches in diameter. Therefore, unsteady simulations have been performed to study the dynamic forces under different water speeds. Secondly, a new control law strategy based on the computational results has been developed to extract as much energy as possible from the energy harvester. The results show that the harvester can efficiently extract the power from the kinetic energy of the fluid. The maximum power output is 996.25 µW and corresponds to the case with Re = 12,000.

  9. Trajectory-Based Visual Localization in Underwater Surveying Missions

    Science.gov (United States)

    Burguera, Antoni; Bonin-Font, Francisco; Oliver, Gabriel

    2015-01-01

    We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF), which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures) between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF). Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates. PMID:25594602

  10. Studying fish near ocean energy devices using underwater video

    Energy Technology Data Exchange (ETDEWEB)

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

    2017-09-18

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

  11. Workshop on polarized neutron filters and polarized pulsed neutron experiments

    International Nuclear Information System (INIS)

    Itoh, Shinichi

    2004-07-01

    The workshop was held in KEK by thirty-three participants on April 26, 2004. The polarized neutron filter method was only discussed. It consists of three parts; the first part was discussed on the polarized neutron methods, the second part on the polarized neutron experiments and the third on the pulse neutron spectrometer and polarized neutron experiments. The six papers were presented such as the polarized 3 He neutron spin filter, neutron polarization by proton polarized filter, soft master and neutron scattering, polarized neutron in solid physics, polarization experiments by chopper spectroscope and neutron polarization system in superHRPD. (S.Y.)

  12. Instrumentation with polarized neutrons

    International Nuclear Information System (INIS)

    Boeni, P.; Muenzer, W.; Ostermann, A.

    2009-01-01

    Neutron scattering with polarization analysis is an indispensable tool for the investigation of novel materials exhibiting electronic, magnetic, and orbital degrees of freedom. In addition, polarized neutrons are necessary for neutron spin precession techniques that path the way to obtain extremely high resolution in space and time. Last but not least, polarized neutrons are being used for fundamental studies as well as very recently for neutron imaging. Many years ago, neutron beam lines were simply adapted for polarized beam applications by adding polarizing elements leading usually to unacceptable losses in neutron intensity. Recently, an increasing number of beam lines are designed such that an optimum use of polarized neutrons is facilitated. In addition, marked progress has been obtained in the technology of 3 He polarizers and the reflectivity of large-m supermirrors. Therefore, if properly designed, only factors of approximately 2-3 in neutron intensity are lost. It is shown that S-benders provide neutron beams with an almost wavelength independent polarization. Using twin cavities, polarized beams with a homogeneous phase space and P>0.99 can be produced without significantly sacrificing intensity. It is argued that elliptic guides, which are coated with large m polarizing supermirrors, provide the highest flux.

  13. 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 special depolarizer: the random roughness birefringent screen (RRBS) is introduced to meet this requirement. The statistical properties of the field generated by the depolarizer is investigated and illustrated in terms of the 2x2 beam coherence and polarization matrix (BCPM) with the corresponding degree...... 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....

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

    International Nuclear Information System (INIS)

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

    2012-01-01

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

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

    Science.gov (United States)

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

    2016-05-01

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

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

    Science.gov (United States)

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

    2018-05-25

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

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

    Directory of Open Access Journals (Sweden)

    Muhammad Khalid

    2017-01-01

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

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

    Science.gov (United States)

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

    2015-12-23

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

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

    Directory of Open Access Journals (Sweden)

    Kelly de Jesus

    2015-01-01

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

  20. OPTICAL correlation identification technology applied in underwater laser imaging target identification

    Science.gov (United States)

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

    2012-01-01

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