WorldWideScience

Sample records for underwater profiling buoy

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

    Science.gov (United States)

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

    2016-02-01

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

  2. Air Deployable Underwater Glider and Buoy Development for Arctic and Oceanographic Sensing

    Science.gov (United States)

    Legnos, P. J.

    2013-12-01

    LBI developed under a NOAA SBIR the AXIB (Airborne eXpendable Ice Buoy). The initial buoy was developed to collect barometric pressure, air temperature two meters above the surface and sea surface or ice temperature. A number of these AXIBs have been successfully deployed in the Arctic and Antarctic. Currently we are in the process of integrating additional sensors to include an anemometer, thermistor chain and hydrophones. Further development is in process for the integration of solar and wind recharging systems and lower power sensors and processing LBI developed under an ONR SBIR Grant two Air Deployable Underwater Gliders. They are primarily designed for air deployment from Navy P-3 or P-8 Aircraft though easily deployed from other aircraft or helicopters. The A-size (4 7/8'dia. X 36' long) and the 12 ¾ (12 ¾' dia. X 9' 9' long). On the development side we are in the process of integrating sensors and enhancing the battery storage capacity. We anticipate a broad range of Oceanographic sensing missions for these Gliders.

  3. Oceanographic profile temperature and salinity from JCAD-6 drifting buoy 2003-2004 (NODC Accession 0002236)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Oceanographic profile temperature and salinity measurements collected using a drifting buoy in the Arctic from 2003 to 2004 (NODC Accession 0002236).

  4. Oceanographic profile Temperature and Salinity measurements collected during the Arctic Buoy Program using drifting buoy in the Arctic from 1985-1994 (NODC Accession 0001497)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Between 1985 and 1994, the Polar Science Center at the University of Washington deployed 24 ARGOS data buoys in ice floes on the Arctic Ocean, from which six...

  5. Current meter and temperature profile data from current meter and buoy casts in the TOGA area of Pacific Ocean from 27 April 1993 to 09 June 1994 (NODC Accession 9700042)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Current meter and temperature profile data were collected using current meter and buoy casts in the TOGA area of Pacific Ocean from 27 April 1993 to 09 June 1994....

  6. Physical profile and meteorological data from CTD casts during cruises to service the TAO/TRITON buoys in the equatorial Pacific from 02 March 2002 to 22 November 2002 (NODC Accession 0000945)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Physical profile data and meteorological data were collected from CTD casts in the equatorial Pacific Ocean during cruises to to service the TAO/TRITON buoy array....

  7. Temperature profile and other data collected using current meter, profiling floats, and drifting buoy from the Atlantic Ocean as part of the IDOE/POLYMODE (International Decade of Ocean Exploration / combination of USSR POLYGON project and US MODE) from 18 July 1977 to 18 October 1979 (NODC Accession 8100508)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Temperature, pressure, and other data were collected using current meter, profiling floats, and drifting buoy in the Atlantic Ocean from July 18, 1977 to October 18,...

  8. Ice-Tethered Profiler observations: Vertical profiles of temperature, salinity, oxygen, and ocean velocity from an Ice-Tethered Profiler buoy system

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This collection contains repeated vertical profiles of ocean temperature and salinity versus pressure, as well as oxygen and velocity for some instruments. Data were...

  9. Temperature profile and pressure data collected using moored buoy from the Atlantic Ocean with support from the IDOE/POLYMODE (International Decade of Ocean Exploration / combination of USSR POLYGON project and US MODE) from 04 May to 18 December 1975 (NODC Accession 7601247)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Temperature profile and pressure data were collected using moored buoy from the Atlantic Ocean from May 4, 1975 to December 18, 1975. Data were submitted by...

  10. Temperature and pressure data collected using drifting buoy and profiling floats from the North Atlantic Ocean in part of the IDOE/POLYMODE (International Decade of Ocean Exploration / combination of USSR POLYGON project and US MODE) from 1975-01-10 to 1981-05-31 (NODC Accession 8700121)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Temperature and pressure data were collected using drifting buoy and profiling floats from CHAIN, GILLISS, OCEANUS, and ENDEAVOR from the North Atlantic Ocean from...

  11. Dissolved inorganic carbon, total alkalinity, pH, and other variables collected from time series and profile observations using CTD, Niskin bottle,and other instruments near CenGOOS buoy off the coast of Mississippi in the Gulf of Mexico from 2012-10-15 to 2014-04-22 (NCEI Accession 0131199)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This archival package contains time series profile (discrete bottle) data that were collected at the GenGOOS buoy off the coast of Mississippi. The CenGOOS 3-m...

  12. Oceanographic profile temperature, salinity and pressure measurements collected using moored buoy in the Indian Ocean from 2001-2006 (NODC Accession 0002733)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Temperature and salinity measurements in the Equatorial Indian from 2001 to 2006 from the TRITON (TRIANGLE TRANS-OCEAN BUOY NETWORK); JAPAN AGENCY FOR MARINE-EARTH...

  13. Development of drifting buoys

    Digital Repository Service at National Institute of Oceanography (India)

    Nayak, M.R.; Peshwe, V.B.; Tengali, S.

    transmeters. This paper discusses the design aspects and performance characteristics of these buoys presenting a small fraction of the considerable data set acquired. The requiremnts for further inclusion of certain sensors and hardware are described...

  14. Underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2010-01-01

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

  15. IPAB Antarctic Drifting Buoy Data

    Data.gov (United States)

    National Aeronautics and Space Administration — The World Climate Research Programme (WCRP) International Programme for Antarctic Buoys (IPAB), through participating research organizations in various countries,...

  16. NDBC Standard Meteorological Buoy Data, 1970-present

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The National Data Buoy Center (NDBC) distributes meteorological data from moored buoys maintained by NDBC and others. Moored buoys are the weather sentinels of the...

  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. Google™ underwater

    Science.gov (United States)

    Showstack, Randy

    2012-10-01

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

  19. Underwater Light Regimes in Rivers from Multiple Measurement Approaches

    Science.gov (United States)

    Gardner, J.; Ensign, S.; Houser, J.; Doyle, M.

    2017-12-01

    Underwater light regimes are complex over space and time. Light in rivers is less understood compared to other aquatic systems, yet light is often the limiting resource and a fundamental control of many biological and physical processes in riverine systems. We combined multiple measurement approaches (fixed-site and flowpath) to understand underwater light regimes. We measured vertical light profiles over time (fixed-site) with stationary buoys and over space and time (flowpath) with Lagrangian neutrally buoyant sensors in two different large US rivers; the Upper Mississippi River in Wisconsin, USA and the Neuse River in North Carolina, USA. Fixed site data showed light extinction coefficients, and therefore the depth of the euphotic zone, varied up to three-fold within a day. Flowpath data revealed the stochastic nature of light regimes from the perspective of a neutrally buoyant particle as it moves throughout the water column. On average, particles were in the euphotic zone between 15-50% of the time. Combining flowpath and fixed-site data allowed spatial disaggregation of a river reach to determine if changes in the light regime were due to space or time as well as development of a conceptual model of the dynamic euphotic zone of rivers.

  20. Oceansat-2 and RAMA buoy winds: A comparison

    Indian Academy of Sciences (India)

    gators also state that the errors induced, excluding atmospheric stability, are small in comparison to other errors, related to the satellite's measure- ments. To account for the lack of temperature and humidity data, buoy wind has been converted to 10 m height using the minimal error profile method (Peixoto and Oort 1992).

  1. An intelligent subsurface buoy design for measuring ocean ambient noise

    Science.gov (United States)

    Li, Bing; Wang, Lei

    2012-11-01

    A type of ultra-low power subsurface buoy system is designed to measure and record ocean ambient noise data. The buoy utilizes a vector hydrophone (pass band 20Hz-1.2kHz) and a 6-element vertical hydrophone array (pass band 20Hz-2kHz) to measure ocean ambient noise. The acoustic signals are passed through an automatically modified gain, a band pass filter, and an analog-to-digital (A/D) conversion module. They are then stored in high-capacity flash memory. In order to identify the direction of noise source, the vector sensor measuring system has integrated an electric-magnetic compass. The system provides a low-rate underwater acoustic communication system which is used to report the buoy state information and a high-speed USB interface which is used to retrieve the recorded data on deck. The whole system weighs about 125kg and can operate autonomously for more than 72 hours. The system's main architecture and the sea-trial test results are provided in this paper.

  2. Mooring Line for an Oceanographic Buoy System

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — A mooring line for an oceanographic buoy system includes four sections. The first section is a protected cable that is connectable to the buoy. The second section is...

  3. A Floating Ocean Energy Conversion Device and Numerical Study on Buoy Shape and Performance

    Directory of Open Access Journals (Sweden)

    Ruiyin Song

    2016-05-01

    Full Text Available Wave and current energy can be harnessed in the East China Sea and South China Sea; however, both areas are subject to high frequencies of typhoon events. To improve the safety of the ocean energy conversion device, a Floating Ocean Energy Conversion Device (FOECD with a single mooring system is proposed, which can be towed to avoid severe ocean conditions or for regular maintenance. In this paper, the structure of the FOECD is introduced, and it includes a catamaran platform, an oscillating buoy part, a current turbine blade, hydraulic energy storage and an electrical generation part. The numerical study models the large catamaran platform as a single, large buoy, while the four floating buoys were modeled simply as small buoys. Theoretical models on wave energy power capture and efficiency were established. To improve the suitability of the buoy for use in the FOECD and its power harvesting capability, a numerical simulation of the four buoy geometries was undertaken. The shape profiles examined in this paper are cylindrical, turbinate (V-shaped and U-shaped cone with cylinder, and combined cylinder-hemisphere buoys. Simulation results reveal that the suitability of a turbinate buoy is the best of the four types. Further simulation models were carried out by adjusting the tip radius of the turbinate buoy. Three performance criteria including suitability, power harvesting capability and energy capture efficiency were analyzed. It reveals that the turbinate buoy has almost the same power harvesting capabilities and energy capture efficiency, while its suitability is far better than that of a cylindrical buoy.

  4. Physical profile data collected in the Equatorial Pacific during cruises to service the TAO array, a network of deep ocean moored buoys, from 2007-04-07 to the present

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — As part of the Tropical Atmosphere Ocean (TAO) Program, the National Data Buoy Center (NDBC) was responsible for the at-sea collection, quality control and...

  5. Physical profile data collected in the Equatorial Pacific during cruises to service the TAO/TRITON array, a network of deep ocean moored buoys, February 23 - December 16, 2005 (NODC Accession 0002644)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — During 2005, CTD data were collected in the equatorial Pacific Ocean during cruises to service the TAO/TRITON array, a network of deep ocean moored buoys to support...

  6. Underwater Vehicle

    National Research Council Canada - National Science Library

    Dick, James L

    2007-01-01

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

  7. An underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2009-08-01

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

  8. Buoy-Rope-Drum Wave Power System

    Directory of Open Access Journals (Sweden)

    Linsen Zhu

    2013-01-01

    Full Text Available A buoy-rope-drum wave power system is a new type of floating oscillating buoy wave power device, which absorbs energy from waves by buoy-rope-drum device. Based on the linear deep water wave theory and pure resistive load, with cylinder buoy as an example, the research sets up the theoretical model of direct-drive buoy-rope-drum wave power efficiency and analyzes the influence of the mass and load of the system on its generating efficiency. It points out the two main categories of the efficient buoy-rope-drum wave power system: light thin type and resonance type, and optimal designs of their major parameters are carried out on the basis of the above theoretical model of generating efficiency.

  9. IPAB Antarctic Drifting Buoy Data, Version 1

    Data.gov (United States)

    National Aeronautics and Space Administration — The World Climate Research Programme (WCRP) International Programme for Antarctic Buoys (IPAB), through participating research organizations in various countries,...

  10. Design of a Low-cost Oil Spill Tracking Buoy

    Science.gov (United States)

    Zhao, Y.; Hu, X.; Yu, F.; Dong, S.; Chen, G.

    2017-12-01

    As the rapid development of oil exploitation and transportation, oil spill accidents, such as Prestige oil spill, Gulf of Mexico oil spill accident and so on, happened frequently in recent years which would result in long-term damage to the environment and human life. It would be helpful for rescue operation if we can locate the oil slick diffusion area in real time. Equipped with GNSS system, current tracking buoys(CTB), such as Lagrangian drifting buoy, Surface Velocity Program (SVP) drifter, iSLDMB (Iridium self locating datum marker buoy) and Argosphere buoy, have been used as oil tracking buoy in oil slick observation and as validation tools for oil spill simulation. However, surface wind could affect the movement of oil slick, which couldn't be reflected by CTB, thus the oil spill tracking performance is limited. Here, we proposed an novel oil spill tracking buoy (OSTB) which has a low cost of less than $140 and is equipped with Beidou positioning module and sails to track oil slick. Based on hydrodynamic equilibrium model and ocean dynamic analysis, the wind sails and water sails are designed to be adjustable according to different marine conditions to improve tracking efficiency. Quick release device is designed to assure easy deployment from air or ship. Sea experiment was carried out in Jiaozhou Bay, Northern China. OSTB, SVP, iSLDMB, Argosphere buoy and a piece of oil-simulated rubber sheet were deployed at the same time. Meanwhile, oil spill simulation model GNOME (general NOAA operational modeling environment) was configured with the wind and current field, which were collected by an unmanned surface vehicle (USV) mounted with acoustic Doppler current profilers (ADCP) and wind speed and direction sensors. Experimental results show that the OSTB has better relevance with rubber sheet and GNOME simulation results, which validate the oil tracking ability of OSTB. With low cost and easy deployment, OSTB provides an effective way for oil spill numerical

  11. Advanced Approach of Multiagent Based Buoy Communication

    Directory of Open Access Journals (Sweden)

    Gediminas Gricius

    2015-01-01

    Full Text Available Usually, a hydrometeorological information system is faced with great data flows, but the data levels are often excessive, depending on the observed region of the water. The paper presents advanced buoy communication technologies based on multiagent interaction and data exchange between several monitoring system nodes. The proposed management of buoy communication is based on a clustering algorithm, which enables the performance of the hydrometeorological information system to be enhanced. The experiment is based on the design and analysis of the inexpensive but reliable Baltic Sea autonomous monitoring network (buoys, which would be able to continuously monitor and collect temperature, waviness, and other required data. The proposed approach of multiagent based buoy communication enables all the data from the costal-based station to be monitored with limited transition speed by setting different tasks for the agent-based buoy system according to the clustering information.

  12. Advanced Approach of Multiagent Based Buoy Communication.

    Science.gov (United States)

    Gricius, Gediminas; Drungilas, Darius; Andziulis, Arunas; Dzemydiene, Dale; Voznak, Miroslav; Kurmis, Mindaugas; Jakovlev, Sergej

    2015-01-01

    Usually, a hydrometeorological information system is faced with great data flows, but the data levels are often excessive, depending on the observed region of the water. The paper presents advanced buoy communication technologies based on multiagent interaction and data exchange between several monitoring system nodes. The proposed management of buoy communication is based on a clustering algorithm, which enables the performance of the hydrometeorological information system to be enhanced. The experiment is based on the design and analysis of the inexpensive but reliable Baltic Sea autonomous monitoring network (buoys), which would be able to continuously monitor and collect temperature, waviness, and other required data. The proposed approach of multiagent based buoy communication enables all the data from the costal-based station to be monitored with limited transition speed by setting different tasks for the agent-based buoy system according to the clustering information.

  13. On the Optimization of Point Absorber Buoys

    Directory of Open Access Journals (Sweden)

    Linnea Sjökvist

    2014-05-01

    Full Text Available A point absorbing wave energy converter (WEC is a complicated dynamical system. A semi-submerged buoy drives a power take-off device (PTO, which acts as a linear or non-linear damper of the WEC system. The buoy motion depends on the buoy geometry and dimensions, the mass of the moving parts of the system and on the damping force from the generator. The electromagnetic damping in the generator depends on both the generator specifications, the connected load and the buoy velocity. In this paper a velocity ratio has been used to study how the geometric parameters buoy draft and radius, assuming constant generator damping coefficient, affects the motion and the energy absorption of a WEC. It have been concluded that an optimal buoy geometry can be identified for a specific generator damping. The simulated WEC performance have been compared with experimental values from two WECs with similar generators but different buoys. Conclusions have been drawn about their behaviour.

  14. FOULING ORGANISMS OF BUOYS WITHIN MAKHACHKALA SEAPORT

    Directory of Open Access Journals (Sweden)

    C. N. Imachova

    2011-01-01

    Full Text Available It is investigated biofouling buoys within Makhachkala seaport. Seasonal dynamics of development of community, structure species and trophic structure is revealed. It is established vertical zonality in distribution of fouling.

  15. Underwater manipulator

    Science.gov (United States)

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

    1993-04-20

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

  16. Underwater manipulator

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  17. Worldwide Buoy Technology Survey. Volume 1. Report

    Science.gov (United States)

    1991-02-01

    WB Weiseler Bojen (Germany - Manufacturer) WGDB Wine Glass Discrepancy Buoy WHOI Woods Hole Oceanographic Institution ZLBC Zeni Lite Buoy Co. (Japan...de Nantes - St, Nazaire, Port Autonome de Bordeaux , and Port Autonome de Marseille. Overseas locations also include Antigua and St. Frias in the...navigation. The navigation aids used along the Norwegian coast are tailored to the needs of the specific geographic and climatic conditions prevailing

  18. Underwater Sound Reference Division

    Data.gov (United States)

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

  19. Oceanographic Multisensor Buoy Based on Low Cost Sensors for Posidonia Meadows Monitoring in Mediterranean Sea

    Directory of Open Access Journals (Sweden)

    Sandra Sendra

    2015-01-01

    Full Text Available There are some underwater areas with high ecological interest that should be monitored. Posidonia and seagrasses exert considerable work in protecting the coastline from erosion. In these areas, many animals and organisms live and find the grassland food and the protection against predators. It is considered a bioindicator of the quality of coastal marine waters. It is important to monitor them and maintain these ecological communities as clean as possible. In this paper, we present an oceanographic buoy for Posidonia meadows monitoring. It is based on a set of low cost sensors which are able to collect data from water such as salinity, temperature, and turbidity and from the weather as temperature, relative humidity, and rainfall, among others. The system is mounted in a buoy which keeps it isolated to possible oxidation problems. Data gathered are processed using a microcontroller. Finally the buoy is connected with a base station placed on the mainland through a wireless connection using a FlyPort module. The network performance is checked in order to ensure that no delays will be generated on the data transmission. This proposal could be used to monitor other areas with special ecological interest and for monitoring and supervising aquaculture activities.

  20. IABP Drifting Buoy Pressure, Temperature, Position, and Interpolated Ice Velocity

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The International Arctic Buoy Programme (IABP) maintains a network of drifting buoys to provide meteorological and oceanographic data for real-time operational...

  1. Oceanographic measurements from the Texas Automated Buoy System (TABS)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Texas Automated Buoy System contains daily oceanographic measurements from seven buoys off the Texas coast from Brownsville to Sabine. The Texas General Land...

  2. 47 CFR 90.248 - Wildlife and ocean buoy tracking.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 5 2010-10-01 2010-10-01 false Wildlife and ocean buoy tracking. 90.248... and ocean buoy tracking. (a) The frequency bands 40.66-40.70 MHz and 216-220 MHz may be used for the tracking of, and the telemetry of scientific data from, ocean buoys and animal wildlife. (b) Transmitters...

  3. Pacific Ocean buoy temperature date - TAO/TRITON database & National Buoy Data Center database

    Data.gov (United States)

    U.S. Environmental Protection Agency — Pacific Ocean buoy temperature data. This dataset is associated with the following publication: Carbone, F., M. Landis, C.N. Gencarelli, A. Naccarato, F. Sprovieri,...

  4. 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.

  5. Drifting buoy data collected by the National Data Buoy Center (NDBC) in oceans world-wide from 1984-05-01 to 1998-10-27

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This collection contains drifting buoy data collected from May 1984 through October 1998 from buoys deployed by the National Data Buoy Center, Stennis Space Center,...

  6. Underwater Geotechnical Foundations

    National Research Council Canada - National Science Library

    Lee, Landris

    2001-01-01

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

  7. Underwater Scene Composition

    Science.gov (United States)

    Kim, Nanyoung

    2009-01-01

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

  8. Dissolved inorganic carbon, total alkalinity, pH, dissolved oxygen, and nutrients collected from profile, discrete sampling, and time series observations using CTD, Niskin bottle, and other instruments from R/V Gulf Challenger near a buoy off the coast of New Hampshire, U.S. in the Gulf of Maine from 2011-01-11 to 2015-11-18 (NCEI Accession 0142327)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This archival package contains discrete measurements of dissolved inorganic carbon, total alkalinity, pH, dissolved oxygen, and nutrients collected at the buoy off...

  9. Downwelling radiation at the sea surface in the central Mediterranean: one year of shortwave and longwave irradiance measurements on the Lampedusa buoy

    Science.gov (United States)

    di Sarra, Alcide; Bommarito, Carlo; Anello, Fabrizio; Di Iorio, Tatiana; Meloni, Daniela; Monteleone, Francesco; Pace, Giandomenico; Piacentino, Salvatore; Sferlazzo, Damiano

    2017-04-01

    An oceanographic buoy has been developed and deployed in August 2015 about 3.3 miles South West of the island of Lampedusa, at 35.49°N, 12.47°E, in the central Mediterranean Sea. The buoy was developed within the Italian RITMARE flagship project, and contributes to the Italian fixed-point oceanographic observation network. The buoy is an elastic beacon type and is intended to study air-sea interactions, propagation of radiation underwater, and oceanographic properties. The buoy measurements complement the atmospheric observations carried out at the long-term Station for Climate Observations on the island of Lampedusa (www.lampedusa.enea.it; 35.52°N, 12.63°E), which is located about 15 km E-NE of the buoy. Underwater instruments and part of the atmospheric sensors are presently being installed on the buoy. Measurements of downwelling shortwave, SW, and longwave, LW, irradiance, have been made since September 2015 with a Kipp and Zonen CMP21 pyranometer and a Kipp and Zonen CGR4 pyrgeometer, respectively. The radiometers are mounted on a small platform at about 7 m above sea level, on an arm protruding southward of the buoy. High time resolution data, at 1 Hz, have been acquired since December 2015, together with the sensors' attitude. Data from the period December 2015-December 2016 are analyzed and compared with measurements made on land at the Station for Climate Observations at 50 m above mean sea level. This study aims at deriving high quality determinations of the downwelling radiation over sea in the central Mediterranean. The following aspects will be discussed: - representativeness of time averaging of irradiance measurements over moving platforms; - comparison of downwelling irradiance measurements made over land and over ocean, and identification of possible correction strategies to infer irradiances over the ocean from close by measurements made over land; - influence of dome cleaning on the quality of measurements; - envisaging possible corrections

  10. 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.

  11. Rip current monitoring using GPS buoy system

    Science.gov (United States)

    Song, DongSeob; Kim, InHo; Kang, DongSoo

    2014-05-01

    The occurrence of rip current in the Haeundae beach, which is one of the most famous beaches in South Korea, has been threatening beach-goers security in summer season annually. Many coastal scientists have been investigating rip currents by using field observations and measurements, laboratory measurements and wave tank experiments, and computer and numerical modeling. Rip current velocity is intermittent and may rapidly increase within minutes due to larger incoming wave groups or nearshore circulation instabilities. It is important to understand that changes in rip current velocity occur in response to changes in incoming wave height and period as well as changes in water level. GPS buoys have been used to acquire sea level change data, atmospheric parameters and other oceanic variables in sea for the purposes of vertical datum determination, tide correction, radar altimeter calibration, ocean environment and marine pollution monitoring. Therefore, we adopted GPS buoy system for an experiment which is to investigate rip current velocity; it is sporadic and may quickly upsurge within minutes due to larger arriving wave groups or nearshore flow uncertainties. In this study, for high accurate positioning of buy equipment, a Satellite Based Argumentation System DGPS data logger was deployed to investigate within floating object, and it can be acquired three-dimensional coordinate or geodetic position of buoy with continuous NMEA-0183 protocol during 24 hours. The wave height measured by in-situ hydrometer in a cross-shore array clearly increased before and after occurrence of rip current, and wave period also was lengthened around an event. These results show that wave height and period correlate reasonably well with long-shore current interaction in the Haeundae beach. Additionally, current meter data and GPS buoy data showed that rip current velocities, about 0.2 m/s, may become dangerously strong under specific conditions. Acknowledgement This research was

  12. Underwater Glider System Study

    OpenAIRE

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

    2003-01-01

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

  13. The November 2011 irruption of buoy barnacles Dosima fascicularis ...

    African Journals Online (AJOL)

    Dissection failed to reveal foreign attachment sites in 40 floats, but digesting 70 floats in potassium hydroxide revealed small plastic fragments in eight floats, one tar ball and one Velella skeleton. The 100 study colonies were comprised solely of buoy barnacles, but a Janthina shell had one buoy barnacle and 18 Lepas ...

  14. System Identification and Control of a Joint-Actuated Buoy

    Science.gov (United States)

    2014-05-09

    servomotors does not impart any motion on the vessel. Frye et al. [2] have done work to point a directional antenna from a floating buoy. Their...Patent No. 6433736B1, August 2006. [2] K. Doherty D. Frye and A. Hinton. Design and Evaluation of a Directional Antenna for Ocean Buoys. Technical

  15. "Boxnep" advanced modular underwater robot

    OpenAIRE

    Buluev, Ilia

    2016-01-01

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

  16. 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…

  17. Saildrone fleet could help replace aging buoys

    Science.gov (United States)

    Voosen, Paul

    2018-03-01

    In April, two semiautonomous drones, developed by Saildrone, a marine tech startup based in Alameda, California, in close collaboration with the National Oceanic and Atmospheric Administration in Washington, D.C., are set to return from an 8-month tour of the Pacific Ocean. This the first scientific test for the drones, which are powered only by the wind and sun, in the Pacific Ocean. The voyage is an important step in showing that such drones, carrying 15 different sensors, could help replace an aging and expensive array of buoys that are the main way scientists sniff out signs of climate-disrupting El Niño events. If successful, scientists envision fleets of similar drones spreading across the ocean, inviting thoughts of what it could be like to do oceanography without a ship.

  18. Continuous Wavelet Transform Analysis of Acceleration Signals Measured from a Wave Buoy

    Science.gov (United States)

    Chuang, Laurence Zsu-Hsin; Wu, Li-Chung; Wang, Jong-Hao

    2013-01-01

    Accelerometers, which can be installed inside a floating platform on the sea, are among the most commonly used sensors for operational ocean wave measurements. To examine the non-stationary features of ocean waves, this study was conducted to derive a wavelet spectrum of ocean waves and to synthesize sea surface elevations from vertical acceleration signals of a wave buoy through the continuous wavelet transform theory. The short-time wave features can be revealed by simultaneously examining the wavelet spectrum and the synthetic sea surface elevations. The in situ wave signals were applied to verify the practicality of the wavelet-based algorithm. We confirm that the spectral leakage and the noise at very-low-frequency bins influenced the accuracies of the estimated wavelet spectrum and the synthetic sea surface elevations. The appropriate thresholds of these two factors were explored. To study the short-time wave features from the wave records, the acceleration signals recorded from an accelerometer inside a discus wave buoy are analysed. The results from the wavelet spectrum show the evidence of short-time nonlinear wave events. Our study also reveals that more surface profiles with higher vertical asymmetry can be found from short-time nonlinear wave with stronger harmonic spectral peak. Finally, we conclude that the algorithms of continuous wavelet transform are practical for revealing the short-time wave features of the buoy acceleration signals. PMID:23966188

  19. Design of Buoys for Mounting Wind Turbines at Exposed Sites

    Science.gov (United States)

    Erdoğan, Beytullah; Çelıkkol, Barbaros; Swift, Robinson

    2018-04-01

    In this study, two designs for a buoy capable of supporting a 10 kW wind turbine and its tower were developed to operate at the University of New Hampshire's Center of Ocean Renewable Energy testing site located off the Isles of Shoals, New Hampshire. The buoys are to be moored by a catenary chain system. To evaluate wave response, two Froude-scaled models were constructed, tested, and compared at the Ocean Engineering wave tank at the University of New Hampshire. These buoys have been implemented and compared with wave tank measurements of the spar displacement at a reference elevation 2.44 m above the mean water level.

  20. Tethered Antennas for Unmanned Underwater Vehicles

    Science.gov (United States)

    2009-04-27

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

  1. Jellyfish inspired underwater unmanned vehicle

    Science.gov (United States)

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

    2009-03-01

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

  2. Response of surface buoy moorings in steady and wave flows

    Digital Repository Service at National Institute of Oceanography (India)

    Anand, N.M.; Nayak, B.U.; SanilKumar, V.

    A numerical model has been developed to evaluate the dynamics of surface buoy mooring systems under wave and current loading. System tension response and variation of tension in the mooring line at various depths have been evaluated for deep water...

  3. An overview of a moored ocean data buoy programme

    Digital Repository Service at National Institute of Oceanography (India)

    Nayak, M.R.

    This paper addresses the rationale. history, strategy and management techniques used in the developmcnt of NIO oceanographic data buoy programme. The system is used for short term as well as long term oceanographic observations. The technical...

  4. Determination of wave direction using an orbital following buoy

    Digital Repository Service at National Institute of Oceanography (India)

    Fernandes, A.A; Almeida, A; Vaithiyanathan, R.; Vethamony, P.

    Software has been developed in FORTRAN language using a personal computer for the determination of wave direction from time series measurements of heave, pitch and roll of an orbital following buoy. The method of digital band pass filtering describ...

  5. Directional waverider buoy in Indian waters - Experiences of NIO

    Digital Repository Service at National Institute of Oceanography (India)

    AshokKumar, K.; Diwan, S.G.

    parameters except the wave direction. Using the advanced technology, M/s Datawell bv, Netherlands, has developed directional waverider buoy which enables to measure the wave direction in addition to wave height and period. To augument this latest measurement...

  6. The wave buoy analogy - estimating high-frequency wave excitations

    DEFF Research Database (Denmark)

    Nielsen, Ulrik Dam

    2008-01-01

    The paper deals with the wave buoy analogy where a ship is considered as a wave buoy, so that measured ship responses are used as a basis to estimate wave spectra and associated sea state parameters. The study presented follows up on a previous paper, Nielsen [Nielsen UD. Response-based estimation...... be estimated reasonably well, even considering high-frequency wave components of a wind sea wave spectrum....

  7. GNSS Buoy Array in the Ocean for Natural Hazard Mitigation

    Science.gov (United States)

    Kato, T.; Terada, Y.; Yamamoto, S. I.; Iwakiri, N.; Toyoshima, M.; Koshikawa, N.; Motohashi, O.; Hashimoto, G.; Wada, A.

    2015-12-01

    The GNSS buoy system for tsunami early warning has been developed in Japan. The system has been implemented as a national wave monitoring system and its record was used to update the tsunami warning at the 3.11 Tohoku-oki earthquake. The lessons learned in this experience was that the buoys are placed only less than 20km from the coast, which was not far enough for effective evacuation of people. We thus tried to improve the system for putting the buoy much farther from the coast. First, we tried to implement, different from current baseline mode RTK-GPS, a real-time PPP analysis strategy for positioning. In addition, we tried to use a two-way satellite data transmission in contrast with current surface radio system. We have made a series of experiments for this purpose in 2013 and 2014. A buoy of about 40km south of Shikoku, southwest Japan, was used for this purpose. GEONET data were used to obtain precise orbits and clocks of satellites. Then, the information was transferred to the GNSS buoy using LEX signal of QZSS satellite system. The received information on the buoy were used for real-time PPP analysis for every second. The obtained buoy position was then transmitted to the ground base, through an engineering test satellite, ETS-VIII. The received data was then disseminated to public through the internet. Both filtered short-term and long-term waves, were separately shown on the webpage. The success of these experiments indicates that the GNSS buoy can be placed at least more than 1,500 km from the ground based tracking network. Given this success, we would now be able to deploy a new GNSS buoy array system in the wide ocean. An array in the ocean can be used for ionospheric and atmospheric research in the same region as well as tsunami or ocean bottom crustal deformation monitoring through an application to the GNSS-acoustic system. We are now designing a regional GNSS buoy array in the western Pacific as a synthetic natural hazard mitigation system.

  8. Heaving buoys, point absorbers and arrays.

    Science.gov (United States)

    Falnes, Johannes; Hals, Jørgen

    2012-01-28

    Absorption of wave energy may be considered as a phenomenon of interference between incident and radiated waves generated by an oscillating object; a wave-energy converter (WEC) that displaces water. If a WEC is very small in comparison with one wavelength, it is classified as a point absorber (PA); otherwise, as a 'quasi-point absorber'. The latter may be a dipole-mode radiator, for instance an immersed body oscillating in the surge mode or pitch mode, while a PA is so small that it should preferably be a source-mode radiator, for instance a heaving semi-submerged buoy. The power take-off capacity, the WEC's maximum swept volume and preferably also its full physical volume should be reasonably matched to the wave climate. To discuss this matter, two different upper bounds for absorbed power are applied in a 'Budal diagram'. It appears that, for a single WEC unit, a power capacity of only about 0.3 MW matches well to a typical offshore wave climate, and the full physical volume has, unfortunately, to be significantly larger than the swept volume, unless phase control is used. An example of a phase-controlled PA is presented. For a sizeable wave-power plant, an array consisting of hundreds, or even thousands, of mass-produced WEC units is required.

  9. 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.)

  10. 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.

  11. GPS buoys for stage monitoring of large rivers

    Science.gov (United States)

    Apel, H.; Hung, N. G.; Thoss, H.; Schöne, T.

    2012-01-01

    SummaryMonitoring of river stages is one of the basic observations required for understanding catchment hydrology and hydraulic systems. There are numerous measurement techniques available for this purpose, but in case of large rivers technical as well as financial problems often restrict the use of traditional techniques, e.g. pressure probes or float gauges. We explored the potential of Global Navigation Satellite System (GNSS) based water level measurements for stage monitoring by developing small and easy to handle buoys equipped with high-quality geodetic GNSS receivers. The design of the buoys was particularly suited to the requirements of application in rivers, distinguishing them from typical wave rider buoys used in marine offshore applications. The advantages of buoys include the freedom of positioning and their quick and easy deployment. The developed buoys were tested in the Mekong Delta, Vietnam, at two different locations: on the Mekong river under high currents, and the second in a small nearby lake with hydraulic connections to a major channel with negligible currents. For this study, only data of the Global Positioning System (GPS) was collected and processed. Processing was undertaken in baseline mode using a nearby reference station and validated against standard pressure gauge data. The recorded stages proved to be of high quality (i.e. mean absolute error position changes of the buoy and thus water movement. In the presented case study alternating currents caused by ocean tides could be detected, thus providing additional information about the hydraulic system. We conclude that the developed buoys add well to the existing hydrological monitoring pool and are a good option for the monitoring in rivers where traditional methods are technically difficult to deploy or too costly.

  12. Underwater laser detection system

    Science.gov (United States)

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

    2015-02-01

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

  13. 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.

  14. Applications to marine disaster prevention spilled oil and gas tracking buoy system

    CERN Document Server

    2017-01-01

    This book focuses on the recent results of the research project funded by a Grant-in-Aid for Scientific Research (S) of the Japan Society for the Promotion of Science (No. 23226017) from FY 2011 to FY 2015 on an autonomous spilled oil and gas tracking buoy system and its applications to marine disaster prevention systems from a scientific point of view. This book spotlights research on marine disaster prevention systems related to incidents involving oil tankers and offshore platforms, approaching these problems from new scientific and technological perspectives. The most essential aspect of this book is the development of a deep-sea underwater robot for real-time monitoring of blowout behavior of oil and gas from the seabed and of a new type of autonomous surface vehicle for real-time tracking and monitoring of oil spill spread and drift on the sea surface using an oil sensor. The mission of these robots is to provide the simulation models for gas and oil blowouts or spilled oil drifting on the sea surface w...

  15. Numerical modelling of the HAB Energy Buoy: Stage 1

    DEFF Research Database (Denmark)

    Kurniawan, Adi

    This report presents the results of the first stage of the project "Numerical modelling of the HAB Energy Buoy". The objectives of this stage are to develop a numerical model of the HAB Energy Buoy, a self-reacting wave energy device consisting of two heaving bodies, and to investigate a number...... and a summary of the main findings is presented. A numerical model of the HAB Energy Buoy has been developed in the frequency domain using two alternative formulations of the equations of motion. The model is capable of predicting the power capture, motion response, and power take-off loads of the device...... configuration are imposed to give a more realistic prediction of the power capture and help ensure a fair comparison. Recommendations with regard to the HAB design are finally suggested....

  16. Carbon Nanotube Underwater Acoustic Thermophone

    Science.gov (United States)

    2016-09-23

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

  17. Meteorological buoy measurements in the Iceland Sea, 2007-2009

    Science.gov (United States)

    Nína Petersen, Guðrún

    2017-10-01

    The Icelandic Meteorological Office (IMO) conducted meteorological buoy measurements in the central Iceland Sea in the time period 2007-2009, specifically in the northern Dreki area on the southern segment of the Jan Mayen Ridge. Due to difficulties in deployment and operations, in situ measurements in this region are sparse. Here the buoy, deployment and measurements are described with the aim of giving a future user of the data set information that is as comprehensive as possible. The data set has been quality-checked, suspect data removed and the data set made publicly available from PANGAEA Data Publisher (https://doi.org/10.1594/PANGAEA.876206).

  18. Underwater gas tornado

    Science.gov (United States)

    Byalko, Alexey V.

    2013-07-01

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

  19. Satellite-tracked drifting buoy observations in the south equatorial current in the Indian Ocean

    Digital Repository Service at National Institute of Oceanography (India)

    Shetye, S.R.; Michael, G.S.

    two buoys moved north and the third moved south. Over the open sea regime the buoys moved with a speed of approximately 30 cm/s at an angle of about 35 degrees to the left of the wind. The overall tendencies seen in the buoy drift are similar to those...

  20. Underwater Hearing in Turtles.

    Science.gov (United States)

    Willis, Katie L

    2016-01-01

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

  1. Oceansat–2 and RAMA buoy winds: A comparison

    Indian Academy of Sciences (India)

    Home; Journals; Journal of Earth System Science; Volume 122; Issue 6. Oceansat–2 and RAMA buoy winds: A ... In the complete annual cycle (2011), the monthly mean root mean square differences in the wind speed and wind direction were less than ∼2.5 ms−1 and ∼20°, respectively. The better match between the ...

  2. Model Predictive Control of Buoy Type Wave Energy Converter

    DEFF Research Database (Denmark)

    Soltani, Mohsen; Sichani, Mahdi Teimouri; Mirzaei, Mahmood

    2014-01-01

    The paper introduces the Wavestar wave energy converter and presents the implementation of model predictive controller that maximizes the power generation. The ocean wave power is extracted using a hydraulic electric generator which is connected to an oscillating buoy. The power generator is an a...

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

    Science.gov (United States)

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

    2017-06-01

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

  4. 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

  5. Optimization of wave energy capture of wave-powered navigational lighting buoys of seadromes

    Directory of Open Access Journals (Sweden)

    WANG Guangda

    2017-12-01

    Full Text Available [Objectives] This paper proposes an optimized design for wave-power navigational lighting buoys of seadromes.[Methods] Based on the theory of three-dimensional potential flow, the buoyant motion response of a buoy is calculated. A type of array of wave-power navigational lighting buoys located in an offshore seadrome is proposed,and a procedure for the design optimization of its component buoys is presented. Matching the best Power Take-Off(PTO damping, the diameter to draft ratio and array distance with the best energy capture width ratio are acquired, and the energy capture for the short-term forecast of the buoy array is accomplished. On this basis, combined with the actual sea conditions, energy capture for the long-term forecast of an individual buoy is accomplished. The influence of the buoy diameter, buoy draft and array distance on the energy capture width ratio is discussed.[Results] The results show that the energy capture width ratio is at its greatest when the diameter to draft ratio is between 2.4-2.6; the smaller the distance between array buoys, the greater the energy capture width of each buoy.[Conclusions] The results can provide a reference and suggestions for the optimization of the design of wave energy generation for arrays buoy.

  6. 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

  7. Development of the Sensor for Environmental Assessment (SEA Buoy)

    Science.gov (United States)

    2014-01-01

    designed using assumptions about the sensitivity of the hydrophones which were calculated from measurements made in the laboratory calibrator , but using...UNCLASSIFIED UNCLASSIFIED 165 U.S. Navy Journal of Underwater Acoustics JUA_2014_018_O January 2014 Distribution Statement A: Approved for public...unlimited 13. SUPPLEMENTARY NOTES See also ADC082812. U.S. Navy Journal of Underwater Acoustics . Volume 62, Issue 2, April 2012 - Airborne Anti-Submarine

  8. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  9. Validation of HF Radar ocean surface currents in the Ibiza Channel using lagrangian drifters, moored current meter and underwater gliders

    Science.gov (United States)

    Lana, Arancha; Fernández, Vicente; Orfila, Alejandro; Troupin, Charles; Tintoré, Joaquín

    2015-04-01

    SOCIB High Frequency (HF) radar is one component of a multi-platform system located in the Balearic Islands and made up of Lagrangian platforms (profilers and drifting buoys), fixed stations (sea-level, weather, mooring and coastal), beach monitoring (camera), gliders, a research vessel as well as an ocean forecast system (waves and hydrodynamics). The HF radar system overlooks the Ibiza Channel, known as a 'choke point" where Atlantic and Mediterranean water masses interact and where meridional exchanges of water mass properties between the Balearic and the Algerian sub-basins take place. In order to determine the reliability of surface velocity measurements in this area, a quality assessment of the HF Radar is essential. We present the results of several validation experiments performed in the Ibiza Channel in 2013 and 2014. Of particular interest is an experiment started in September 2014 when a set of 13 surface drifters with different shapes and drogue lengths were released in the area covered by the HF radar. The drifter trajectories can be examined following the SOCIB Deployment Application (DAPP): http://apps.socib.es/dapp. Additionally, a 1-year long time series of surface currents obtained from a moored surface current-meter located in the Ibiza Channel, inside the area covered by the HF radar, was also used as a useful complementary validation exercise. Direct comparison between both radial surface currents from each radar station and total derived velocities against drifters and moored current meter velocities provides an assessment of the HF radar data quality at different temporal periods and geographical areas. Statistics from these comparisons give good correlation and low root-mean-square deviation. The results will be discussed for different months, geographical areas and types of surface drifters and wind exposure. Moreover, autonomous underwater glider constitutes an additional source of information for the validation of the observed velocity

  10. UpTempO Buoys for Understanding and Predictions

    Science.gov (United States)

    2016-02-28

    order to better understand the details of ice - albedo feedback. 15. SUBJECT TERMS Sea ice , retreat, Arctic Ocean, UpTempO, Upper Temperature of...fall cooling, and interannually as sea ice retreats and the warming season lengthens. The effort was a contribution to the multi-investigator ONR...relationships between sea ice retreat and upper ocean warming. ACCOMPLISHED I. Buoy deployments and data: We worked with the Pacific Gyre (PG

  11. 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)

  12. Evaluating the Effectiveness of DART® Buoy Networks Based on Forecast Accuracy

    Science.gov (United States)

    Percival, Donald B.; Denbo, Donald W.; Gica, Edison; Huang, Paul Y.; Mofjeld, Harold O.; Spillane, Michael C.; Titov, Vasily V.

    2018-03-01

    A performance measure for a DART® tsunami buoy network has been developed. DART® buoys are used to detect tsunamis, but the full potential of the data they collect is realized through accurate forecasts of inundations caused by the tsunamis. The performance measure assesses how well the network achieves its full potential through a statistical analysis of simulated forecasts of wave amplitudes outside an impact site and a consideration of how much the forecasts are degraded in accuracy when one or more buoys are inoperative. The analysis uses simulated tsunami amplitude time series collected at each buoy from selected source segments in the Short-term Inundation Forecast for Tsunamis database and involves a set for 1000 forecasts for each buoy/segment pair at sites just offshore of selected impact communities. Random error-producing scatter in the time series is induced by uncertainties in the source location, addition of real oceanic noise, and imperfect tidal removal. Comparison with an error-free standard leads to root-mean-square errors (RMSEs) for DART® buoys located near a subduction zone. The RMSEs indicate which buoy provides the best forecast (lowest RMSE) for sections of the zone, under a warning-time constraint for the forecasts of 3 h. The analysis also shows how the forecasts are degraded (larger minimum RMSE among the remaining buoys) when one or more buoys become inoperative. The RMSEs provide a way to assess array augmentation or redesign such as moving buoys to more optimal locations. Examples are shown for buoys off the Aleutian Islands and off the West Coast of South America for impact sites at Hilo HI and along the US West Coast (Crescent City CA and Port San Luis CA, USA). A simple measure (coded green, yellow or red) of the current status of the network's ability to deliver accurate forecasts is proposed to flag the urgency of buoy repair.

  13. 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.

  14. A study of the optimum draft of multiple resonance power buoys for maximizing electric power production

    Directory of Open Access Journals (Sweden)

    Hyuck-Min Kweon

    2014-12-01

    Full Text Available To maximize electric power production using wave energy extractions from resonance power buoys, the maximum motion displacement spectra of the buoys can primarily be obtained under a given wave condition. In this study, wave spectra observed in shoaling water were formulated. Target resonance frequencies were established from the arithmetic means of modal frequency bands and the peak frequencies. The motion characteristics of the circular cylindrical power buoys with corresponding drafts were then calculated using numerical models without considering PTO damping force. Results showed that the heave motions of the power buoys in shoaling waters with insufficient drafts produced greater amplification effects than those in deep seas with sufficient drafts.

  15. 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.

  16. Optical Backscattering Measured by Airborne Lidar and Underwater Glider

    OpenAIRE

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

    2017-01-01

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

  17. 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.

  18. Underwater measurements of muon intensity

    Science.gov (United States)

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

    1985-01-01

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

  19. An Underwater Color Image Quality Evaluation Metric.

    Science.gov (United States)

    Yang, Miao; Sowmya, Arcot

    2015-12-01

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

  20. Calibration of Underwater Sound Transducers

    OpenAIRE

    H.R.S. Sastry

    1983-01-01

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

  1. Underwater nuclear power plant structure

    International Nuclear Information System (INIS)

    Severs, S.; Toll, H.V.

    1982-01-01

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

  2. Underwater Robots Surface in Utah

    Science.gov (United States)

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

    2015-01-01

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

  3. Sensor Buoy System for Monitoring Renewable Marine Energy Resources.

    Science.gov (United States)

    García, Emilio; Quiles, Eduardo; Correcher, Antonio; Morant, Francisco

    2018-03-22

    In this paper we present a multi-sensor floating system designed to monitor marine energy parameters, in order to sample wind, wave, and marine current energy resources. For this purpose, a set of dedicated sensors to measure the height and period of the waves, wind, and marine current intensity and direction have been selected and installed in the system. The floating device incorporates wind and marine current turbines for renewable energy self-consumption and to carry out complementary studies on the stability of such a system. The feasibility, safety, sensor communications, and buoy stability of the floating device have been successfully checked in real operating conditions.

  4. System for Monitoring, Determining, and Reporting Directional Spectra of Ocean Surface Waves in Near Realtime from a Moored Buoy

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — A moored buoy floating at the ocean surface and anchored to the seafloor precisely measures acceleration, pitch, roll, and Earth's magnetic flux field of the buoy...

  5. Oceanographic temperature and salinity measurements collected using drifting buoys in the Arctic Ocean from 2003 to 2006 (NODC Accession 0014672)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Oceanographic temperature and salinity measurements collected using drifting buoys in the Arctic Ocean. Data from JAMSTEC drifting buoys which were deployed both as...

  6. Sunlight Intensity Based Global Positioning System for Near-Surface Underwater Sensors

    Directory of Open Access Journals (Sweden)

    Borja Fernández

    2012-02-01

    Full Text Available Water monitoring is important in domains including documenting climate change, weather prediction and fishing. This paper presents a simple and energy efficient localization strategy for near surface buoy based sensors. Sensors can be dropped randomly in the ocean and thus self-calibrate in terms of geographic location such that geo-tagged observations of water quality can be made without the need for costly and energy consuming GPS-hardware. The strategy is based on nodes with an accurate clock and light sensors that can regularly sample the level of light intensity. The measurements are fitted into a celestial model of the earth motion around the sun. By identifying the trajectory of the sun across the skies one can accurately determine sunrise and sunset times, and thus extract the longitude and latitude of the sensor. Unlike previous localization techniques for underwater sensors, the current approach does not rely on stationary or mobile reference points.

  7. Sunlight intensity based global positioning system for near-surface underwater sensors.

    Science.gov (United States)

    Gómez, Javier V; Sandnes, Frode E; Fernández, Borja

    2012-01-01

    Water monitoring is important in domains including documenting climate change, weather prediction and fishing. This paper presents a simple and energy efficient localization strategy for near surface buoy based sensors. Sensors can be dropped randomly in the ocean and thus self-calibrate in terms of geographic location such that geo-tagged observations of water quality can be made without the need for costly and energy consuming GPS-hardware. The strategy is based on nodes with an accurate clock and light sensors that can regularly sample the level of light intensity. The measurements are fitted into a celestial model of the earth motion around the sun. By identifying the trajectory of the sun across the skies one can accurately determine sunrise and sunset times, and thus extract the longitude and latitude of the sensor. Unlike previous localization techniques for underwater sensors, the current approach does not rely on stationary or mobile reference points.

  8. Meteorological and oceanographic data collected from the National Data Buoy Center Coastal-Marine Automated Network (C-MAN) and moored (weather) buoys

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The National Data Buoy Center (NDBC) established the Coastal-Marine Automated Network (C-MAN) for the National Weather Service in the early 1980's. NDBC has...

  9. Drifting buoy data observed during 1985 through 1989 and assembled by the Responsible National Oceanographic Data Center (RNODC) for Drifting Buoy Data (NODC Accession 9100057)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Physical and meteorological data were collected from drifting buoys from a World-Wide distribution from 2 January 1985 to 31 December 1989. Data were processed by...

  10. Drifting buoy data observed during 1992 and assembled by the Responsible National Oceanographic Data Center (RNODC) for Drifting Buoy Data (NODC Accession 9300091)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Physical and meteorological data were collected from drifting buoys from a World-Wide distribution from 01 January 1992 to 31 December 1992. Data were processed by...

  11. Development of a GNSS Buoy for Monitoring Water Surface Elevations in Estuaries and Coastal Areas.

    Science.gov (United States)

    Lin, Yen-Pin; Huang, Ching-Jer; Chen, Sheng-Hsueh; Doong, Dong-Jiing; Kao, Chia Chuen

    2017-01-18

    In this work, a Global Navigation Satellite System (GNSS) buoy that utilizes a Virtual Base Station (VBS) combined with the Real-Time Kinematic (RTK) positioning technology was developed to monitor water surface elevations in estuaries and coastal areas. The GNSS buoy includes a buoy hull, a RTK GNSS receiver, data-transmission devices, a data logger, and General Purpose Radio Service (GPRS) modems for transmitting data to the desired land locations. Laboratory and field tests were conducted to test the capability of the buoy and verify the accuracy of the monitored water surface elevations. For the field tests, the GNSS buoy was deployed in the waters of Suao (northeastern part of Taiwan). Tide data obtained from the GNSS buoy were consistent with those obtained from the neighboring tide station. Significant wave heights, zero-crossing periods, and peak wave directions obtained from the GNSS buoy were generally consistent with those obtained from an accelerometer-tilt-compass (ATC) sensor. The field tests demonstrate that the developed GNSS buoy can be used to obtain accurate real-time tide and wave data in estuaries and coastal areas.

  12. A Wave Power Device with Pendulum Based on Ocean Monitoring Buoy

    Science.gov (United States)

    Chai, Hui; Guan, Wanchun; Wan, Xiaozheng; Li, Xuanqun; Zhao, Qiang; Liu, Shixuan

    2018-01-01

    The ocean monitoring buoy usually exploits solar energy for power supply. In order to improve power supply capacity, this paper proposes a wave power device according to the structure and moving character of buoy. The wave power device composes of pendulum mechanism that converts wave energy into mechanical energy and energy storage mechanism where the mechanical energy is transferred quantitatively to generator. The hydrodynamic equation for the motion of buoy system with generator devise is established based on the potential flow theory, and then the characteristics of pendulum motion and energy conversion properties are analysed. The results of this research show that the proposed wave power devise is able to efficiently and periodically convert wave energy into power, and increasing the stiffness of energy storage spring is benefit for enhancing the power supply capacity of the buoy. This study provides a theory reference for the development of technology on wave power generator for ocean monitoring buoy.

  13. Directionality and maneuvering effects on a surface ship underwater acoustic signature.

    Science.gov (United States)

    Trevorrow, Mark V; Vasiliev, Boris; Vagle, Svein

    2008-08-01

    This work examines underwater source spectra of a small (560 tons, 40 m length), single-screw oceanographic vessel, focusing on directionality and effects of maneuvers. The measurements utilized a set of four, self-contained buoys with GPS positioning, each recording two calibrated hydrophones with effective acoustic bandwidth from 150 Hz to 5 kHz. In straight, constant-speed runs at speeds up to 6.2 m s(-1), the ship source spectra showed spectral levels in reasonable agreement with reference spectra. The broadband source level was observed to increase as approximately speed to the fourth power over the range of 2.6-6.1 m s(-1), partially biased at low speeds by nonpropulsion machinery signals. Source directionality patterns were extracted from variations in source spectra while the ship transited past the buoy field. The observed spectral source levels exhibited a broadside maximum, with bow and stern aspect reduced by approximately 12-9 dB, respectively, independent of frequency. An empirical model is proposed assuming that spectral source levels exhibit simultaneous variations in aspect angle, speed, and turn rate. After correction for source directionality and speed during turning maneuvers, an excess of up to 18 dB in one-third octave source levels was observed.

  14. The influence of environmental parameters on the optimal frequency in a shallow underwater acoustic channel

    Science.gov (United States)

    Zarnescu, George

    2015-02-01

    In a shallow underwater acoustic channel the delayed replicas of a transmitted signal are mainly due to the interactions with the sea surface and the bottom layer. If a specific underwater region on the globe is considered, for which the sedimentary layer structure is constant across the transmission distance, then the variability of the amplitude-delay profile is determined by daily and seasonal changes of the sound speed profile (SSP) and by weather changes, such as variations of the wind speed. Such a parameter will influence the attenuation at the surface, the noise level and the profile of the sea surface. The temporal variation of the impulse response in a shallow underwater acoustic channel determines the variability of the optimal transmission frequency. If the ways in which the optimal frequency changes can be predicted, then an adaptive analog transceiver can be easily designed for an underwater acoustic modem or it can be found when a communication link has high throughput. In this article it will be highlighted the way in which the amplitude-delay profile is affected by the sound speed profile, wind speed and channel depth and also will be emphasized the changes of the optimal transmission frequency in a configuration, where the transmitter and receiver are placed on the seafloor and the bathymetry profile will be considered flat, having a given composition.

  15. Estimating the Underwater Diffuse Attenuation Coefficient with a Low-Cost Instrument: The KdUINO DIY Buoy

    NARCIS (Netherlands)

    Bardaji, R.; Sánchez, A.-M.; Simon, C.; Wernand, M.R.; Piera, J.

    2016-01-01

    A critical parameter to assess the environmental status of water bodies is the transparency of the water, as it is strongly affected by different water quality related components (such as the presence of phytoplankton, organic matter and sediment concentrations). One parameter to assess the water

  16. On sampling the ocean using underwater gliders

    Science.gov (United States)

    Rudnick, Daniel L.; Cole, Sylvia T.

    2011-08-01

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

  17. Network Computing for Distributed Underwater Acoustic Sensors

    Science.gov (United States)

    2014-03-31

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

  18. 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...

  19. 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, ...

  20. Profiles

    International Nuclear Information System (INIS)

    2004-01-01

    Profiles is a synthetic overview of more than 100 national energy markets in the world, providing insightful facts and key energy statistics. A Profile is structured around 6 main items and completed by key statistics: Ministries, public agencies, energy policy are concerned; main companies in the oil, gas, electricity and coal sectors, status, shareholders; reserve, production, imports and exports, electricity and refining capacities; deregulation of prices, subsidies, taxes; consumption trends by sector, energy market shares; main energy projects, production and consumption prospects. Statistical Profiles are present in about 3 pages the main data and indicators on oil, gas, coal and electricity. (A.L.B.)

  1. 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

  2. Evidence that grey seals (Halichoerus grypus use above-water vision to locate baited buoys

    Directory of Open Access Journals (Sweden)

    Arne Fjälling

    2007-01-01

    Full Text Available Fishing gear in the Baltic is often raided by grey seals (Halichoerus grypus. The seals remove the fish and damage the nets, or entangle themselves and drown. In order to develop ways of mitigating the seals-fisheries conflict, it is important to know exactly how the seals locate the fishing gear. A field experiment was conducted in order to clarify whether seals use their vision above water to do this. Bait (herring; Clupea harengus was attached to the anchor lines of buoys of the type that is commonly used to mark the position of fishing gear. In all, 643 buoys were set. Some of the buoys (210 were also fitted with camera traps. Weather data were collected from official weather stations nearby. Bait loss (mean 18% was significantly correlated with buoy size (P = 0.002 and wind speed (P = 0.04. There was a significant association between bait loss and seal observations near the buoys (P = 0.05. Five photos of grey seals were obtained from the camera traps. No fish-eating birds, such as cormorants or mergansers, were ever observed near the buoys or caught on camera. It was concluded that a main cause of missing bait was scavenging by grey seals, and that they did use above-water vision to locate the buoys. It was also concluded that wind strength (i.e. wave action contributed tothe bait loss. The camera trap buoys had a somewhat lower bait loss than the other buoys (P = 0.054, which was attributed to a scaring effect. Neither the number of seal observations nor the bait loss differed significantly between the 2 study areas in the experiment (P = 0.43 and P = 0.83, respectively. Bait loss was not affected by the buoy colour (red, white, or grey; P = 0.87. We suggest that the findings of this experiment could be put into practice in a seal-disturbed area by deploying a number of decoy buoys, or by hiding live buoys below the surface of the water. This would increase the cost of foraging for the seals, and hence discourage them from exploiting

  3. Design, fabrication and systems integration of a satellite tracked, free-drifting ocean data buoy

    Science.gov (United States)

    Wallace, J. W.; Cox, J. W.

    1976-01-01

    Engineering details are presented of a small free-drifting buoy configuration designed for use in the study of continental shelf water circulation patterns in the Chesapeake Bight of the Western North Atlantic Ocean. The buoy incoporated French instrumentation and was interrogated by the French EOLE satellite to provide position and four channels of temperature data. The buoy design included a variable depth drogue and a power supply sufficient for six weeks of continuous operations. Proof tests of the configuration indicated an adequate design and subsequent field experiments verified the proper functioning of the system.

  4. Power Production Analysis of the OE Buoy WEC for the CORES Project

    DEFF Research Database (Denmark)

    Lavelle, John; Kofoed, Jens Peter

    which a total of 39 hours of power production data was collected. A data acquisition system was used to sample the sensors on board and the generator shaft power time-series data was used in the analysis here. A wave-rider buoy, located at the site of OE Buoy and operated by the Marine Institute Ireland......, was used to determine the wave statistics for the sea conditions which coincided with the OE Buoy device data, in order to estimate the efficiency of the device as a function of the sea state (for example as a function of the mean zero down period, Tz, and, significant wave height, Hs) as described below...

  5. 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.

  6. Multibeam 3D Underwater SLAM with Probabilistic Registration.

    Science.gov (United States)

    Palomer, Albert; Ridao, Pere; Ribas, David

    2016-04-20

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

  7. A Dual Communication and Imaging Underwater Acoustic System

    Science.gov (United States)

    Fu, Tricia C.

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

  8. Improving coastal wave hindcasts by combining offshore buoy observations with global wave models.

    Science.gov (United States)

    Crosby, S. C.; O'Reilly, W. C.; Guza, R. T.

    2014-12-01

    Waves conditions in southern California are sensitive to offshore wave directions. Due to blocking by coastal islands and refraction across complex bathymetry, a transform incident offshore swell-spectra to shallow water buoy locations. A nearly continuous 10 yr data set of approximately 14 buoys is used. Comparisons include standard bulk parameters (e.g. significant wave height, peak period), the frequency-dependent energy spectrum (needed for run-up estimation) and radiation stress component Sxy (needed for alongshore current and sediment transport estimation). Global wave model uncertainties are unknown, complicating the formulation of optimum assimilation constraints. Several plausible models for estimating offshore waves are tested. Future work includes assimilating nearshore buoy observations, with the long-term objective of accurate regional wave hindcasts using an efficient mix of global wave models and buoys. This work is supported by the California Department of Parks and Recreation, Division of Boating and Waterways Oceanography Program.

  9. NODC Standard Format Drifting Buoy (F156) Data (1975-1994) (NODC Accession 0014200)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This data type contains time series ocean circulation data determined by tracking the movement of drifting buoys, drogues or other instrumented devices. Movement is...

  10. Validation of Operational Global Wave Prediction Models With Spectral Buoy Data

    National Research Council Canada - National Science Library

    Wingeart, Karen

    2001-01-01

    .... In this study, the fidelity of frequency-directional spectra predicted by WAM and WAVEWATCH III at the operational centers is examined with data from 3-meter discus and 6-meter nomad buoys operated...

  11. PacIOOS Water Quality Buoy 04 (WQB-04): Hilo Bay, Big Island, Hawaii

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The water quality buoys are part of the Pacific Islands Ocean Observing System (PacIOOS) and are designed to measure a variety of ocean parameters at fixed points....

  12. PacIOOS Water Quality Buoy 03 (WQB-03): Kiholo Bay, Big Island, Hawaii

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The water quality buoys are part of the Pacific Islands Ocean Observing System (PacIOOS) and are designed to measure a variety of ocean parameters at fixed points....

  13. PacIOOS Water Quality Buoy KN (WQB-KN): Kilo Nalu, Oahu, Hawaii

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The water quality buoys are part of the Pacific Islands Ocean Observing System (PacIOOS) and are designed to measure a variety of ocean parameters at fixed points....

  14. Operations, engineering, and modification rework of the M. I. T. (Smile) buoy. [Meteorology station

    Energy Technology Data Exchange (ETDEWEB)

    Huszagh, D.W.; Fink, S.

    1976-07-01

    The MIT/Navy buoy was loaned by Woods Hole Oceanographic Institute to BNL late in 1975 for the implementation of meteorological studies off the south coast of Long Island. It was destructively dismembered at Woods Hole and transported overland to BNL in December, 1975. Extensive repairs and modifications to the buoy structure were undertaken to simplify transport, improve trim control, and enhance instrument access and security. Minor modifications leading to greater personnel safety were also made. The refurbished buoy was carried in sections to the Shinnecock inlet area by motor truck. Following dockside assembly, the buoy was launched on May 21, 1976, whereupon it was towed through the inlet and moored in 85 feet of water off Tiana Beach, New York.

  15. Physical and optical data collected from drifting buoys between May 1993 - December 1996 (NODC Accession 0000586)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Upwelling and downwelling irradiances were collected from surface optical drifter buoys off the California coast (NE Pacific limit-180) from 05 May 1993 to 06...

  16. NODC Standard Product: NOAA Marine environmental buoy database Webdisc (7 disc set) (NCEI Accession 0090141)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This CD-ROM set contains the historic archive of meteorological and oceanographic data collected by moored buoys and C-MAN stations operated by the NOAA National...

  17. PacIOOS Water Quality Buoy AW (WQB-AW): Ala Wai, Oahu, Hawaii

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The water quality buoys are part of the Pacific Islands Ocean Observing System (PacIOOS) and are designed to measure a variety of ocean parameters at fixed points....

  18. Development of an Indian Ocean moored buoy array for climate studies

    Digital Repository Service at National Institute of Oceanography (India)

    McPhaden, M.J.; Kuroda, Y.; Murty, V.S.N.

    Volume No. 3 September 2004Volume 9 No.3 September 2004Volume 11 No.4 October 2006 ships of opportunity, and biogeochemical sensors on the basin- scale mooring array and Argo floats. Clearly, full implementation of IndOOS will require a well- coordinated... and implementation strategies for each of the observing system components. These include Argo floats, drifting buoys, tide gauge stations, ship-of-opportunity expendable bathythermograph (XBT) lines, a basin scale moored buoy array, and specialized measurement...

  19. Autonomous Underwater Vehicle untuk Survei dan Pemantauan Laut

    Directory of Open Access Journals (Sweden)

    Henry M. Manik

    2017-04-01

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

  20. Analysis of Floating Buoy of a Wave Power Generating Jack-Up Platform Haiyuan 1

    Directory of Open Access Journals (Sweden)

    Date Li

    2013-01-01

    Full Text Available The paper focuses on the performance of floating buoys of a wave power generating jack-up platform called Haiyuan 1, in order to work out the optimum designed draft and hydraulic pressure. The performance of the buoy, especially its delivered power, is an important issue in designing oscillating buoy wave energy converter. In this case, major factors affect the performance including incident wave, designed draft, and hydraulic pressure on the buoy. To find out the relationship among design draft, hydraulic pressure, and delivered power, the key point is to precisely estimate wave induced motion of the buoy. Three-dimensional theory and time domain method based on potential theory were adopted in the paper. Unlike ship and other floating structures, motion of wave energy converter (WEC buoy in wave will be weakened because of energy take-off, which will cause significant draft changing with time. Thus, draft changing should be taken into consideration as well. In addition, green water problem occurs more frequently than that in ship and other floating structures and also might the reduce delivered power. Therefore, green water problem will also be taken into account when choosing the optimum designed draft and hydraulic pressure. The calculation indicates that the optimum designed draft is 0.935 m, while the optimum designed hydraulic pressure is 30 kN.

  1. Experimental study of wave energy extraction by a dual-buoy heaving system

    Directory of Open Access Journals (Sweden)

    J. Kim

    2017-01-01

    Full Text Available The concentric dual-buoy Wave Energy Converter (WEC, which consists of external buoy (hallow-cylinder with toroidal appendage and cylindrical internal buoy within the moon-pool is suggested in this research and its performance in various wave conditions is studied. The Linear Electric Generator (LEG, consisting of a permanent magnet and coils, is used as a direct Power Take-Off (PTO system. To maximize the electrical energy extracted from the PTO system, the relative heave motions between the dual buoys must be highly amplified by the multiple resonance phenomena of dual-buoy and internal-fluid motions. The high-performance range can be widened by distributing those natural frequencies with respect to the peak frequency of the wave spectrum. The performance of the newly developed dual-buoy WEC was measured throughout the systematic 1:5.95-model test in regular and irregular waves conducted in a wave tank at Seoul National University. The model-test results are also validated by an independently developed numerical method.

  2. A thermal engine for underwater glider driven by ocean thermal energy

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  3. Autonomous Underwater Vehicle Thermoelectric Power Generation

    Science.gov (United States)

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

    2013-07-01

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

  4. Model based image restoration for underwater images

    Science.gov (United States)

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

    2013-04-01

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

  5. 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.

  6. Autonomous Ice Mass Balance Buoys for Seasonal Sea Ice

    Science.gov (United States)

    Whitlock, J. D.; Planck, C.; Perovich, D. K.; Parno, J. T.; Elder, B. C.; Richter-Menge, J.; Polashenski, C. M.

    2017-12-01

    The ice mass-balance represents the integration of all surface and ocean heat fluxes and attributing the impact of these forcing fluxes on the ice cover can be accomplished by increasing temporal and spatial measurements. Mass balance information can be used to understand the ongoing changes in the Arctic sea ice cover and to improve predictions of future ice conditions. Thinner seasonal ice in the Arctic necessitates the deployment of Autonomous Ice Mass Balance buoys (IMB's) capable of long-term, in situ data collection in both ice and open ocean. Seasonal IMB's (SIMB's) are free floating IMB's that allow data collection in thick ice, thin ice, during times of transition, and even open water. The newest generation of SIMB aims to increase the number of reliable IMB's in the Arctic by leveraging inexpensive commercial-grade instrumentation when combined with specially developed monitoring hardware. Monitoring tasks are handled by a custom, expandable data logger that provides low-cost flexibility for integrating a large range of instrumentation. The SIMB features ultrasonic sensors for direct measurement of both snow depth and ice thickness and a digital temperature chain (DTC) for temperature measurements every 2cm through both snow and ice. Air temperature and pressure, along with GPS data complete the Arctic picture. Additionally, the new SIMB is more compact to maximize deployment opportunities from multiple types of platforms.

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

    Science.gov (United States)

    2017-06-01

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

  8. Underwater sympathetic detonation of pellet explosive

    Science.gov (United States)

    Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

    2017-06-01

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

  9. Underwater Grass Comeback Helps Chesapeake Bay

    Science.gov (United States)

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

  10. 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.

  11. Sensor network architectures for monitoring underwater pipelines.

    Science.gov (United States)

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

    2011-01-01

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

  12. 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.)

  13. Underwater noise levels in UK waters

    OpenAIRE

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

    2016-01-01

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

  14. Underwater gait analysis in Parkinson's disease.

    Science.gov (United States)

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

    2017-02-01

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

  15. Affordable underwater wireless optical communication using LEDs

    Science.gov (United States)

    Pilipenko, Vladimir; Arnon, Shlomi

    2013-09-01

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

  16. Heaving displacement amplification characteristics of a power buoy in shoaling water with insufficient draft

    Directory of Open Access Journals (Sweden)

    Hyuck-Min Kweon

    2013-12-01

    Full Text Available The resonance power buoy is a convincing tool that can increase the extraction efficiency of wave energy. The buoy needs a corresponding draft, to move in resonance with waves within the peak frequency band where wave energy is concentrated. However, it must still be clarified if the buoy acts as an effective displacement amplifier, when there is insufficient water depth. In this study, the vertical displacement of a circular cylinder-type buoy was calculated, with the spectrum data observed in a real shallow sea as the external wave force, and with the corresponding draft, according to the mode frequency of normal waves. Such numerical investigation result, without considering Power Take-Off (PTO damping, confirmed that the area of the heave responses spectrum can be amplified by up to about tenfold, compared with the wave energy spectrum, if the draft corresponds to the peak frequency, even with insufficient water depth. Moreover, the amplification factor of the buoy varied, according to the seasonal changes in the wave spectra.

  17. Underwater optical wireless communications: depth dependent variations in attenuation.

    Science.gov (United States)

    Johnson, Laura J; Green, Roger J; Leeson, Mark S

    2013-11-20

    Depth variations in the attenuation coefficient for light in the ocean were calculated using a one-parameter model based on the chlorophyll-a concentration C(c) and experimentally-determined Gaussian chlorophyll-depth profiles. The depth profiles were related to surface chlorophyll levels for the range 0-4  mg/m², representing clear, open ocean. The depth where C(c) became negligible was calculated to be shallower for places of high surface chlorophyll; 111.5 m for surface chlorophyll 0.8communication links, calculated to be 0.0092  m⁻¹ at a wavelength of 430 nm. By combining this with satellite surface-chlorophyll data, it is possible to quantify the attenuation between any two locations in the ocean, with applications for low-noise or secure underwater communications and vertical links from the ocean surface.

  18. Wave observations from an array of directional buoys over the southern Brazilian coast

    Science.gov (United States)

    Pereira, Henrique Patricio Prado; Violante-Carvalho, Nelson; Nogueira, Izabel Christina Martins; Babanin, Alexander; Liu, Qingxiang; de Pinho, Uggo Ferreira; Nascimento, Fabio; Parente, Carlos Eduardo

    2017-12-01

    It is well known that the majority of buoy measurements are located around the US coast and along some Europeans countries. The lack of long-term and densely spaced in situ measurements in the Southern Hemisphere in general, and the South Atlantic in particular, hinders several investigations due to the lack of detailed metocean information. Here, we present an effort to overcome this limitation, with a dense network of buoys along the Brazilian coast, equipped with several meteorological and oceanographic sensors. Out of ten currently operational buoys, three are employed to present the main characteristics of waves in the Southern part of the network. For the first time, sensor characteristics and settings are described, as well as the methods applied to the raw wave data. Statistics and distributions of wave parameters, swell propagating events, comparison with a numerical model and altimeters and a discussion about the occurrence of freak waves are presented.

  19. Storm wave buoy equipped with micromechanical inertial unit: Results of development and testing

    Science.gov (United States)

    Gryazin, D. G.; Staroselcev, L. P.; Belova, O. O.; Gleb, K. A.

    2017-07-01

    The article describes the results of developing a wave buoy to measure the statistical characteristics of waves and the characteristics of directional spectra of three-dimensional waves. The device is designed for long-term measurements lasting up to a season, which can help solve problems in forecasting waves and preventing emergencies from wave impact on offshore platforms, hydraulic structures, and other marine facilities. The measuring unit involves triads of micromechanical gyroscopes, accelerometers, and a three-component magnetometer. A description of the device, results of laboratory research of its characteristics, and bench and full-scale tests are offered. It is noted that to assess the performance characteristics, comparative tests of the Storm wave buoy were conducted with a standard string wave probe installed on an offshore platform. It is shown that the characteristics and capabilities of the wave buoy make it possible to oust foreign devices from the domestic market.

  20. Application of Buoy Observations in Determining Characteristics of Several Typhoons Passing the East China Sea in August 2012

    Directory of Open Access Journals (Sweden)

    Ningli Huang

    2013-01-01

    Full Text Available The buoy observation network in the East China Sea is used to assist the determination of the characteristics of tropical cyclone structure in August 2012. When super typhoon “Haikui” made landfall in northern Zhejiang province, it passed over three buoys, the East China Sea Buoy, the Sea Reef Buoy, and the Channel Buoy, which were located within the radii of the 13.9 m/s winds, 24.5 m/s winds, and 24.5 m/s winds, respectively. These buoy observations verified the accuracy of typhoon intensity determined by China Meteorological Administration (CMA. The East China Sea Buoy had closely observed typhoons “Bolaven” and “Tembin,” which provided real-time guidance for forecasters to better understand the typhoon structure and were also used to quantify the air-sea interface heat exchange during the passage of the storm. The buoy-measured wind and pressure time series were also used to correct the intensity of “Damrey” initially determined by CMA.

  1. 77 FR 29254 - Safety Zones, Large Cruise Ships; Lower Mississippi River, Southwest Pass Sea Buoy to Mile Marker...

    Science.gov (United States)

    2012-05-17

    ... River, Southwest Pass Sea Buoy to Mile Marker 96.0; New Orleans, LA AGENCY: Coast Guard, DHS. ACTION... transit the Lower Mississippi River between mile marker 96.0, New Orleans, LA and the Southwest Pass Sea...; Large Cruise Ships; Lower Mississippi River, Southwest Pass Sea Buoy to Mile Marker 96.0, New Orleans...

  2. On theory and simulation of heaving-buoy wave-energy converters with control

    Energy Technology Data Exchange (ETDEWEB)

    Eidsmoen, H.

    1995-12-01

    Heaving-buoy wave-energy converters with control were studied. The buoy is small compared to the wavelength. The resonance bandwidth is then narrow and the energy conversion in irregular waves can be significantly increased if the oscillatory motion of the device can be actively controlled, and the power output from the converter will vary less with time than the wave power transport. A system of two concentric cylinders of the same radius, oscillating in heave only, is analysed in the frequency-domain. The mathematical model can be used to study a tight-moored buoy, as well as a buoy reacting against a submerged body. The knowledge of the frequency-domain hydrodynamic parameters is used to develop frequency-domain and time-domain mathematical models of heaving-buoy wave energy converters. The main emphasis is on using control to maximize the energy production and to protect the machinery of the wave-energy converter in very large waves. Three different methods are used to study control. (1) In the frequency-domain explicit analytical expressions for the optimum oscillation are found, assuming a continuous sinusoidal control force, and from these expressions the optimum time-domain oscillation can be determined. (2) The second method uses optimal control theory, using a control variable as the instrument for the optimisation. Unlike the first method, this method can include non-linearities. But this method gives numerical time series for the state variables and the control variable rather than analytical expressions for the optimum oscillation. (3) The third method is time-domain simulation. Non-linear forces are included, but the method only gives the response of the system to a given incident wave. How the different methods can be used to develop real-time control is discussed. Simulations are performed for a tight-moored heaving-buoy converter with a high-pressure hydraulic system for energy production and motion control. 147 refs., 38 figs., 22 tabs.

  3. Real-time and on-demand buoy observation system for tsunami and crustal displacement

    Science.gov (United States)

    Takahashi, N.; Imai, K.; Ishihara, Y.; Fukuda, T.; Ochi, H.; Suzuki, K.; Kido, M.; Ohta, Y.; Imano, M.; Hino, R.

    2017-12-01

    We develop real-time and on-demand buoy observation system for tsunami and crustal displacement. It is indispensable for observation of crustal displacement to understand changes of stress field related to future large earthquakes. The current status of the observation is carried out by using a vessel with an interval of a few times per a year. When a large earthquake occurs, however, we need dense or on-demand observation of the crustal displacement to grasp nature of the slow slip after the rupture. Therefore, we constructed buoy system with a buoy station, wire-end station, seafloor unit and acoustic transponders for crustal displacement, and we installed a pressure sensor on the seafloor unit and GNSS system on the buoy in addition to measurement of e distance between the buoy and the seafloor acoustic transponders. Tsunami is evaluated using GNSS data and pressure data sent from seafloor. Observation error of the GNSS is about 10 cm. The crustal displacement is estimated using pressure sensor for vertical and acoustic measurement for horizontal. Using current slack ratio of 1.58, the observation error for the measurement of the crustal displacement is about 10 cm. We repeated three times sea trials and confirmed the data acquisition with high data quality, mooring without dredging anchor in the strong sea current with a speed of 5.5 knots. Current issues to be resolved we face are removing noises on the acoustic data transmission, data transmission between the buoy and wire-end stations, electrical consumption on the buoy station and large observation error on the crustal displacement due to large slack ratio. We consider the change of the acoustic transmission for pressure data, replace of a GNSS data logger with large electrical consumption, and reduce of the slack ratio, and search method to reduce resistance of the buoy on the sea water. In this presentation, we introduce the current status of the technical development and tsunami waveforms recorded on our

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

    Directory of Open Access Journals (Sweden)

    Donatas Bagočius

    2017-09-01

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

  5. 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

  6. Magnetohydrodynamic underwater vehicular propulsion systems

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  7. Routing strategies for underwater gliders

    Science.gov (United States)

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

    2009-02-01

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

  8. Field evaluation of remote wind sensing technologies: Shore-based and buoy mounted LIDAR systems

    Energy Technology Data Exchange (ETDEWEB)

    Herrington, Thomas [Stevens Inst. of Technology, Hoboken, NJ (United States)

    2017-11-03

    the evaluation of LIDAR-based wind measurement systems to validate the accuracy of remotely measured wind data in marine applications. Specifically, the test-bed will be utilized to systematically evaluate the capability of emerging scanning LIDAR and buoy mounted vertically profiling LIDAR by: (1) Evaluating a fixed scanning LIDAR against land-based 50 and 60 meter high meteorological masts fitted with research quality cup-vane and/or sonic anemometers; (2) Evaluating a buoy mounted vertically profiling LIDAR fixed on land and floating in a sheltered bay against a co-located 60 meter high meteorological mast fitted with a research quality cup-vane and/or sonic anemometers and the fixed scanning LIDAR; and (3) Offshore field evaluation of both LIDAR platforms through a comparison of the fixed scanning LIDAR data and data obtained by the buoy mounted LIDAR located 10 miles offshore. The proposed research will systematically validate Light Detection and Ranging (LIDAR) based wind measurement systems and assess the temporal and spatial variability of the offshore wind resource in the Mid-Atlantic east of New Jersey. The goal of the proposed project is to address the technical and commercial challenges of the offshore wind energy industry by validating and assessing cost-effective, over ocean wind resource characterization technologies. The objective is to systematically evaluate the capability of both scanning and vertically profiling LIDARs to accurately measure 3D wind fields through comparison with fixed met masts and intercomparison among LIDAR platforms. Once validated, data collected by both buoy mounted vertically profiling LIDARs and shore-based, pulsed horizontally scanning LIDARs can be used to accurately assess offshore wind resources and to quantify the spatial and temporal variability in the offshore wind fields. One of the fundamental research questions to be addressed in phase 1 is the assessment of various measurement and data processing schemes to

  9. An autonomous drifting buoy system for long term pCO2 observation

    Science.gov (United States)

    Nakano, Y.; Fujiki, T.; Wakita, M.; Azetsu-Scott, K.; Watanabe, S.

    2009-04-01

    Many studies have been carried out around the world to understand what happens to carbon dioxide (CO2) once it is emitted into the atmosphere, and how it relates to long-term climate change. However, the sea surface pCO2 observations on volunteer observation ships and research vessels concentrated in the North Atlantic and North Pacific. To assess the spatial and temporal variations of surface pCO2 in the global ocean, new automated pCO2 sensor which can be used in platform systems such as buoys or moorings is strongly desired. We have been developing the small drifting buoy system (diameter 250-340 mm, length 470 mm, weight 15 kg) for pCO2 measurement, with the support of the Japan EOS Promotion Program (JEPP), the Ministry of Education, Culture, Sports, Science and Technology (MEXT). The objective is to provide simplified, automated measurements of pCO2 over all the world's oceans, an essential factor in understanding how the ocean responds to climate change. The measurement principle for the pCO2 sensor is based on spectrophotometry (e.g. Lefèvre et al., 1993; Degrandpre et al., 1995). The CO2 in the surrounding seawater equilibrates with the indicator solution across the gas permeable membranes. The equilibration process causes a change of pH in the indicator solution, which results in the change of optical absorbance. The pCO2 is calculated from the optical absorbance of the pH indicator solution equilibrated with CO2 in seawater through a gas permeable membrane. In our analytical system, we used an amorphous fluoropolymer tubing form of AF-2400 by DuPontTM for the gas permeable membrane due to its high gas permeability coefficients. The measurement system of the sensor consisted mainly of a LED light source, optical fibers, a CCD detector, and a downsized PC. The measured data were transmitted to the laboratory by satellite communication (Argos system). In the laboratory experiment, we obtained a high response time (less than 2 minutes) and a precision

  10. 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.

  11. 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

  12. Recent developments in underwater repair welding

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  13. Self-Propelled Motion of Monodisperse Underwater Oil Droplets Formed by a Microfluidic Device.

    Science.gov (United States)

    Ueno, Naoko; Banno, Taisuke; Asami, Arisa; Kazayama, Yuki; Morimoto, Yuya; Osaki, Toshihisa; Takeuchi, Shoji; Kitahata, Hiroyuki; Toyota, Taro

    2017-06-06

    We evaluated the speed profile of self-propelled underwater oil droplets comprising a hydrophobic aldehyde derivative in terms of their diameter and the surrounding surfactant concentration using a microfluidic device. We found that the speed of the oil droplets is dependent on not only the surfactant concentration but also the droplet size in a certain range of the surfactant concentration. This tendency is interpreted in terms of combination of the oil and surfactant affording spontaneous emulsification in addition to the Marangoni effect.

  14. HAB Buoy: a new instrument for in situ monitoring and early warning ...

    African Journals Online (AJOL)

    HAB Buoy: a new instrument for in situ monitoring and early warning of harmful algal bloom events. PF Culverhouse, R Williams, B Simpson, C Gallienne, B Reguera, M Cabrini, S Fonda-Umani, T Parisini, FA Pellegrino, Y Pazos, H Wang, L Escalera, A Moroño, M Hensey, J Silke, A Pellegrini, D Thomas, D James, MA ...

  15. High frequency monitoring of the coastal marine environment using the MAREL buoy.

    Science.gov (United States)

    Blain, S; Guillou, J; Tréguer, P; Woerther, P; Delauney, L; Follenfant, E; Gontier, O; Hamon, M; Leilde, B; Masson, A; Tartu, C; Vuillemin, R

    2004-06-01

    The MAREL Iroise data buoy provides physico-chemical measurements acquired in surface marine water in continuous and autonomous mode. The water is pumped 1.5 m from below the surface through a sampling pipe and flows through the measuring cell located in the floating structure. Technological innovations implemented inside the measuring cell atop the buoy allow a continuous cleaning of the sensor, while injection of chloride ions into the circuit prevents biological fouling. Specific sensors for temperature, salinity, oxygen and fluorescence investigated in this paper have been evaluated to guarantee measurement precision over a 3 month period. A bi-directional link under Internet TCP-IP protocols is used for data, alarms and remote-control transmissions with the land-based data centre. Herein, we present a 29 month record for 4 parameters measured using a MAREL buoy moored in a coastal environment (Iroise Sea, Brest, France). The accuracy of the data provided by the buoy is assessed by comparison with measurements of sea water weekly sampled at the same site as part of SOMLIT (Service d'Observation du Milieu LIToral), the French network for monitoring of the coastal environment. Some particular events (impact of intensive fresh water discharges, dynamics of a fast phytoplankton bloom) are also presented, demonstrating the worth of monitoring a highly variable environment with a high frequency continuous reliable system.

  16. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  17. 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

  18. Underwater noise from offshore oil production vessels.

    Science.gov (United States)

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

    2013-06-01

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

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

    Science.gov (United States)

    Emokpae, Lloyd

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

  20. An improvement of the GPS buoy system for detecting tsunami at far offshore

    Science.gov (United States)

    Kato, T.; Terada, Y.; Nagai, T.; Kawaguchi, K.; Koshimura, S.; Matsushita, Y.

    2012-12-01

    We have developed a GPS buoy system for detecting a tsunami before its arrival at coasts and thereby mitigating tsunami disaster. The system was first deployed in 1997 for a short period in the Sagami bay, south of Tokyo, for basic experiments, and then deployed off Ofunato city, northeastern part of Japan, for the period 2001-2004. The system was then established at about 13km south of Cape Muroto, southwestern part of Japan, since 2004. Five tsunamis of about 10cm have been observed in these systems, including 2001 Peru earthquake (Mw8.3), 2003 Tokachi-oki earthquake (Mw8.3), 2004 Off Kii Peninsula earthquake (Mw7.4), 2010 Chile earthquake (Mw8.8), and 2011 Tohoku-Oki earthquake (Mw9.0). These experiments clearly showed that GPS buoy is capable of detecting tsunami with a few centimeter accuracy and can be monitored in near real time by applying an appropriate filter, real-time data transmission using radio and dissemination of obtained records of sea surface height changes through internet. Considering that the system is a powerful tool to monitor sea surface variations due to wind as well as tsunami, the Ministry of Land, Infrastructure, Transport and Tourism implemented the system in a part of the Nationwide Ocean Wave information network for Ports and HArbourS (NOWPHAS) system and deployed the system at 15 sites along the coasts around the Japanese Islands. The system detected the tsunami due to the 11th March 2011 Tohoku-Oki earthquake with higher than 6m of tsunami height at the site Off South Iwate (Kamaishi). The Japan Meteorological Agency that was monitoring the record updated the level of the tsunami warning to the greatest value due to the result. Currently, the GPS buoy system uses a RTK-GPS which requires a land base for obtaining precise location of the buoy by a baseline analysis. This algorithm limits the distance of the buoy to, at most, 20km from the coast as the accuracy of positioning gets much worse as the baseline distance becomes longer

  1. Response of Land-Sea Interface in Xiamen Bay to Extreme Weather Events Observed with the Ecological Dynamic Buoy Array, a Multifunctional Sensors System

    Science.gov (United States)

    Wu, J.; Hong, H.; Pan, W.; Zhang, C.

    2016-12-01

    Recent climate observations suggest that global climate change may result in an increase of extreme weather events (such as tropical cyclones, intense precipitation i.e. heavy rains) in frequency and/or intensity in certain world regions. Subtropical coastal regions are often densely populated areas experiencing rapid development and widespread changes to the aquatic environment. The biogeochemical and ecological responses of coastal systems to extreme weather events are of increasing concern. Enhanced river nutrients input following rain storms has been linked to the ecological responses at land-sea interface. These land-sea interactions can be studied using multifunctional sensors systems. In our study, the Ecological Dynamic Buoy Array, a monitoring system with multiple sensors, was deployed in Xiamen Bay for near real time measurements of different parameters. The Ecological Dynamic Buoy Array is a deep water net cage which functions in long-term synchronous observation of dynamic ecological characteristics with the support of an aerograph, water-watch, LOBO (Land/Ocean Biogeochemical Observatory), ADCP, CTD chain system, YSI vertical profiler, flow cytometer, sea surface camera, and "communication box". The study showed that rain storms during multiple typhoons resulted in greater fluctuations of salinity, N concentration, and other water environmental conditions, which might have been connected with algal blooms (so-called red tide) in Xiamen Bay.

  2. Detiding DART® Buoy Data for Real-Time Extraction of Source Coefficients for Operational Tsunami Forecasting

    Science.gov (United States)

    Percival, Donald B.; Denbo, Donald W.; Eblé, Marie C.; Gica, Edison; Huang, Paul Y.; Mofjeld, Harold O.; Spillane, Michael C.; Titov, Vasily V.; Tolkova, Elena I.

    2015-06-01

    US Tsunami Warning Centers use real-time bottom pressure (BP) data transmitted from a network of buoys deployed in the Pacific and Atlantic Oceans to tune source coefficients of tsunami forecast models. For accurate coefficients and therefore forecasts, tides and background noise at the buoys must be accounted for through detiding. In this study, five methods for coefficient estimation are compared, each of which handles detiding differently. The first three subtract off a tidal prediction based on (1) a localized harmonic analysis involving 29 days of data immediately preceding the tsunami event, (2) 68 preexisting harmonic constituents specific to each buoy, and (3) an empirical orthogonal function fit to the previous 25 h of data. Method (4) is a Kalman smoother that uses method (1) as its input. These four methods estimate source coefficients after detiding. Method (5) estimates the coefficients simultaneously with a two-component harmonic model that accounts for the tides. The five methods are evaluated using archived data from 11 DART® buoys, to which selected artificial tsunami signals are superimposed. These buoys represent a full range of observed tidal conditions and background BP noise in the Pacific and Atlantic, and the artificial signals have a variety of patterns and induce varying signal-to-noise ratios. The root-mean-square errors (RMSEs) of least squares estimates of source coefficients using varying amounts of data are used to compare the five detiding methods. The RMSE varies over two orders of magnitude among detiding methods, generally decreasing in the order listed, with method (5) yielding the most accurate estimate of the source coefficient. The RMSE is substantially reduced by waiting for the first full wave of the tsunami signal to arrive. As a case study, the five methods are compared using data recorded from the devastating 2011 Japan tsunami.

  3. Underwater optical wireless communications: depth-dependent beam refraction.

    Science.gov (United States)

    Johnson, Laura J; Green, Roger J; Leeson, Mark S

    2014-11-01

    Global refractive gradients in seawater cause pointing problems for optical wireless communications. A refractive index depth profile of the Pacific Ocean was calculated from measured salinity, temperature, and pressure, determining the end points of a refracted and nonrefracted 200 m communication link. Numerical ray tracing was used with a point source for angles between 10° and 80° and transmission wavelengths of 500-650 nm; the maximum end-point difference found was 0.23 m. A 500 nm laser with a 0.57° full-angle FOV was traced; the nonrefracted receiver location was outside the FOV for all links angled >15° to the vertical. However, most pointing issues underwater are unlikely to be significant with suitable FOV choice and natural scattering of the source.

  4. Optical Backscattering Measured by Airborne Lidar and Underwater Glider

    Directory of Open Access Journals (Sweden)

    James H. Churnside

    2017-04-01

    Full Text Available The optical backscattering from particles in the ocean is an important quantity that has been measured by remote sensing techniques and in situ instruments. In this paper, we compare estimates of this quantity from airborne lidar with those from an in situ instrument on an underwater glider. Both of these technologies allow much denser sampling of backscatter profiles than traditional ship surveys. We found a moderate correlation (R = 0.28, p < 10−5, with differences that are partially explained by spatial and temporal sampling mismatches, variability in particle composition, and lidar retrieval errors. The data suggest that there are two different regimes with different scattering properties. For backscattering coefficients below about 0.001 m−1, the lidar values were generally greater than the glider values. For larger values, the lidar was generally lower than the glider. Overall, the results are promising and suggest that airborne lidar and gliders provide comparable and complementary information on optical particulate backscattering.

  5. 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

  6. Underwater Advanced Time-Domain Electromagnetic System

    Science.gov (United States)

    2017-03-03

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

  7. 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.

  8. Detection of Underwater UXOs in Mud

    Science.gov (United States)

    2013-04-01

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

  9. Adaptive turbo equalization for underwater acoustic communication

    NARCIS (Netherlands)

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

    2013-01-01

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

  10. 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

  11. Evolution: Fossil Ears and Underwater Sonar.

    Science.gov (United States)

    Lambert, Olivier

    2016-08-22

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

  12. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

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

    2016-01-01

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

  13. Underwater Acoustic Positioning Systems for MEC Detection and Reacquisition Operations

    Science.gov (United States)

    2016-01-22

    RFR attached to the far buoy. ........................................... 24 Figure 12: Tripod deployment...24 Figure 13: Attaching RFR antenna... RFR : Radio Frequency Radiation RTK: Real Time Kinematic TLT: Target Locating Transponder USACE: US Army Corps of Engineers UTM: Universal

  14. Meteorological, oceanographic, and buoy data from JAMSTEC from five drifting buoys, named J-CAD (JAMSTEC Compact Arctic Drifter) in the Arctic Ocean from 2000 to 2003 (NODC Accession 0002201)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — In 1999, JAMSTEC and MetOcean Data System Ltd. developed a new drifting buoy, named J-CAD (JAMSTEC Compact Arctic Drifter), to conduct long-term observations in the...

  15. Drifting and moored buoy data observed during 2015 and assembled by the Global Data Assembly Center for Drifting Buoy Data (formerly Responsible National Oceanographic Data Center (RNODC)), Canada (NCEI Accession 0156004)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Buoy data is available in real time to platform operators via telecommunications providers and distributed on the Global Telecommunications System (GTS) of the World...

  16. Tracking the position of the underwater robot for nuclear reactor inspection

    International Nuclear Information System (INIS)

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

    2003-01-01

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

  17. NODC Standard Product: NOAA Marine environmental buoy database 1993 with Updates (19 disc set) (NCEI Accession 0095199)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This set of CD-ROMs holds marine meteorological, oceanographic, and wave spectra data collected by moored buoys and C-MAN (Coastal-Marine Automated Network) stations...

  18. WATER TEMPERATURE and Other Data from DRIFTING BUOY From World-Wide Distribution from 19910101 to 19910331 (NODC Accession 9100101)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Drifting Buoy Data from the Canadian Data Center, submitted by Mr. Gerald P Lesblam, Marine Environmental Data Service (MEDS) Ottawa, Ontario, Canada in GF-3 format...

  19. Method for Extracting Tidal and Inertial Motion from ARGOS Ice Buoys Applied to the Barents Sea during CEAREX

    National Research Council Canada - National Science Library

    Turet, P

    1993-01-01

    A harmonic analysis of tidal and inertial action was applied to observations of position of ARGOS buoys deployed on drifting multiyear sea ice in the Eastern Arctic-Barents Sea during CEAREX (1988-89...

  20. Directional wave and temperature data from seven buoys at Point Reyes, CA, 1996-2002 (NODC Accession 0000760)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Wave data were collected from 7 buoys in Point Reyes, California, from 06 December 1996 to 25 July 2002. Data were collected as part of the Coastal Data Information...

  1. Data from a Directional Waverider Buoy off Waimea Bay, North Shore, Oahu during December 2001 - July 2004 (NODC Accession 0001626)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Through various funding channels, the Department of Oceanography at the University of Hawaii (UH) has maintained a Datawell Directional Waverider Buoy roughly 5 km...

  2. Data from a Directional Waverider Buoy off Kailua Bay, Windward Oahu, Hawaii during August 2000 - July 2004 (NODC Accession 0001660)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Through various funding channels, the Department of Oceanography at the University of Hawaii (UH) has maintained a Datawell Mark 2 Directional Waverider Buoy roughly...

  3. WATER TEMPERATURE and Other Data from DRIFTING BUOY From World-Wide Distribution from 19781122 to 19810113 (NODC Accession 8600071)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — 359 Drifting Surface Buoys were deployed in the Southern Hemisphere oceans from November 22, 1978 to January 13, 1981 as part of the First Global Atmospheric...

  4. Adaptive Reception for Underwater Communications

    Science.gov (United States)

    2011-06-01

    invariance ... 103 Figure 39. MSE for dual input Kalman estimator with time invariance ............... 103 Figure 40. Bit error rate for dual input...Equalizer MIMO Multiple Input Multiple Output xvi MIP Multipath Intensity Profile MMSE Minimum Mean Squared Error MSE Mean Squared Error MSK...phenomenon, which is called Doppler spread. Assume that a pure tone is sent through the channel. If the channel is time invariant , no spectral broadening

  5. Automated calculation of surface energy fluxes with high-frequency lake buoy data

    Science.gov (United States)

    Woolway, R. Iestyn; Jones, Ian D; Hamilton, David P.; Maberly, Stephen C; Muroaka, Kohji; Read, Jordan S.; Smyth, Robyn L; Winslow, Luke A.

    2015-01-01

    Lake Heat Flux Analyzer is a program used for calculating the surface energy fluxes in lakes according to established literature methodologies. The program was developed in MATLAB for the rapid analysis of high-frequency data from instrumented lake buoys in support of the emerging field of aquatic sensor network science. To calculate the surface energy fluxes, the program requires a number of input variables, such as air and water temperature, relative humidity, wind speed, and short-wave radiation. Available outputs for Lake Heat Flux Analyzer include the surface fluxes of momentum, sensible heat and latent heat and their corresponding transfer coefficients, incoming and outgoing long-wave radiation. Lake Heat Flux Analyzer is open source and can be used to process data from multiple lakes rapidly. It provides a means of calculating the surface fluxes using a consistent method, thereby facilitating global comparisons of high-frequency data from lake buoys.

  6. Analytical Study on an Oscillating Buoy Wave Energy Converter Integrated into a Fixed Box-Type Breakwater

    Directory of Open Access Journals (Sweden)

    Xuanlie Zhao

    2017-01-01

    Full Text Available An oscillating buoy wave energy converter (WEC integrated to an existing box-type breakwater is introduced in this study. The buoy is installed on the existing breakwater and designed to be much smaller than the breakwater in scale, aiming to reduce the construction cost of the WEC. The oscillating buoy works as a heave-type WEC in front of the breakwater towards the incident waves. A power take-off (PTO system is installed on the topside of the breakwater to harvest the kinetic energy (in heave mode of the floating buoy. The hydrodynamic performance of this system is studied analytically based on linear potential-flow theory. Effects of the geometrical parameters on the reflection and transmission coefficients and the capture width ratio (CWR of the system are investigated. Results show that the maximum efficiency of the energy extraction can reach 80% or even higher. Compared with the isolated box-type breakwater, the reflection coefficient can be effectively decreased by using this oscillating buoy WEC, with unchanged transmission coefficient. Thus, the possibility of capturing the wave energy with the oscillating buoy WEC integrated into breakwaters is shown.

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

    Digital Repository Service at National Institute of Oceanography (India)

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

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

    Directory of Open Access Journals (Sweden)

    Shaorong XIE

    2014-02-01

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

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

    Directory of Open Access Journals (Sweden)

    Safdar Hussain Bouk

    2016-01-01

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

  10. MONITORING HIGH-FREQUENCY OCEAN SIGNALS USING LOW-COST GNSS/IMU BUOYS

    Directory of Open Access Journals (Sweden)

    Y.-L. Huang

    2016-06-01

    Full Text Available In oceans there are different ocean signals covering the multi-frequencies including tsunami, meteotsunami, storm surge, as sea level change, and currents. These signals have the direct and significant impact on the economy and life of human-beings. Therefore, measuring ocean signals accurately becomes more and more important and necessary. Nowadays, there are many techniques and methods commonly used for monitoring oceans, but each has its limitation. For example, tide gauges only measure sea level relative to benchmarks and are disturbed unevenly, and satellite altimeter measurements are not continuous and inaccurate near coastal oceans. In addition, high-frequency ocean signals such as tsunami and meteotsunami cannot be sufficiently detected by 6-minutes tide gauge measurements or 10-day sampled altimetry data. Moreover, traditional accelerometer buoy is heavy, expensive and the low-frequency noise caused by the instrument is unavoidable. In this study, a small, low-cost and self-assembly autonomous Inertial Measurement Unit (IMU that independently collects continuous acceleration and angular velocity data is mounted on a GNSS buoy to provide the positions and tilts of the moving buoy. The main idea is to integrate the Differential GNSS (DGNSS or Precise Point Positioning (PPP solutions with IMU data, and then evaluate the performance by comparing with in situ tide gauges. The validation experiments conducted in the NCKU Tainan Hydraulics Laboratory showed that GNSS and IMU both can detect the simulated regular wave frequency and height, and the field experiments in the Anping Harbor, Tainan, Taiwan showed that the low-cost GNSS buoy has an excellent ability to observe significant wave heights in amplitude and frequency.

  11. Sources of errors in the measurements of underwater profiling radiometer

    Digital Repository Service at National Institute of Oceanography (India)

    Silveira, N.; Suresh, T.; Talaulikar, M.; Desa, E.; Matondkar, S.G.P.; Lotlikar, A.

    and superstructure shadows. Instrument could be a source of error arising from its self-shadow, drift in the calibration and temperature effects. There could be large errors, which at times may be unavoidable to environment factors such as wave focusing...

  12. Review of 5kW wave energy LOPF buoy design study and test

    DEFF Research Database (Denmark)

    Margheritini, Lucia

    The purpose of this project was to document the mechanical power production against a target power curve of a 5kW grid connected wave energy buoy in Nissum Bredning at Helligsø. This test site is typically used for open sea testing of scale 1:10 devices in irregular waves. In order to better adapt...... to the moderate wave height, the buoy was down sized by a factor of 3 and a new lower target power curve for the buoy was agreed to. Downsizing the project also had the advantage that it is more cost effective and fast to experiment with small wave energy devices than with big devices, at an early development...... stage, in line with the TRL and four phases development (proof of concept, design and feasibility study, field trials and half or full‐scale trials) promoted by AAU and supported by the marine renewable energy sector. To complement this, the IEC 114 standards define 3 stages of testing (1=small scale...

  13. Using Buoy and Radar Data to Study Sudden Wind Gusts Over Coastal Regions

    Science.gov (United States)

    Priftis, Georgios; Chronis, Themis; Lang, Timothy J.

    2017-01-01

    Significant sudden wind gusts can pose a threat to aviation near the coastline, as well as small (sailing) boats and commercial ships approaching the ports. Such cases can result in wind speed changes of more than an order of magnitude within 5 minutes, which can then last up to 20 minutes or more. Although the constellation of scatterometers is a good means of studying maritime convection, those sudden gusts are not easily captured because of the low time resolution. The National Data Buoy Center (NDBC) provides continuous measurements of wind speed and direction along the US coastal regions every 6 minutes. Buoys are platforms placed at specific places on the seas, especially along coastlines, providing data for atmospheric and oceanic studies. Next Generation Radars (NEXRADs), after the recent upgrade of the network to dual-pol systems, offer enhanced capabilities to study atmospheric phenomena. NEXRADs provide continuous full-volume scans approximately every 5 minutes and therefore are close to the time resolution of the buoy measurements. Use of single- Doppler retrievals might also provide a means of further validation.

  14. Coastal Response to Latitudinal Shifts in Wave Climate in Southeast Australia using a Surrogate Buoy Approach

    Science.gov (United States)

    Mortlock, T.; Goodwin, I. D.

    2016-02-01

    Most Global Climate Models (GCM) agree that an expansion of the tropics will continue with greenhouse warming, although the magnitude of this expansion is largely under-estimated. A first-order impact is wave climate and coastal response in the sub-tropics. We use a latitudinal array of mid-shelf wave buoy observations along the Southeast Australian Shelf (SEAS) to forecast wave climate change with tropical expansion. We suggest that the present-day modal wave climate from more equatorward SEAS buoys can be used as surrogate data to project future wave climate change at more poleward locations. This approach allows multiple scenarios of the magnitude of future tropical expansion to be examined, based on the latitudinal separation between buoys. We use the modal wave climate typology of Mortlock and Goodwin (2015) to relate wave climate change to synoptic climate. We then use a coupled spectral wave and morphodynamic model to evaluate wave climate change scenarios for an idealised headland-bay beach setting. The method provides an alternative to the downscaling approach for wave climate forecasting, which inherits and adds to the uncertainty of the GCM projections. Our results are relevant for other Southern Hemisphere east coasts in South America and Africa, and Northern Hemisphere west coasts in North America and Europe with similar mid-shelf wave climate and sediment transport regimes in the sub-tropics.

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

    Science.gov (United States)

    2013-02-01

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

  16. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

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

  17. 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)

  18. 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.

  19. A MAC protocol for underwater sensors networks

    OpenAIRE

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

    2015-01-01

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

  20. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    Science.gov (United States)

    2016-09-20

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

  1. Underwater suction device for irradiated materials

    International Nuclear Information System (INIS)

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

    1982-01-01

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

  2. 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

  3. 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.

  4. Obstacle avoidance in underwater glider path planning

    OpenAIRE

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

    2012-01-01

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

  5. A Recovery System for Unmanned Underwater Vehicles

    Science.gov (United States)

    2017-09-28

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

  6. 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...

  7. 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...

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

    Science.gov (United States)

    Shortis, Mark

    2015-12-07

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

  9. Calibration Techniques for Accurate Measurements by Underwater Camera Systems

    Directory of Open Access Journals (Sweden)

    Mark Shortis

    2015-12-01

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

  10. 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

  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. Underwater Acoustic Target Tracking: A Review.

    Science.gov (United States)

    Luo, Junhai; Han, Ying; Fan, Liying

    2018-01-02

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

  14. 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.

  15. 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.

  16. Underwater Noise Modelling of Wave Energy Devices

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-07-01

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

  17. Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider

    Science.gov (United States)

    Wang, Shu-Xin; Sun, Xiu-Jun; Wang, Yan-Hui; Wu, Jian-Guo; Wang, Xiao-Ming

    2011-03-01

    PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle). It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.

  18. Moored surface buoy observations of the diurnal warm layer

    KAUST Repository

    Prytherch, J.

    2013-09-01

    An extensive data set is used to examine the dynamics of diurnal warming in the upper ocean. The data set comprises more than 4700 days of measurements at five sites in the tropics and subtropics, obtained from surface moorings equipped to make comprehensive meteorological, incoming solar and infrared radiation, and high-resolution subsurface temperature (and, in some cases, velocity) measurements. The observations, which include surface warmings of up to 3.4°C, are compared with a selection of existing models of the diurnal warm layer (DWL). A simple one-layer physical model is shown to give a reasonable estimate of both the magnitude of diurnal surface warming (model-observation correlation 0.88) and the structure and temporal evolution of the DWL. Novel observations of velocity shear obtained during 346 days at one site, incorporating high-resolution (1 m) upper ocean (5-15 m) acoustic Doppler current profile measurements, are also shown to be in reasonable agreement with estimates from the physical model (daily maximum shear model-observation correlation 0.77). Physics-based improvements to the one-layer model (incorporation of rotation and freshwater terms) are discussed, though they do not provide significant improvements against the observations reported here. The simplicity and limitations of the physical model are used to discuss DWL dynamics. The physical model is shown to give better model performance under the range of forcing conditions experienced across the five sites than the more empirical models. ©2013. American Geophysical Union. All Rights Reserved.

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

    Indian Academy of Sciences (India)

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

  20. Visual-adaptation-mechanism based underwater object extraction

    Science.gov (United States)

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

    2014-03-01

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

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

    International Nuclear Information System (INIS)

    Kobayashi, Futoshi; Kojima, Fumio

    2007-01-01

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

  2. WODA technical guidance on underwater sound from dredging

    NARCIS (Netherlands)

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

    2016-01-01

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

  3. Characterization of ships as sources of underwater noise

    NARCIS (Netherlands)

    Jong, C.A.F. de

    2009-01-01

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

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

    NARCIS (Netherlands)

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

    2013-01-01

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

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

    Indian Academy of Sciences (India)

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

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

    Directory of Open Access Journals (Sweden)

    Jinlong Song

    2015-09-01

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

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

    Science.gov (United States)

    Jiang, Peng; Feng, Yang; Wu, Feng

    2016-10-21

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

  8. Design and implementation of an underwater sound recording device

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-09-19

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

  9. 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.

  10. 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.)

  11. 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

  12. Hemispherical optical dome for underwater communication

    Science.gov (United States)

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

    2017-08-01

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

  13. 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.

  14. 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.)

  15. 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...

  16. Adaptive Target Tracking for Underwater Maneuvering Targets.

    Science.gov (United States)

    1979-12-01

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

  17. Improvement of tsunami detection in timeseries data of GPS buoys with the Continuous Wavelet Transform

    Science.gov (United States)

    Chida, Y.; Takagawa, T.

    2017-12-01

    The observation data of GPS buoys which are installed in the offshore of Japan are used for monitoring not only waves but also tsunamis in Japan. The real-time data was successfully used to upgrade the tsunami warnings just after the 2011 Tohoku earthquake. Huge tsunamis can be easily detected because the signal-noise ratio is high enough, but moderate tsunami is not. GPS data sometimes include the error waveforms like tsunamis because of changing accuracy by the number and the position of GPS satellites. To distinguish the true tsunami waveforms from pseudo-tsunami ones is important for tsunami detection. In this research, a method to reduce misdetections of tsunami in the observation data of GPS buoys and to increase the efficiency of tsunami detection was developed.Firstly, the error waveforms were extracted by using the indexes of position dilution of precision, reliability of GPS satellite positioning and satellite number for calculation. Then, the output from this procedure was used for the Continuous Wavelet Transform (CWT) to analyze the time-frequency characteristics of error waveforms and real tsunami waveforms.We found that the error waveforms tended to appear when the accuracy of GPS buoys positioning was low. By extracting these waveforms, it was possible to decrease about 43% error waveforms without the reduction of the tsunami detection rate. Moreover, we found that the amplitudes of power spectra obtained from the error waveforms and real tsunamis were similar in the component of long period (4-65 minutes), on the other hand, the amplitude in the component of short period (< 1 minute) obtained from the error waveforms was significantly larger than that of the real tsunami waveforms. By thresholding of the short-period component, further extraction of error waveforms became possible without a significant reduction of tsunami detection rate.

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

    Science.gov (United States)

    2010-10-01

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

  19. Thin ice and storms: Sea ice deformation from buoy arrays deployed during N-ICE2015

    OpenAIRE

    Itkin, Polona; Spreen, Gunnar; Cheng, Bin; Doble, Martin; Girard-Ardhuin, Fanny; Haapala, Jari; Hughes, Nick; Kaleschke, Lars; Nicolaus, Marcel; Wilkinson, Jeremy

    2017-01-01

    Arctic sea ice has displayed significant thinning as well as an increase in drift speed in recent years. Taken together this suggests an associated rise in sea ice deformation rate. A winter and spring expedition to the sea ice covered region north of Svalbard – the Norwegian young sea ICE 2015 expedition (N-ICE2015) - gave an opportunity to deploy extensive buoy arrays and to monitor the deformation of the first- and second-year ice now common in the majority of the Arctic Basin. During the ...

  20. Data-based depth estimation of an incoming autonomous underwater vehicle.

    Science.gov (United States)

    Yang, T C; Xu, Wen

    2016-10-01

    The data-based method for estimating the depth of a moving source is demonstrated experimentally for an incoming autonomous underwater vehicle traveling toward a vertical line array (VLA) of receivers at constant speed/depth. The method assumes no information on the sound-speed and bottom profile. Performing a wavenumber analysis of a narrowband signal for each hydrophone, the energy of the (modal) spectral peaks as a function of the receiver depth is used to estimate the depth of the source, traveling within the depth span of the VLA. This paper reviews the theory, discusses practical implementation issues, and presents the data analysis results.

  1. The potential of high-frequency profiling to assess vertical and seasonal patterns of phytoplankton dynamics in lakes: An extension of the Plankton Ecology Group (PEG) model

    Science.gov (United States)

    Brentrup, Jennifer A.; Williamson, Craig E.; Colom-Montero, William; Eckert, Werner; de Eyto, Elvira; Grossart, Hans-Peter; Huot, Yannick; Isles, Peter D. F.; Knoll, Lesley B.; Leach, Taylor H.; McBride, Christopher G.; Pierson, Don; Pomati, Francesco; Read, Jordan S.; Rose, Kevin C.; Samal, Nihar R.; Staehr, Peter A.; Winslow, Luke A.

    2016-01-01

    The use of high-frequency sensors on profiling buoys to investigate physical, chemical, and biological processes in lakes is increasing rapidly. Profiling buoys with automated winches and sensors that collect high-frequency chlorophyll fluorescence (ChlF) profiles in 11 lakes in the Global Lake Ecological Observatory Network (GLEON) allowed the study of the vertical and temporal distribution of ChlF, including the formation of subsurface chlorophyll maxima (SSCM). The effectiveness of 3 methods for sampling phytoplankton distributions in lakes, including (1) manual profiles, (2) single-depth buoys, and (3) profiling buoys were assessed. High-frequency ChlF surface data and profiles were compared to predictions from the Plankton Ecology Group (PEG) model. The depth-integrated ChlF dynamics measured by the profiling buoy data revealed a greater complexity that neither conventional sampling nor the generalized PEG model captured. Conventional sampling techniques would have missed SSCM in 7 of 11 study lakes. Although surface-only ChlF data underestimated average water column ChlF, at times by nearly 2-fold in 4 of the lakes, overall there was a remarkable similarity between surface and mean water column data. Contrary to the PEG model’s proposed negligible role for physical control of phytoplankton during the growing season, thermal structure and light availability were closely associated with ChlF seasonal depth distribution. Thus, an extension of the PEG model is proposed, with a new conceptual framework that explicitly includes physical metrics to better predict SSCM formation in lakes and highlight when profiling buoys are especially informative.

  2. 33 CFR 165.812 - Security Zones; Lower Mississippi River, Southwest Pass Sea Buoy to Mile Marker 96.0, New Orleans...

    Science.gov (United States)

    2010-07-01

    ... River, Southwest Pass Sea Buoy to Mile Marker 96.0, New Orleans, LA. 165.812 Section 165.812 Navigation... Limited Access Areas Eighth Coast Guard District § 165.812 Security Zones; Lower Mississippi River, Southwest Pass Sea Buoy to Mile Marker 96.0, New Orleans, LA. (a) Location. Within the Lower Mississippi...

  3. Underwater pipeline impact localization using piezoceramic transducers

    Science.gov (United States)

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

    2017-10-01

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

  4. GAS FLOW IN UNDERWATER BREATHING INSTALLATIONS

    Directory of Open Access Journals (Sweden)

    Anca CONSTANTIN

    2017-11-01

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

  5. 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.

  6. 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.

  7. Hydrogel microphones for stealthy underwater listening

    Science.gov (United States)

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

    2016-08-01

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

  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. Software architecture of biomimetic underwater vehicle

    Science.gov (United States)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

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

  10. STABILITY OF UNDERWATER STRUCTURE UNDER WAVE ATTACK

    Directory of Open Access Journals (Sweden)

    C. Paotonan

    2012-02-01

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

  11. Underwater noise levels in UK waters.

    Science.gov (United States)

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

    2016-11-10

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

  12. Underwater Wireless Acousto-Optic Waveguide (UWAOW)

    Science.gov (United States)

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

    2017-10-01

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

  13. Current components, physical, ocean circulation, wind circulation, and other data from moored buoys, CTD casts, drifting buoys, and in situ wind recorders from AIRCRAFT and other platforms from the North Atlantic Ocean and other locations as part of the Seasonal Response of the Equatorial Atlantic Experiment/Français Océan et Climat dans l'Atlantique Equatorial (SEQUAL/FOCAL) project from 1980-01-25 to 1985-12-18 (NODC Accession 8700111)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Current components, physical, ocean circulation, wind circulation, and other data were collected from moored buoys, CTD casts, drifting buoys, and in situ wind...

  14. Underwater noise pollution in a coastal tropical environment.

    Science.gov (United States)

    Bittencourt, L; Carvalho, R R; Lailson-Brito, J; Azevedo, A F

    2014-06-15

    Underwater noise pollution has become a major concern in marine habitats. Guanabara Bay, southeastern Brazil, is an impacted area of economic importance with constant vessel traffic. One hundred acoustic recording sessions took place over ten locations. Sound sources operating within 1 km radius of each location were quantified during recordings. The highest mean sound pressure level near the surface was 111.56±9.0 dB re 1 μPa at the frequency band of 187 Hz. Above 15 kHz, the highest mean sound pressure level was 76.21±8.3 dB re 1 μPa at the frequency 15.89 kHz. Noise levels correlated with number of operating vessels and vessel traffic composition influenced noise profiles. Shipping locations had the highest noise levels, while small vessels locations had the lowest noise levels. Guanabara Bay showed noise pollution similar to that of other impacted coastal regions, which is related to shipping and vessel traffic. Copyright © 2014 Elsevier Ltd. All rights reserved.

  15. Spectral measurements of underwater downwelling radiance of inland water bodies

    Directory of Open Access Journals (Sweden)

    Miguel Potes

    2013-11-01

    Full Text Available The apparatus exploited in this work is composed of an optical cable linked to a portable FieldSpec UV/VNIR that records the spectral downwelling radiance in underwater environment, allowing us to calculate the shortwave attenuation coefficient in water. Results for three inland water bodies are presented under different atmospheric conditions (sun zenith angle and wind speed and water composition (chlorophyll α concentration and turbidity. We show that the spectral downwelling zenith radiance profiles under high sun elevations present a positive slope in the upper layers due to relatively high scattering of direct sunlight compared to attenuation. For deeper layers, attenuation overcomes the scattering of sunlight leading to a constant negative logarithmic slope. For low sun elevations, a negative slope is observed in the entire water column since the scattering of direct sunlight is always lower than attenuation. Whenever a negative logarithmic constant slope is observed, the attenuation coefficient was computed. A relation was observed between attenuation coefficient in the photosynthetically active radiation (PAR spectral region and water turbidity, for the three water bodies under study.

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

    OpenAIRE

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

    2015-01-01

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

  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. 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.

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

    Directory of Open Access Journals (Sweden)

    Xin Li

    2017-02-01

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

  20. Bayesian inference of earthquake parameters from buoy data using a polynomial chaos-based surrogate

    KAUST Repository

    Giraldi, Loic

    2017-04-07

    This work addresses the estimation of the parameters of an earthquake model by the consequent tsunami, with an application to the Chile 2010 event. We are particularly interested in the Bayesian inference of the location, the orientation, and the slip of an Okada-based model of the earthquake ocean floor displacement. The tsunami numerical model is based on the GeoClaw software while the observational data is provided by a single DARTⓇ buoy. We propose in this paper a methodology based on polynomial chaos expansion to construct a surrogate model of the wave height at the buoy location. A correlated noise model is first proposed in order to represent the discrepancy between the computational model and the data. This step is necessary, as a classical independent Gaussian noise is shown to be unsuitable for modeling the error, and to prevent convergence of the Markov Chain Monte Carlo sampler. Second, the polynomial chaos model is subsequently improved to handle the variability of the arrival time of the wave, using a preconditioned non-intrusive spectral method. Finally, the construction of a reduced model dedicated to Bayesian inference is proposed. Numerical results are presented and discussed.

  1. 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.

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

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  3. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

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

    2015-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Carrick Detweiler

    2014-05-01

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

  5. 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.

  6. Status of the ANTARES underwater neutrino telescope

    CERN Document Server

    Hallewell, G D

    2003-01-01

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

  7. Transducers and arrays for underwater sound

    CERN Document Server

    Butler, John L

    2016-01-01

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

  8. The NESTOR underwater neutrino telescope project

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-04-11

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

  9. A Validation Process for Underwater Localization Algorithms

    Directory of Open Access Journals (Sweden)

    Marc Hildebrandt

    2014-09-01

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

  10. Improved Underwater Excitation-Emission Matrix Fluorometer

    Science.gov (United States)

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

    2007-01-01

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

  11. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

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

  12. Collision Detection for Underwater ROV Manipulator Systems.

    Science.gov (United States)

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

    2018-04-06

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

  13. The NESTOR underwater neutrino telescope project

    International Nuclear Information System (INIS)

    Rapidis, Petros A.

    2009-01-01

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

  14. 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)

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

    African Journals Online (AJOL)

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

  16. 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.

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

    National Research Council Canada - National Science Library

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

    2007-01-01

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

  18. 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.

  19. 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.

  20. Object detection from images obtained through underwater turbulence medium

    Science.gov (United States)

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

    2017-09-01

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

  1. 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.

  2. Collision Avoidance of Moving Obstacles for Underwater Robots

    Directory of Open Access Journals (Sweden)

    KWON KYOUNG YOUB

    2006-10-01

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

  3. 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%.

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

    Science.gov (United States)

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

    2017-11-01

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

  5. Navigation of autonomous underwater vehicle using extended kalman filter

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  6. 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.

  7. Design of the dual-buoy wave energy converter based on actual wave data of East Sea

    Directory of Open Access Journals (Sweden)

    Jeongrok Kim

    2015-07-01

    Full Text Available A new conceptual dual-buoy Wave Energy Converter (WEC for the enhancement of energy extraction efficiency is suggested. Based on actual wave data, the design process for the suggested WEC is conducted in such a way as to ensure that it is suitable in real sea. Actual wave data measured in Korea’s East Sea (position: 36.404 N° and 129.274 E° from May 1, 2002 to March 29, 2005 were used as the input wave spectrum for the performance estimation of the dual-buoy WEC. The suggested WEC, a point absorber type, consists of two concentric floating circular cylinders (an inner and a hollow outer buoy. Multiple resonant frequencies in proposed WEC affect the Power Ttake-off (PTO performance of the WEC. Based on the numerical results, several design strategies are proposed to further enhance the extraction efficiency, including intentional mismatching among the heave natural frequencies of dual buoys, the natural frequency of the internal fluid, and the peak frequency of the input wave spectrum.

  8. Design of the dual-buoy wave energy converter based on actual wave data of East Sea

    Science.gov (United States)

    Kim, Jeongrok; Kweon, Hyuck-Min; Jeong, Weon-Mu; Cho, Il-Hyoung; Cho, Hong-Yeon

    2015-07-01

    A new conceptual dual-buoy Wave Energy Converter (WEC) for the enhancement of energy extraction efficiency is suggested. Based on actual wave data, the design process for the suggested WEC is conducted in such a way as to ensure that it is suitable in real sea. Actual wave data measured in Korea's East Sea (position: 36.404 N° and 129.274 E°) from May 1, 2002 to March 29, 2005 were used as the input wave spectrum for the performance estimation of the dual-buoy WEC. The suggested WEC, a point absorber type, consists of two concentric floating circular cylinders (an inner and a hollow outer buoy). Multiple resonant frequencies in proposed WEC affect the Power Ttake-off (PTO) performance of the WEC. Based on the numerical results, several design strategies are proposed to further enhance the extraction efficiency, including intentional mismatching among the heave natural frequencies of dual buoys, the natural frequency of the internal fluid, and the peak frequency of the input wave spectrum.

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

    OpenAIRE

    Jesus, S. M.

    2013-01-01

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

  10. Estimation of underwater acoustic fields at high frequencies

    OpenAIRE

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

    2001-01-01

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

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

    Science.gov (United States)

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

    2007-06-01

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

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

    OpenAIRE

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-01-01

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

  13. Characterization of ships as sources of underwater noise

    OpenAIRE

    Jong, C.A.F. de

    2009-01-01

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

  14. 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

  15. Terminal homing position estimation forAutonomous underwater vehicle docking

    Science.gov (United States)

    2017-06-01

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

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

    OpenAIRE

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

    2013-01-01

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

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

    OpenAIRE

    Kraus, Robert J.

    2010-01-01

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

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

    OpenAIRE

    Matsumoto, Kazuhiro

    1996-01-01

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

  19. Development of a GPS buoy system for monitoring tsunami, sea waves, ocean bottom crustal deformation and atmospheric water vapor

    Science.gov (United States)

    Kato, Teruyuki; Terada, Yukihiro; Nagai, Toshihiko; Koshimura, Shun'ichi

    2010-05-01

    We have developed a GPS buoy system for monitoring tsunami for over 12 years. The idea was that a buoy equipped with a GPS antenna and placed offshore may be an effective way of monitoring tsunami before its arrival to the coast and to give warning to the coastal residents. The key technology for the system is real-time kinematic (RTK) GPS technology. We have successfully developed the system; we have detected tsunamis of about 10cm in height for three large earthquakes, namely, the 23 June 2001 Peru earthquake (Mw8.4), the 26 September 2003 Tokachi earthquake (Mw8.3) and the 5 September 2004 earthquake (Mw7.4). The developed GPS buoy system is also capable of monitoring sea waves that are mainly caused by winds. Only the difference between tsunami and sea waves is their frequency range and can be segregated each other by a simple filtering technique. Given the success of GPS buoy experiments, the system has been adopted as a part of the Nationwide Ocean Wave information system for Port and HArborS (NOWPHAS) by the Ministry of Land, Infrastructure, Transport and Tourism of Japan. They have established more than eight GPS buoys along the Japanese coasts and the system has been operated by the Port and Airport Research Institute. As a future scope, we are now planning to implement some other additional facilities for the GPS buoy system. The first application is a so-called GPS/Acoustic system for monitoring ocean bottom crustal deformation. The system requires acoustic waves to detect ocean bottom reference position, which is the geometrical center of an array of transponders, by measuring distances between a position at the sea surface (vessel) and ocean bottom equipments to return the received sonic wave. The position of the vessel is measured using GPS. The system was first proposed by a research group at the Scripps Institution of Oceanography in early 1980's. The system was extensively developed by Japanese researchers and is now capable of detecting ocean

  20. 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.

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

    Science.gov (United States)

    Blackwell, Susanna B.; Greene, Charles R.

    2005-12-01

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

  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. Performance Evaluation of Hybrid Acoustic-Optical Underwater Swarm Networks

    Directory of Open Access Journals (Sweden)

    Samuela PERSIA

    2016-04-01

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

  4. Parametric estimation in the wave buoy analogy - an elaborated approach based on energy considerations

    DEFF Research Database (Denmark)

    Montazeri, Najmeh; Nielsen, Ulrik Dam

    2014-01-01

    An accurate estimation of the ocean wave directional spectrum at the location of an advancing ship is very useful for the ship master to improve operation and safety in a seaway. Research has been conducted to obtain sea state estimates by the Wave Buoy Analogy. The method deals with processing...... the ship’s wave-induced responses based on different statistical inferences including parametric and non-parametric approaches. This paper considers a concept to improve the estimate obtained by the parametric method for sea state estimation. The idea is illustrated by an analysis made on full...... are considered as the input of the estimation process. A comparison is made between the results and also with some in-hand outputs from other estimation sources, e.g., wave radar measurements and sea surface elevation by microwave sensors. The discussed and analyzed procedure could also lead to an automatic...

  5. Perancangan Sistem Prediktor Daya Pada Panel Photovoltaic di Buoy Weather Station

    Directory of Open Access Journals (Sweden)

    Aini Prisilia Susanti

    2013-09-01

    Full Text Available Buoy weather station merupakan stasiun informasi cuaca yang banyak dijumpai di pelabuhan, khususnya di Surabaya. Untuk mengoperasikannya diperlukan sumber daya listrik berupa panel photovoltaic. Efek fotolistrik pada PV mampu merubah energi cahaya menjadi energi listrik. Besarnya daya yang dihasilkan tergantung dari intensitas matahari, temperatur permukaan, dan keadaan geografis setempat. Untuk memprediksi daya keluaran per setengah jam yang dihasilkan oleh panel PV maka digunakan metode jaringan syaraf tiruan dengan algoritma backpropagation pada software Matlab. Variabel yang digunakan berupa data daya yang diperoleh dari tegangan dan arus yang dihasilkan oleh panel PV di daerah Surabaya. Data daya selama 3 hari per setengah jam tersebut dijadikan data input dan target pada Matlab. Hasil terbaik perancangan sistem prediksi daya keluaran panel PV menggunakan JST pada Matlab yaitu Mean Square Error (MSE sebesar 0,0113 dan akurasi ketepatan prediksi sebesar 99,81%.

  6. A Preliminary Study of a Buoy System for Acquisition, Transmission, and Management of Hydrological Data Obtained from In-situ Measurements

    Science.gov (United States)

    Elliott, J. M.

    1972-01-01

    The requirements for a system of remotely located, data collection buoys are considered first for a prototype system to be used in conjunction with the Earth Resources Technology Satellite (ERTS-A), and then for a more advanced system. The necessary sensor characteristics for compatibility with the ERTS-A data collection platforms are considered, as well as possible sites for location of the prototype buoys. The advanced system is considered from the standpoint of continuous data collection both through satellite data relay and ground telemetry systems. Management of the data from a buoy system is analyzed, especially with regard to the advanced system.

  7. Underwater glider observations of the ongoing El Niño

    Science.gov (United States)

    Rudnick, D. L.; Owens, B.; Johnston, S.; Karnauskas, K.

    2016-02-01

    We report on observations by underwater gliders in the equatorial current system along 93°W and 95°W between 2°S and 2°N starting in October 2013 and continuing through the present. The project Repeat Observations by Gliders in the Equatorial Region (ROGER) was conceived with the intention of using underwater gliders to make repeat sections across equatorial system to quantify the location and strength of the Equatorial Undercurrent (EUC) and the equatorial front. ROGER serendipitously started near the beginning of a series of events that have led to the El Niño currently ongoing. We use Spray underwater gliders equipped with CTDs and ADCPs to measure pressure, temperature, salinity, velocity and chlorophyll fluorescence in a series of deployments from the Galapagos Islands. At the time of writing of this abstract, we have completed 15 glider missions, with 3 currently underway. Gliders have completed 7300 dives to as deep as 1000 m, traveling 27,000 km in 1600 glider-days. To our knowledge, this is the most extensive glider data set ever collected in the equatorial current system. With 6-km horizontal spacing between profiles, these more than 30 sections across the equator allow a finely-resolved look at the passage of Kelvin waves that establish El Niño. The Kelvin waves are manifest as deepening of the thermocline, warming of the surface, strengthening of the EUC, and northward migration of the equatorial front. We will present an up-to-date account of the continuing glider observations of El Niño.

  8. Autonomous Underwater Vehicle Magnetic Mapping System

    Science.gov (United States)

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

    2012-12-01

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

  9. 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

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

    Science.gov (United States)

    Saini, P. Sri; Prince, Shanthi

    2011-10-01

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

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

    Science.gov (United States)

    1983-11-02

    1943 9p. in this memorandum. A simple form of range keeper has been designed in which a D16/R503 359 voltage, obtained from a MASON, R.I. clockwork ...suitable VAN LENNEP, D. W. buoy, equipped with an orange - Measurement of output versus colored pennant, was designed for frequency characteristics of three...to manufactured by the Electro- 12-frequency operation. For this Protective Corporation, and with reason, the new purple, orange , blue, measurements

  12. 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...

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

    NARCIS (Netherlands)

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

    2011-01-01

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

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

    National Research Council Canada - National Science Library

    Kato, Naomi

    2004-01-01

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

  15. 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...

  16. Estimation of the Characterized Tsunami Source Model considering the Complicated Shape of Tsunami Source by Using the observed waveforms of GPS Buoys in the Nankai Trough

    Science.gov (United States)

    Seto, S.; Takahashi, T.

    2017-12-01

    In the 2011 Tohoku earthquake tsunami disaster, the delay of understanding damage situation increased the human damage. To solve this problem, it is important to search the severe damaged areas. The tsunami numerical modeling is useful to estimate damages and the accuracy of simulation depends on the tsunami source. Seto and Takahashi (2017) proposed a method to estimate the characterized tsunami source model by using the limited observed data of GPS buoys. The model consists of Large slip zone (LSZ), Super large slip zone (SLSZ) and background rupture zone (BZ) as the Cabinet Office, Government of Japan (below COGJ) reported after the Tohoku tsunami. At the beginning of this method, the rectangular fault model is assumed based on the seismic magnitude and hypocenter reported right after an earthquake. By using the fault model, tsunami propagation is simulated numerically, and the fault model is improved after comparing the computed data with the observed data repeatedly. In the comparison, correlation coefficient and regression coefficient are used as indexes. They are calculated with the observed and the computed tsunami wave profiles. This repetition is conducted to get the two coefficients close to 1.0, which makes the precise of the fault model higher. However, it was indicated as the improvement that the model did not examine a complicated shape of tsunami source. In this study, we proposed an improved model to examine the complicated shape. COGJ(2012) assumed that possible tsunami source region in the Nankai trough consisted of the several thousands small faults. And, we use these small faults to estimate the targeted tsunami source in this model. Therefore, we can estimate the complicated tsunami source by using these small faults. The estimation of BZ is carried out as a first step, and LSZ and SLSZ are estimated next as same as the previous model. The proposed model by using GPS buoy was applied for a tsunami scenario in the Nankai Trough. As a result

  17. Shape optimisation of an underwater Bernoulli gripper

    Science.gov (United States)

    Flint, Tim; Sellier, Mathieu

    2015-11-01

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

  18. Underwater radiated noise from modern commercial ships.

    Science.gov (United States)

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

    2012-01-01

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

  19. 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.

  20. 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.

  1. Temperature data from buoy casts in the North Atlantic Ocean from the COLUMBUS and HMAS SWAN from 01 August 1928 to 04 September 1932 (NODC Accession 0000242)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Temperature data were collected using buoy casts from the COLUMBUS and HMAS SWAN from August 1, 1928 to September 4, 1932 in the North Atlantic Ocean. Data were...

  2. Water temperature, salinity, and surface meteorology measurements collected from the Tropical Moored Buoys Array in the equatorial oceans from November 1977 to March 2017. (NODC Accession 0078936)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Global Tropical Moored Buoy Array Program is a multi-national effort to provide data in real-time for climate research and forecasting. Major components include...

  3. WATER TEMPERATURE and Other Data from DRIFTING BUOY From TOGA Area - Pacific (30 N to 30 S) from 19921208 to 19930719 (NODC Accession 9500059)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The drifting buoy data set in this accession was collected from TOGA Area - Pacific (30 N to 30 S) in Equatorial Pacific, North of Australia as part of Tropical...

  4. Temperature, salinity, and other data from buoy casts in the Arctic Ocean, Barents Sea and Beaufort Sea from 1948 to 1993 (NODC Accession 9800040)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Temperature, salinity, and other data were collected using buoy casts in the Arctic Ocean, Barents Sea and Beaufort Sea from 1948 to 1993. Data were collected by the...

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

    Directory of Open Access Journals (Sweden)

    Pshikhopov Vyacheslav

    2015-01-01

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

  6. 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)

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

    OpenAIRE

    Sumit Kumar; Sunil Kumar; Chandan Deep Singh

    2015-01-01

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

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

    Science.gov (United States)

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

    2011-01-01

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

  9. Design and Implementation of an Underwater Sound Recording Device

    Directory of Open Access Journals (Sweden)

    Christa M. Woodley

    2011-09-01

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

  10. Underwater topography acquired by remote sensing based on SOFM

    Science.gov (United States)

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

    2008-12-01

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

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. Development of Tools and Techniques to Survey, Assess, Stabilise, Monitor and Preserve Underwater Archaeological Sites: SASMAP

    Science.gov (United States)

    Gregory, D. J.

    2015-08-01

    SASMAP's purpose is to develop new technologies and best practices in order to locate, assess and manage Europe's underwater cultural heritage in a more effective way than is possible today. SASMAP has taken an holistic- and process- based approach to investigating underwater environments and the archaeological sites contained therein. End user of the results of SASMAP are severalfold; i) to benefiet the SMEs involved in the project and development of their products for the offshore industry (not just for archaeological purposes) ii) a better understanding of the marine environment and its effect on archaeological materials iii) the collation of the results from the project into guidelines that can be used by cultural resource managers to better administer and optimise developer lead underwater archaeological project within Europe in accordance with European legislation (Treaty of Valetta (1992). Summarily the project has utilised a down scaling approach to localise archaeological sites at a large scale regional level. This has involved using innovative satellite imagery to obtain seamless topography maps over coastal areas and the seabed (accurate to a depth of 6m) as well as the development of a 3D sub bottom profiler to look within the seabed. Results obtained from the downscaling approach at the study areas in the project (Greece and Denmark) have enabled geological models to be developed inorder to work towards predictive modelling of where submerged prehistoric sites may be encountered. Once sites have been located an upscaling approach has been taken to assessing an individual site and the materials on and within it in order to better understand the state of preservation and dynamic conditions of a site and how it can best be preserved through in situ preservation or excavation. This has involved the development of equipment to monitor the seabed environment (open water and in sediments), equipment for sampling sediments and assessing the state of

  16. Precision Geo-Referenced Navigation for Deep-Diving Autonomous Underwater Gliders and Enabled Scientific Applications

    Science.gov (United States)

    Kinsey, J. C.; Jakuba, M.; Partan, J. W.; Webster, S.

    2016-02-01

    Recent and underway development efforts promise to deliver long endurance and deep-diving autonomous underwater gliders with the potential to persistently observe the deep (6000 m) ocean interior and sea floor over time scales of months to years. Both deep- and shallow-diving gliders navigate primarily by dead-reckoning between surfacing for GPS fixes, a paradigm that precludes their use in missions where science objectives call for precise navigation deep in the water column or near the deep sea floor. Coupled with an autonomous surface vessel, one-way travel time inverted ultra-short baseline positioning (OWTT-iUSBL) offers a compelling alternative to infrastructure-intensive external acoustic aiding. Such systems could provide navigation aiding to multiple underwater vehicles while providing autonomy and endurance for the system as a whole comparable to that of a solitary vehicle. While the concept of OWTT-iUSBL is not new, we argue that the maturity of acoustic modem technology combined with the emergence of very low-power precision timing and attitude sensors will make it possible to deploy OWTT-iUSBL systems on low-power underwater vehicles in the near term. Here, two recent supporting analyses are reviewed: (1) the achievable accuracy of OWTT-iUSBL navigation including single-fix error budgets for specific system configurations using representative commercially available components; and (2) the impact of a specific low-power configuration on the endurance of a deep-profiling autonomous underwater glider. Our analyses suggest that a practically realizable OWTT-iUSBL system could provide navigational accuracy 1-2 orders of magnitude superior to that presently achievable using periodic ascents to acquire global positioning system (GPS), and, for sufficiently deep deployments, actually yield more near-bottom data despite reducing overall vehicle endurance. Furthermore, we present some potential scientific applications that might benefit from these technologies

  17. Sea surface cooling in the Northern South China Sea observed using Chinese Sea-wing Underwater Glider measurements

    Science.gov (United States)

    Qiu, C.; Mao, H.; Wu, J.

    2016-02-01

    Based on 26 days of Chinese Seawing underwater Glider measurements and satellite microwave data, we documented cooling of the upper mixed layer of the ocean in response to changes in the wind in the Northern South China Sea (NSCS) from September 19, 2014, to October 15, 2014. The Seawing underwater glider measured 177 profiles of temperature, salinity, and pressure within a 55 km נ55 km area, and reached a depth of 1000 m at a temporal resolution of 4 h. The study area experienced two cooling events, Cooling I and Cooling II, according to their timing. During Cooling I, water temperature at 1m depth (T1) decreased by 1.0°C, and the corresponding satellitederived surface winds increased locally by 4.2 m/s. During Cooling II, T1 decreased sharply by 1.7°C within a period of 4 days; sea surface winds increased by 7 m/s and covered the entire NSCS. The corresponding mixed layer depth (MLD) deepened sharply from 30 m to 60 m during Cooling II, and remained steady during Cooling I. We estimated temperature tendencies using a ML model. High resolution Seawing underwater glider measurements provided an estimation of MLD migration, allowing us to obtain the temporal entrainment rate of cool sub thermocline water. Quantitative analysis confirmed that the entrainment rate and latent heat flux were the two major components that regulated cooling of the ML, and that the Ekman advection and sensible heat flux were small.

  18. Buoy perspective of a high-resolution global ocean vector wind analysis constructed from passive radiometers and active scatterometers (1987-present)

    Science.gov (United States)

    Yu, Lisan; Jin, Xiangze

    2012-11-01

    The study used 126 buoy time series as a benchmark to evaluate a satellite-based daily, 0.25-degree gridded global ocean surface vector wind analysis developed by the Objectively Analyzed airs-sea Fluxes (OAFlux) project. The OAFlux winds were produced from synthesizing wind speed and direction retrievals from 12 sensors acquired during the satellite era from July 1987 onward. The 12 sensors included scatterometers (QuikSCAT and ASCAT), passive microwave radiometers (AMSRE, SSMI and SSMIS series), and the passive polarimetric microwave radiometer from WindSat. Accuracy and consistency of the OAFlux time series are the key issues examined here. A total of 168,836 daily buoy measurements were assembled from 126 buoys, including both active and archive sites deployed during 1988-2010. With 106 buoys from the tropical array network, the buoy winds are a good reference for wind speeds in low and mid-range. The buoy comparison shows that OAFlux wind speed has a mean difference of -0.13 ms-1 and an RMS difference of 0.71 ms-1, and wind direction has a mean difference of -0.55 degree and an RMS difference of 17 degrees. Vector correlation of OAFlux and buoy winds is of 0.9 and higher over almost all the sites. Influence of surface currents on the OAFlux/buoy mean difference pattern is displayed in the tropical Pacific, with higher (lower) OAFlux wind speed in regions where wind and current have the opposite (same) sign. Improved representation of daily wind variability by the OAFlux synthesis is suggested, and a decadal signal in global wind speed is evident.

  19. Underwater characterization of control rods for waste disposal using SMOPY

    International Nuclear Information System (INIS)

    Gallozzi-Ulmann, A.; Couturier, P.; Amgarou, K.; Rothan, D.; Menaa, N.; Chard, P.

    2015-01-01

    Storage of spent fuel assemblies in cooling ponds requires careful control of the geometry and proximity of adjacent assemblies. Measurement of the fuel burnup makes it possible to optimise the storage arrangement of assemblies taking into account the effect of the burnup on the criticality safety margins ('burnup credit'). Canberra has developed a measurement system for underwater measurement of spent fuel assemblies. This system, known as 'SMOPY', performs burnup measurements based on gamma spectroscopy (collimated CZT detector) and neutron counting (fission chamber). The SMOPY system offers a robust and waterproof detection system as well as the needed capability of performing radiometric measurements in the harsh high dose - rate environments of the cooling ponds. The gamma spectroscopy functionality allows powerful characterization measurements to be performed, in addition to burnup measurement. Canberra has recently performed waste characterisation measurements at a Nuclear Power Plant. Waste activity assessment is important to control costs and risks of shipment and storage, to ensure that the activity level remains in the range allowed by the facility, and to declare activity data to authorities. This paper describes the methodology used for the SMOPY measurements and some preliminary results of a radiological characterisation of AIC control rods. After describing the features and normal operation of the SMOPY system, we describe the approach used for establishing an optimum control rod geometric scanning approach (optimum count time and speed) and the method of the gamma spectrometry measurements as well as neutron check measurements used to verify the absence of neutron sources in the waste. We discuss the results obtained including 60 Co, 110m Ag and 108m Ag activity profiles (along the length of the control rods) and neutron results including Total Measurement Uncertainty evaluations. Full self-consistency checks were performed and

  20. 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.

  1. 76 FR 31233 - Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY

    Science.gov (United States)

    2011-05-31

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

  2. 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.

  3. Development of a submersible gravimeter on underwater vehicles

    Science.gov (United States)

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

    2012-12-01

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

  4. A new integrated oceanographic/atmospheric facility in the central Mediterranean: the instrumented buoy contributing to the Lampedusa Climate Observatory

    Science.gov (United States)

    di Sarra, Alcide; Bommarito, Carlo; Meloni, Daniela; Monteleone, Francesco; Pace, Giandomenico; Sferlazzo, Damiano; Anello, Fabrizio; Artale, Vincenzo; Bergamasco, Alessandro; Colella, Simone; Di Iorio, Tatiana; Marullo, Salvatore; Piacentino, Salvatore; Santoleri, Rosalia; Volpe, Gianluca

    2017-04-01

    The Station for Climate Observations on the island of Lampedusa (35.52°N, 12.63°E; http://www.lampedusa.enea.it) has been operational since 1997 in the central Mediterranean Sea and is dedicated at long-term measurements of atmospheric parameters related to climate. Measurements, also made in collaboration with different international Institutes, contribute to several global networks (GAW/WMO; NOAA Cooperative air sampling network; AERONET; ICOS, etc.). As an integration of the climate observatory, an oceanographic buoy was deployed in August 2015 about 3.3 miles South West of the island of Lampedusa, at 35.49°N, 12.47°E. The buoy was developed within the Italian RITMARE flagship project. The ocean depth at the buoy site is 74 m. Primary scientific objectives of the marine observatory are: to investigate air sea interactions in the central Mediterranean; to study the surface energy budget; to characterize the oceanic optical properties, and to investigate links with the carbon cycle. The site will act as a cal/val facility for satellite observations. A first set of measurements of downwelling shortwave and longwave irradiances were activated in September 2015, and more than 1 year of continuous measurements are now available. The other instruments are presently being installed and will become operational soon. They include CTD, O2, and temperature sensors at various depths; 7-band upwelling and downwelling radiation sensors at two depths; downwelling and upwelling solar (broadband and spectral) and infrared (broadband) irradiances at the surface; meteorological parameters. Additional developments are linked to the measurement of oceanic pCO2 and atmospheric turbulence, including sensible heat fluxes. The buoy is open to further expansions and developments.

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

    Directory of Open Access Journals (Sweden)

    Chao Bai

    2018-01-01

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

  6. 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.

  7. 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.

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

    Science.gov (United States)

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

    2016-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Rui Zhang

    2016-03-01

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

  10. 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.

  11. A simple inexpensive method for estimating underwater weight.

    Science.gov (United States)

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

    1978-01-01

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

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

    Science.gov (United States)

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

    2011-11-01

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

  13. Underwater Acoustic Communication Quality Evaluation Model Based on USV

    Directory of Open Access Journals (Sweden)

    Zhichao Lv

    2018-01-01

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

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

    Science.gov (United States)

    Papadimitriou, K.

    2015-04-01

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

  15. 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.

  16. 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.

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

    Science.gov (United States)

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

    2013-03-01

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

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

    Science.gov (United States)

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

    2011-12-01

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

  19. ASSIMILATION OF REAL-TIME DEEP SEA BUOY DATA FOR TSUNAMI FORECASTING ALONG THAILAND’S ANDAMAN COASTLINE

    Directory of Open Access Journals (Sweden)

    Seree Supharatid

    2008-01-01

    Full Text Available The occurrence of 2004 Indian Ocean tsunami enhanced the necessity for a tsunami early warning system for countries bordering the Indian Ocean, including Thailand. This paper describes the assimilation of real-time deep sea buoy data for tsunami forecasting along Thailand’s Andaman coastline. Firstly, the numerical simulation (by the linear and non-linear shallow water equations was carried out for hypothetical cases of tsunamigenic earthquakes with epicenters located in the Andaman micro plate. Outputs of the numerical model are tsunami arrival times and the maximum wave height that can be expected at 58 selected communities along Thailand Andaman coastline and two locations of DART buoys in the Indian Ocean. Secondly, a “neural” network model (GRNN was developed to access the data from the numerical computations for subsequent construction of a tsunami database that can be displayed on a web-based system. This database can be updated with the integration from two DART buoys and from several GRNN models.

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

    Science.gov (United States)

    von Lukas, Uwe Freiherr

    2016-01-01

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

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

    Digital Repository Service at National Institute of Oceanography (India)

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

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

  2. 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.

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

    International Nuclear Information System (INIS)

    Jenco, J.

    1990-12-01

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

  4. Rancang Bangun Maximum Power Point Tracking pada Panel Photovoltaic Berbasis Logika Fuzzy di Buoy Weather Station

    Directory of Open Access Journals (Sweden)

    Bayu Prima Juliansyah Putra

    2013-09-01

    Full Text Available Salah satu aplikasi yang sering digunakan dalam bidang energi terbarukan adalah panel photovoltaic. Panel ini memiliki prinsip kerja berdasarkan efek photovoltaic dimana lempengan logam akan menghasilkan energi listrik apabila diberi intensitas cahaya. Untuk menghasilkan daya keluaran panel yang maksimal, maka diperlukan suatu algoritma yang biasa disebut Maximum Power Point Tracking (MPPT.MPPT yang diterapkan pada sistem photovoltaic berfungsi untuk mengatur nilai tegangan keluaran panel sehingga titik ker-janya beroperasi pada kondisi maksimal. Algoritma MPPT pada panel ini telah dilakukan dengan menggunakan logika fuzzy melalui mikrokontroler Arduino Uno sebagai pem-bangkit sinyal Pulse Width Modulation (PWM yang akan dikirimkan menuju DC-DC Buck Boost Converter. Keluaran dari buck boost converterakan dihubungkan secara langsung dengan buoy weather station untuk menyuplai energi listrik tiap komponen yang berada di dalamnya. Untuk menguji performansi dari algoritma MPPT yang telah dirancang, maka sistem akan diuji menggunakan variasi beban antara metode direct-coupled dengan MPPT menggunakan logika fuzzy. Hasil pengujian menunjukkan bahwa MPPT dengan logika fuzzy dapat menghasilkan daya maksimum daripada direct-coupled. Pada sistem panel photovoltaic ini memiliki range efisiensi 33.07589 % hingga 74.25743 %. Daya mak-simal dapat dicapai oleh sistem untuk tiap variasi beban dan efisiensi maksimal dapat dicapai pada beban 20 Ohm dari hasil pengujian sistem MPPT.

  5. Wave parameters comparisons between High Frequency (HF) radar system and an in situ buoy: a case study

    Science.gov (United States)

    Fernandes, Maria; Alonso-Martirena, Andrés; Agostinho, Pedro; Sanchez, Jorge; Ferrer, Macu; Fernandes, Carlos

    2015-04-01

    The coastal zone is an important area for the development of maritime countries, either in terms of recreation, energy exploitation, weather forecasting or national security. Field measurements are in the basis of understanding how coastal and oceanic processes occur. Most processes occur over long timescales and over large spatial ranges, like the variation of mean sea level. These processes also involve a variety of factors such as waves, winds, tides, storm surges, currents, etc., that cause huge interference on such phenomena. Measurement of waves have been carried out using different techniques. The instruments used to measure wave parameters can be very different, i.e. buoys, ship base equipment like sonar and satellites. Each equipment has its own advantage and disadvantage depending on the study subject. The purpose of this study is to evaluate the behaviour of a different technology available and presently adopted in wave measurement. In the past few years the measurement of waves using High Frequency (HF) Radars has had several developments. Such a method is already established as a powerful tool for measuring the pattern of surface current, but its use in wave measurements, especially in the dual arrangement is recent. Measurement of the backscatter of HF radar wave provides the raw dataset which is analyzed to give directional data of surface elevation at each range cell. Buoys and radars have advantages, disadvantages and its accuracy is discussed in this presentation. A major advantage with HF radar systems is that they are unaffected by weather, clouds or changing ocean conditions. The HF radar system is a very useful tool for the measurement of waves over a wide area with real-time observation, but it still lacks a method to check its accuracy. The primary goal of this study was to show how the HF radar system responds to high energetic variations when compared to wave buoy data. The bulk wave parameters used (significant wave height, period and

  6. An Acoustic OFDM System with Symbol-by-Symbol Doppler Compensation for Underwater Communication

    Science.gov (United States)

    MinhHai, Tran; Rie, Saotome; Suzuki, Taisaku; Wada, Tomohisa

    2016-01-01

    We propose an acoustic OFDM system for underwater communication, specifically for vertical link communications such as between a robot in the sea bottom and a mother ship in the surface. The main contributions are (1) estimation of time varying Doppler shift using continual pilots in conjunction with monitoring the drift of Power Delay Profile and (2) symbol-by-symbol Doppler compensation in frequency domain by an ICI matrix representing nonuniform Doppler. In addition, we compare our proposal against a resampling method. Simulation and experimental results confirm that our system outperforms the resampling method when the velocity changes roughly over OFDM symbols. Overall, experimental results taken in Shizuoka, Japan, show our system using 16QAM, and 64QAM achieved a data throughput of 7.5 Kbit/sec with a transmitter moving at maximum 2 m/s, in a complicated trajectory, over 30 m vertically. PMID:27057558

  7. An Acoustic OFDM System with Symbol-by-Symbol Doppler Compensation for Underwater Communication

    Directory of Open Access Journals (Sweden)

    Tran MinhHai

    2016-01-01

    Full Text Available We propose an acoustic OFDM system for underwater communication, specifically for vertical link communications such as between a robot in the sea bottom and a mother ship in the surface. The main contributions are (1 estimation of time varying Doppler shift using continual pilots in conjunction with monitoring the drift of Power Delay Profile and (2 symbol-by-symbol Doppler compensation in frequency domain by an ICI matrix representing nonuniform Doppler. In addition, we compare our proposal against a resampling method. Simulation and experimental results confirm that our system outperforms the resampling method when the velocity changes roughly over OFDM symbols. Overall, experimental results taken in Shizuoka, Japan, show our system using 16QAM, and 64QAM achieved a data throughput of 7.5 Kbit/sec with a transmitter moving at maximum 2 m/s, in a complicated trajectory, over 30 m vertically.

  8. Shape optimization of an autonomous underwater vehicle with a ducted propeller using computational fluid dynamics analysis

    Directory of Open Access Journals (Sweden)

    Tae-Hwan Joung

    2012-03-01

    Full Text Available Autonomous Underwater Vehicles (AUVs provide a useful means of collecting detailed oceano-graphic information. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a procedure using Computational Fluid Dynamics (CFD for determining the hull resistance of an AUV under development, for a given propeller rotation speed and within a given range of AUV velocities. The CFD analysis results reveal the distribution of the hydrodynamic values (velocity, pressure, etc. around the AUV hull and its ducted propeller. The paper then proceeds to present a methodology for optimizing the AUV profile in order to reduce the total resistance. This paper demonstrates that shape optimization of conceptual designs is possible using the commercial CFD package contained in Ansys™. The optimum design to minimize the drag force of the AUV was identified for a given object function and a set of constrained design parameters.

  9. Underwater Depth and Temperature Sensing Based on Fiber Optic Technology for Marine and Fresh Water Applications.

    Science.gov (United States)

    Duraibabu, Dinesh Babu; Leen, Gabriel; Toal, Daniel; Newe, Thomas; Lewis, Elfed; Dooly, Gerard

    2017-05-27

    Oceanic conditions play an important role in determining the effects of climate change and these effects can be monitored through the changes in the physical properties of sea water. In fact, Oceanographers use various probes for measuring the properties within the water column. CTDs (Conductivity, Temperature and Depth) provide profiles of physical and chemical parameters of the water column. A CTD device consists of Conductivity (C), Temperature (T) and Depth (D) probes to monitor the water column changes with respect to relative depth. An optical fibre-based point sensor used as a combined pressure (depth) and temperature sensor and the sensor system are described. Measurements accruing from underwater trials of a miniature sensor for pressure (depth) and temperature in the ocean and in fresh water are reported. The sensor exhibits excellent stability and its performance is shown to be comparable with the Sea-Bird Scientific commercial sensor: SBE9Plus.

  10. An Acoustic OFDM System with Symbol-by-Symbol Doppler Compensation for Underwater Communication.

    Science.gov (United States)

    MinhHai, Tran; Rie, Saotome; Suzuki, Taisaku; Wada, Tomohisa

    2016-01-01

    We propose an acoustic OFDM system for underwater communication, specifically for vertical link communications such as between a robot in the sea bottom and a mother ship in the surface. The main contributions are (1) estimation of time varying Doppler shift using continual pilots in conjunction with monitoring the drift of Power Delay Profile and (2) symbol-by-symbol Doppler compensation in frequency domain by an ICI matrix representing nonuniform Doppler. In addition, we compare our proposal against a resampling method. Simulation and experimental results confirm that our system outperforms the resampling method when the velocity changes roughly over OFDM symbols. Overall, experimental results taken in Shizuoka, Japan, show our system using 16QAM, and 64QAM achieved a data throughput of 7.5 Kbit/sec with a transmitter moving at maximum 2 m/s, in a complicated trajectory, over 30 m vertically.

  11. Underwater Depth and Temperature Sensing Based on Fiber Optic Technology for Marine and Fresh Water Applications

    Directory of Open Access Journals (Sweden)

    Dinesh Babu Duraibabu

    2017-05-01

    Full Text Available Oceanic conditions play an important role in determining the effects of climate change and these effects can be monitored through the changes in the physical properties of sea water. In fact, Oceanographers use various probes for measuring the properties within the water column. CTDs (Conductivity, Temperature and Depth provide profiles of physical and chemical parameters of the water column. A CTD device consists of Conductivity (C, Temperature (T and Depth (D probes to monitor the water column changes with respect to relative depth. An optical fibre-based point sensor used as a combined pressure (depth and temperature sensor and the sensor system are described. Measurements accruing from underwater trials of a miniature sensor for pressure (depth and temperature in the ocean and in fresh water are reported. The sensor exhibits excellent stability and its performance is shown to be comparable with the Sea-Bird Scientific commercial sensor: SBE9Plus.

  12. An integrated wave-effects model for an underwater explosion bubble.

    Science.gov (United States)

    Geers, Thomas L; Hunter, Kendall S

    2002-04-01

    A model for a moderately deep underwater explosion bubble is developed that integrates the shock wave and oscillation phases of the motion. A hyperacoustic relationship is formulated that relates bubble volume acceleration to far-field pressure profile during the shock-wave phase, thereby providing initial conditions for the subsequent oscillation phase. For the latter, equations for bubble-surface response are derived that include wave effects in both the external liquid and the internal gas. The equations are then specialized to the case of a spherical bubble, and bubble-surface displacement histories are calculated for dilational and translational motion. Agreement between these histories and experimental data is found to be substantially better than that produced by previous models.

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

    Directory of Open Access Journals (Sweden)

    Pengyun Chen

    2014-01-01

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

  14. 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.

  15. 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.

  16. An Energy Harvesting Underwater Acoustic Transmitter for Aquatic Animals

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-09-20

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

  18. 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 ...

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

    Science.gov (United States)

    Clark, James E

    2015-01-01

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

  20. 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.

  1. 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.

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

    DEFF Research Database (Denmark)

    Christensen-Dalsgaard, J; Elepfandt, A

    1995-01-01

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

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

    Indian Academy of Sciences (India)

    D V A N Ravi Kumar

    2017-07-04

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

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

    NARCIS (Netherlands)

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

    2004-01-01

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

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

    NARCIS (Netherlands)

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

    2016-01-01

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

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

    Indian Academy of Sciences (India)

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

  7. 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

  8. Underwater sound produced by individual drop impacts and rainfall

    DEFF Research Database (Denmark)

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

    1989-01-01

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

  9. Student-Built Underwater Video and Data Capturing Device

    Science.gov (United States)

    Whitt, F.

    2016-12-01

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

  10. 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.

  11. 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.

  12. 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

  13. Underwater Wireless Optical Communication System Using Blue LEDs

    Science.gov (United States)

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

    2016-02-01

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

  14. BER evaluations for multimode beams in underwater turbulence

    Science.gov (United States)

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

    2016-07-01

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

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

    NARCIS (Netherlands)

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

    2015-01-01

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

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

    Science.gov (United States)

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

    2017-05-21

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

  18. 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

  19. 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

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

    Science.gov (United States)

    Wu, Huayang; Chen, Min; Guan, Xin

    2012-01-01

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

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

    NARCIS (Netherlands)

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

    2016-01-01

    Flooding-based protocols are a reliable solution to deliver packets in underwater sensor networks. However, these protocols potentially involve all the nodes in the forwarding process. Thus, the performance and energy efficiency are not optimal. In this work, we propose some advances of a

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

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

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

    Indian Academy of Sciences (India)

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

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

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

    Science.gov (United States)

    Danehy, Paul M.; Alderfer, David W.

    2004-01-01

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

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

    NARCIS (Netherlands)

    Eski, Y.

    2017-01-01

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

  7. 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.

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

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

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

  9. 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.

  10. 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

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

    Science.gov (United States)

    Arnon, Shlomi; Kedar, Debbie

    2009-03-01

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

  12. 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 ...

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

    Indian Academy of Sciences (India)

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

  14. HullBUG Technology Development for Underwater Hull Cleaning

    Science.gov (United States)

    2015-05-14

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

  15. OceanVideoLab: A Tool for Exploring Underwater Video

    Science.gov (United States)

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

    2016-02-01

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

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

    Science.gov (United States)

    Veiga, Santiago; Roig, Andreu

    2016-01-01

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

  17. Towards Enhanced Underwater Lidar Detection via Source Separation

    Science.gov (United States)

    Illig, David W.

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

  18. Wave propagation in the marginal ice zone - Model predictions and comparisons with buoy and synthetic aperture radar data

    Science.gov (United States)

    Liu, Antony K.; Holt, Benjamin; Vachon, Paris W.

    1991-01-01

    Ocean wave dispersion relation and viscous attenuation by a sea ice cover are studied for waves propagating into the marginal ice zone (MIZ). The Labrador ice margin experiment (LIMEX), conducted on the MIZ off the east coast of Newfoundland, Canada in March 1987, provided aircraft SAR imagery, ice property and wave buoy data. Wave energy attenuation rates are estimated from SAR data and the ice motion package data that were deployed at the ice edge and into the ice pack, and compared with a model. It is shown that the model data comparisons are quite good for the ice conditions observed during LIMEX 1987.

  19. The first demonstration of a microbial fuel cell as a viable power supply: Powering a meteorological buoy

    Science.gov (United States)

    Tender, Leonard M.; Gray, Sam A.; Groveman, Ethan; Lowy, Daniel A.; Kauffman, Peter; Melhado, Julio; Tyce, Robert C.; Flynn, Darren; Petrecca, Rose; Dobarro, Joe

    2008-05-01

    Here we describe the first demonstration of a microbial fuel cell (MFC) as a practical alternative to batteries for a low-power consuming application. The specific application reported is a meteorological buoy (ca. 18-mW average consumption) that measures air temperature, pressure, relative humidity, and water temperature, and that is configured for real-time line-of-sight RF telemetry of data. The specific type of MFC utilized in this demonstration is the benthic microbial fuel cell (BMFC). The BMFC operates on the bottom of marine environments, where it oxidizes organic matter residing in oxygen depleted sediment with oxygen in overlying water. It is maintenance free, does not deplete (i.e., will run indefinitely), and is sufficiently powerful to operate a wide range of low-power marine-deployed scientific instruments normally powered by batteries. Two prototype BMFCs used to power the buoy are described. The first was deployed in the Potomac River in Washington, DC, USA. It had a mass of 230 kg, a volume of 1.3 m3, and sustained 24 mW (energy equivalent of ca. 16 alkaline D-cells per year at 25 °C). Although not practical due to high cost and extensive in-water manipulation required to deploy, it established the precedence that a fully functional scientific instrument could derive all of its power from a BMFC. It also provided valuable lessons for developing a second, more practical BMFC that was subsequently used to power the buoy in a salt marsh near Tuckerton, NJ, USA. The second version BMFC has a mass of 16 kg, a volume of 0.03 m3, sustains ca. 36 mW (energy equivalent of ca. 26 alkaline D-cells per year at 25 °C), and can be deployed by a single person from a small craft with minimum or no in-water manipulation. This BMFC is being further developed to reduce cost and enable greater power output by electrically connecting multiple units in parallel. Use of this BMFC powering the meteorological buoy highlights the potential impact of BMFCs to enable long

  20. Survey of Technology with Possible Applications to United States Coast Guard Buoy Tenders. Volume 2. Literature Abstracts.

    Science.gov (United States)

    1987-09-01

    34THV MERMAID ." Vessel particular: LOA - 80.4 m, Beam moulded - 14.5 m, Draft - 4.0 m, speed 12 kts, complement - 24, power - diesel electric 2x 860 kW...Beacons. Included in this yearbook is a 2-page spread with particulars on the newest buoy tender "THV MERMAID " recently completed by Hyundai Heavy...suppliers. A little short on detailed design information. Covers all self-propelled OSV’s over 60ft LOA except for pure tugs. Patton, L.M., "The

  1. 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

  2. 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)].

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

    Science.gov (United States)

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

    2017-10-01

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

  4. Measurements of radionuclide in Par Pond sediments with an underwater HPGe detector

    Energy Technology Data Exchange (ETDEWEB)

    Winn, W.G.

    1993-11-01

    Savannah River Site (SRS) effluent gamma emitting radionuclides in Par Pond sediment were examined in situ with an underwater HPGe detector prior to and following a 19 ft drawdown of the pond in 1991 to address dam repairs. These measurements provide a map of the {sup 137}Cs concentrations of the pond sediment, indicating that 9.4 {plus_minus} 1.5 Ci is exposed by the drawdown and that 46.6 {plus_minus} 7.2 Ci is the entire pond inventory. The highest individual {sup 137}Cs concentration was 25 {mu}Ci/m{sup 2} for the exposed sediment and 50 {mu}Ci/m{sup 2} for the entire pond. The results are consistent with parallel studies conducted by SREL, as well as historical data. Aside from {sup 137}Cs, the only other SRS-produced isotope observed was {sup 60}Co, with activity of only about 1% of that for {sup 137}Cs. This observation was also confirmed in grab samples of pond sediment and vegetation, which were returned to the laboratory for ultra-low-level gamma spectrometry analysis. A special effort was required to calibrate the underwater HPGe detector, where both measurements and calculational models were used. The effects of sediment depth profiles for density and {sup 137}Cs concentration were addressed in the calibration. Calibration factors for sediment surface concentrations ({mu}Ci/m{sup 2}/cpm) and sediment mass concentrations (pCi/kg/cpm) were obtained. In general, the {mu}Ci/m{sup 2}/cpm factor is recommended, as the pCi/kg/cpm factor depends on the depth location of the sediment of interest. However, a pCi/kg/cpm factor, which is dependent on the depth within the sediment is presented to address dose calculations that require it.

  5. Amphibious hearing in ringed seals (Pusa hispida): underwater audiograms, aerial audiograms and critical ratio measurements.

    Science.gov (United States)

    Sills, Jillian M; Southall, Brandon L; Reichmuth, Colleen

    2015-07-01

    Ringed seals (Pusa hispida) are semi-aquatic marine mammals with a circumpolar Arctic distribution. In this study, we investigate the amphibious hearing capabilities of ringed seals to provide auditory profiles for this species across the full range of hearing. Using psychophysical methods with two trained ringed seals, detection thresholds for narrowband signals were measured under quiet, carefully controlled environmental conditions to generate aerial and underwater audiograms. Masked underwater thresholds were measured in the presence of octave-band noise to determine critical ratios. Results indicate that ringed seals possess hearing abilities comparable to those of spotted seals (Phoca largha) and harbor seals (Phoca vitulina), and considerably better than previously reported for ringed and harp seals. Best sensitivity was 49 dB re. 1 µPa (12.8 kHz) in water, and -12 dB re. 20 µPa (4.5 kHz) in air, rivaling the acute hearing abilities of some fully aquatic and terrestrial species in their respective media. Critical ratio measurements ranged from 14 dB at 0.1 kHz to 31 dB at 25.6 kHz, suggesting that ringed seals--like other true seals--can efficiently extract signals from background noise across a broad range of frequencies. The work described herein extends similar research on amphibious hearing in spotted seals recently published by the authors. These parallel studies enhance our knowledge of the auditory capabilities of ice-living seals, and inform effective management strategies for these and related species in a rapidly changing Arctic environment. © 2015. Published by The Company of Biologists Ltd.

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

    OpenAIRE

    Gang Qiao; Yunjiang Zhao; Songzuo Liu; Muhammad Bilal

    2017-01-01

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

  7. 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.

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

    Science.gov (United States)

    2013-09-01

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

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

    OpenAIRE

    Chen Wang; Amir Anvar

    2012-01-01

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

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

    OpenAIRE

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

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Shengming Chang

    2018-02-01

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

  12. 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.

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

    Directory of Open Access Journals (Sweden)

    Zheping Yan

    2013-01-01

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

  14. 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.

  15. A modified finite element procedure for underwater shock analysis

    International Nuclear Information System (INIS)

    Chan, S.K.

    1990-01-01

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

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

    Science.gov (United States)

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

    2012-06-01

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

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

    Science.gov (United States)

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

    2017-11-01

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

  18. 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...

  19. The Development of a Hybrid Underwater Micro Biped Robot

    Directory of Open Access Journals (Sweden)

    S. Guo

    2006-01-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

  1. 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

  2. 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)

  3. Nonlinear underwater robot controller design with adaptive disturbance prediction

    Directory of Open Access Journals (Sweden)

    Xin Songa

    2011-08-01

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

  4. 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

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

    Directory of Open Access Journals (Sweden)

    Meghan Aversa

    2014-01-01

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

  6. 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.)

  7. 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.

  8. 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.

  9. 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.

  10. Development of a tentacle propulsion technique for underwater application

    Science.gov (United States)

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

    2013-12-01

    As robotic technology matures and more platforms are fielded in unstructured real-world situations, the more new areas of applications are being thought for robotic deployment. After successes in industrial robots, researchers are now trying to explore new robots with biological features of different biological creatures like, snake, bird, and spider for their stunning advantages. Underwater exploration using robots is a new avenue. Research on the tentacle robot for underwater application is a new field of research besides the other research in this arena. There are few researches on this topic are explored and mostly are on biological robot. Besides those researches this paper aims to propose and demonstrate another technique to build a tentacle for propulsion purposes. Therefore, in this paper will discuss more on mathematical development for the propulsion technique and its software verification technique in considering the environmental constrains.

  11. Spreading of sediment due to underwater blasting and dredging

    DEFF Research Database (Denmark)

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

    2015-01-01

    leads to a wider spreading of the organic part of the sediment. Almost all material less than 2 μm, including surficial clay minerals and much organic material, was transported away from the construction site and its vicinity, which could imply mobilization and export of pollutants. Environmental...... impacts of suspended sediment from underwater blasting, which could include coverage of the benthos or increased turbidity, can be managed by timing the blast favourably relative to currents, waves and stratification. It is argued that the environmental impact of blasting can be minimized by decreasing...... out in connection with the construction of a new quay at the existing harbour of Sisimiut, Greenland. Subsequent to the largest of a series of underwater blasts, the distribution of suspended sediment in the water column at and around the construction site was observed using a CTD (Conductivity...

  12. Contributions to Automated Realtime Underwater Navigation

    Science.gov (United States)

    2012-02-01

    dτ (1.62) where Rvi ∈ SO(3) is the matrix describing the time invariant rotation from instru- ment coordinates to vehicle coordinates. This is the...used in the KF framework. A minimum mean-squared error ( MMSE ) derivation of the KF (e.g., [99]) gives the Kalman gain [97, 101]: Kk = P − x̃kỹk ( P...heading reference system LADCP Lowered Acoustic Doppler Current Profiler 188 GA Geometric Algebra LA Linear Algebra SVD singular value decomposition MMSE

  13. Superheated Water-Cooled Small Modular Underwater Reactor Concept

    OpenAIRE

    Koroush Shirvan; Mujid Kazimi

    2016-01-01

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

  14. The control system of an autonomous underwater vehicle

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    1995-04-01

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

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

    Science.gov (United States)

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

    2011-01-01

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

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

    International Nuclear Information System (INIS)

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

    2007-01-01

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

  17. Optical Sensors and Methods for Underwater 3D Reconstruction

    Science.gov (United States)

    Massot-Campos, Miquel; Oliver-Codina, Gabriel

    2015-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-07-01

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

  19. Technology Selection for Offshore Underwater Small Modular Reactors

    OpenAIRE

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

    2016-01-01

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

  20. 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.)

  1. Averaging underwater noise levels for environmental assessment of shipping

    OpenAIRE

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

    2012-01-01

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

  2. 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

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

    DEFF Research Database (Denmark)

    Berg, Tor; Jouffroy, Jerome; Johansen, Vegar

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

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

    OpenAIRE

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

    2016-01-01

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

  5. 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

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

    Science.gov (United States)

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

    2015-03-01

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

  7. 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.

  8. 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...

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

    Science.gov (United States)

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

    2016-01-01

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

  10. Integration of Ground, Buoys, Satellite and Model data to map the Changes in Meteorological Parameters Associated with Harvey Hurricane

    Science.gov (United States)

    Chauhan, A.; Sarkar, S.; Singh, R. P.

    2017-12-01

    The coastal areas have dense onshore and marine observation network and are also routinely monitored by constellation of satellites. The monitoring of ocean, land and atmosphere through a range of meteorological parameters, provides information about the land and ocean surface. Satellite data also provide information at different pressure levels that help to access the development of tropical storms and formation of hurricanes at different categories. Integration of ground, buoys, satellite and model data showing the changes in meteorological parameters during the landfall stages of hurricane Harvey will be discussed. Hurricane Harvey was one of the deadliest hurricanes at the Gulf coast which caused intense flooding from the precipitation. The various observation networks helped city administrators to evacuate the coastal areas, that minimized the loss of lives compared to the Galveston hurricane of 1900 which took 10,000 lives. Comparison of meteorological parameters derived from buoys, ground stations and satellites associated with Harvey and 2005 Katrina hurricane present some of the interesting features of the two hurricanes.

  11. Directional Bias of TAO Daily Buoy Wind Vectors in the Central Equatorial Pacific Ocean from November 2008 to January 2010

    Directory of Open Access Journals (Sweden)

    Ge Peng

    2014-07-01

    Full Text Available This article documents a systematic bias in surface wind directions between the TAO buoy measurements at 0°, 170°W and the ECMWF analysis and forecasts. This bias was of the order 10° and persisted from November 2008 to January 2010, which was consistent with a post-recovery calibration drift in the anemometer vane. Unfortunately, the calibration drift was too time-variant to be used to correct the data so the quality flag for this deployment was adjusted to reflect low data quality. The primary purpose of this paper is to inform users in the modelling and remote-sensing community about this systematic, persistent wind directional bias, which will allow users to make an educated decision on using the data and be aware of its potential impact to their downstream product quality. The uncovering of this bias and its source demonstrates the importance of continuous scientific oversight and effective user-data provider communication in stewarding scientific data. It also suggests the need for improvement in the ability of buoy data quality control procedures of the TAO and ECMWF systems to detect future wind directional systematic biases such as the one described here.

  12. 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.

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

    Science.gov (United States)

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

    2015-01-01

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

  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. Measurement and Modeling of Narrowband Channels for Ultrasonic Underwater Communications

    Science.gov (United States)

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

    2016-01-01

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

  16. 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.

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Science.gov (United States)

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

    2015-01-01

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

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

    Science.gov (United States)

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

    2016-01-01

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

  20. A MAC Protocol to Support Monitoring of Underwater Spaces

    Directory of Open Access Journals (Sweden)

    Rodrigo Santos

    2016-06-01

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