Experimental and numerical study on penetration of micro/nano diamond particle into metal by underwater shock wave

Directory of Open Access Journals (Sweden)

S Tanaka

2016-09-01

Full Text Available In order to develop composite materials, new attempting was conducted. When an explosive is exploded in water, underwater shock wave is generated. Metal plate is accelerated by the underwater shock wave and collided with diamond particles at high velocity. In this paper, pure aluminum and magnesium alloy plates are used as matrix. Micro and nano sized diamond particles were used as reinforcement. Micro diamond particles were closely coated on metal surface. Some of micro diamond particles were penetrated into aluminum. Improvement of base metal property (wearing resistance was verified by wear test for recovering metal plate. In order to confirm the deformation of the aluminum plate during the collision with diamond particles, simplified numerical simulation was conducted by using LS-DYNA software. From the result of numerical simulation, large deformation of aluminum and process of particle penetration were verified.

Experimental study on dynamic buckling phenomena for supercavitating underwater vehicle

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Minho Chung

2012-09-01

Full Text Available Dynamic buckling, also known as parametric resonance, is one of the dynamic instability phenomena which may lead to catastrophic failure of structures. It occurs when compressive dynamic loading is applied to the structures. Therefore it is essential to establish a reliable procedure to test and evaluate the dynamic buckling behaviors of structures, especially when the structure is designed to be utilized in compressive dynamic loading environment, such as supercavitating underwater vehicle. In the line of thought, a dynamic buckling test system is designed in this work. Using the test system, dynamic buckling tests including beam, plate, and stiffened plate are carried out, and the dynamic buckling characteristics of considered structures are investigated experimentally as well as theoretically and numerically.

Shock Wave Diffraction Phenomena around Slotted Splitters

Directory of Open Access Journals (Sweden)

Francesca Gnani

2015-01-01

Full Text Available In the field of aerospace engineering, the study of the characteristics of vortical flows and their unsteady phenomena finds numerous engineering applications related to improvements in the design of tip devices, enhancement of combustor performance, and control of noise generation. A large amount of work has been carried out in the analysis of the shock wave diffraction around conventional geometries such as sharp and rounded corners, but the employment of splitters with lateral variation has hardly attracted the attention of researchers. The investigation of this phenomenon around two-dimensional wedges has allowed the understanding of the basic physical principles of the flow features. On the other hand, important aspects that appear in the third dimension due to the turbulent nature of the vortices are omitted. The lack of studies that use three-dimensional geometries has motivated the current work to experimentally investigate the evolution of the shock wave diffraction around two splitters with spike-shaped structures for Mach numbers of 1.31 and 1.59. Schlieren photography was used to obtain an insight into the sequential diffraction processes that take place in different planes. Interacting among them, these phenomena generate a complicated turbulent cloud with a vortical arrangement.

Laser-Generated Shocks and Bubbles as Laboratory-Scale Models of Underwater Explosions

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Theodore G. Jones

2003-01-01

Full Text Available Underwater shocks and bubbles were generated using a high energy pulsed laser system. The advantages of this experimental approach are: (1 precisely controlled and measured experimental conditions; (2 improved diagnostics, including extensive imaging capabilities; (3 unique experiments, including a simultaneously detonated line charge; and (4 the ability to provide validation quality data for hydrodynamic simulation codes. Bubble sensitivity to variation of several experimental parameters was examined. Numerical simulations were performed corresponding to the experimental shots, showing that empirical bubble theory, experimental bubble data, and simulations were all in good agreement.

Holographic interferometric observation of shock wave focusing to extracorporeal shock wave lithotripsy

Science.gov (United States)

Takayama, Kazuyoshi; Obara, Tetsuro; Onodera, Osamu

1991-04-01

Underwater shock wave focusing is successfully applied to disintegrate and remove kidney stones or gallbladder stones without using surgical operations. This treatment is one of the most peaceful applications ofshock waves and is named as the Extracorporeal Shock Wave Lithotripsy. Ajoint research project is going on between the Institute ofFluid Science, Tohoku University and the School ofMedicine, Tohoku University. The paper describes a result of the fundamental research on the underwater shock wave focusing applied to the ESWL. Quantitatively to visualize the underwater shock waves, various optical flow visualization techniques were successfully used such as holographic interferometry, and shadowgraphs combined with Ima-Con high speed camera. Double exposure holographic interferometric observation revealed the mechanism of generation, propagation and focusing of underwater shock waves. The result of the present research was already used to manufacture a prototype machine and it has already been applied successfully to ESWL crinical treatments. However, despite of success in the clinical treatments, important fundamental questions still remain unsolved, i.e., effects of underwater shock wave focusing on tissue damage during the treatment. Model experiments were conducted to clarify mechanism of the tissue damage associated with the ESWL. Shock-bubble interactions were found responsible to the tissue damage during the ESWL treatment. In order to interprete experimental findings and to predict shock wave behavior and high pressures, a numerical simulation was carried. The numerical results agreed with the experiments.

Development of laser-induced grating spectroscopy for underwater temperature measurement in shock wave focusing regions

Science.gov (United States)

Gojani, Ardian B.; Danehy, Paul M.; Alderfer, David W.; Saito, Tsutomu; Takayama, Kazuyoshi

2004-02-01

In Extracorporeal Shock Wave Lithotripsy (ESWL) underwater shock wave focusing generates high pressures at very short duration of time inside human body. However, it is not yet clear how high temperatures are enhanced at the spot where a shock wave is focused. The estimation of such dynamic temperature enhancements is critical for the evaluation of tissue damages upon shock loading. For this purpose in the Interdisciplinary Shock Wave Research Center a technique is developed which employs laser induced thermal acoustics or Laser Induced Grating Spectroscopy. Unlike most of gas-dynamic methods of measuring physical quantities this provides a non-invasive one having spatial and temporal resolutions of the order of magnitude of 1.0 mm 3 and 400 ns, respectively. Preliminary experiments in still water demonstrated that this method detected sound speed and hence temperature in water ranging 283 K to 333 K with errors of 0.5%. These results are used to empirically establish the equation of states of water, gelatin or agar cell which will work as alternatives of human tissues.

Shock Tube Ignition Delay Data Affected by Localized Ignition Phenomena

KAUST Repository

Javed, Tamour

2016-12-29

Shock tubes have conventionally been used for measuring high-temperature ignition delay times ~ O(1 ms). In the last decade or so, the operating regime of shock tubes has been extended to lower temperatures by accessing longer observation times. Such measurements may potentially be affected by some non-ideal phenomena. The purpose of this work is to measure long ignition delay times for fuels exhibiting negative temperature coefficient (NTC) and to assess the impact of shock tube non-idealities on ignition delay data. Ignition delay times of n-heptane and n-hexane were measured over the temperature range of 650 – 1250 K and pressures near 1.5 atm. Driver gas tailoring and long length of shock tube driver section were utilized to measure ignition delay times as long as 32 ms. Measured ignition delay times agree with chemical kinetic models at high (> 1100 K) and low (< 700 K) temperatures. In the intermediate temperature range (700 – 1100 K), however, significant discrepancies are observed between the measurements and homogeneous ignition delay simulations. It is postulated, based on experimental observations, that localized ignition kernels could affect the ignition delay times at the intermediate temperatures, which lead to compression (and heating) of the bulk gas and result in expediting the overall ignition event. The postulate is validated through simple representative computational fluid dynamic simulations of post-shock gas mixtures which exhibit ignition advancement via a hot spot. The results of the current work show that ignition delay times measured by shock tubes may be affected by non-ideal phenomena for certain conditions of temperature, pressure and fuel reactivity. Care must, therefore, be exercised in using such data for chemical kinetic model development and validation.

Augmentation of DAA Staggered – Solution Equations in Underwater Shock Problems for Singular Structural Mass Matrices

OpenAIRE

DeRuntz Jr., John A.

2005-01-01

The numerical solution of underwater shock fluid – structure interaction problems using boundary element/finite element techniques became tractable through the development of the family of Doubly Asymptotic Approximations (DAA). Practical implementation of the method has relied on the so-called augmentation of the DAA equations. The fluid and structural systems are respectively coupled by the structural acceleration vector in the surface normal direction on the right hand side of the DAA equa...

Underwater Calibration of Dome Port Pressure Housings

Science.gov (United States)

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

2016-03-01

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

Characteristics of brain injury induced by shock wave propagation in solids after underwater explosion in rats

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Xin-ling LI

2016-09-01

Full Text Available Objective 　To observe the characteristics of rat brain injury induced by shock wave propagation in solids resulting from underwater explosion and explore the related mechanism. Methods 　Explosion source outside the simulated ship cabin underwater was detonated for establishing a model of brain injury in rats by shock wave propagation in solid; 72 male SD rats were randomly divided into normal control group (n=8, injury group 1 (600mg RDX paper particle explosion source, n=32, injury group 2 (800mg RDX paper particle explosion source, n=32. The each injury group was randomly divided into 4 subgroups (n=8, 3, 6, 24 and 72h groups. The division plate as a whole and the head of 8 rats in each injury group were measured for the peak value of the solid shock wave, its rising time and the duration time of shock wave propagation in solid. To observe the physiological changes of animals after injury, plasma samples were collected for determination of brain damage markers, NSE and S-100β. All the animals were sacrificed, the right hemisphere of the brain was taken in each group of animals, weighting after baking, and the brain water content was calculated. Pathological examination was performed for left cerebral hemisphere in 24-h group. The normal pyramidal cells in the hippocampal CA1 region were counted. Results 　The peak value, rising time and duration time of shock wave propagation on the division plate and head were 1369.74±91.70g, 0.317±0.037ms and 24.85±2.53ms, 26.83±3.09g, 0.901±0.077ms and 104.21±6.26ms respectively in injury group 1, 1850.11±83.86g, 0.184±0.031ms and 35.61±2.66ms, 39.75±3.14g, 0.607±0.069ms and 132.44±7.17ms in injury group 2 (P<0.01. After the injury, there was no abnormality in the anatomy, and brain damage markers NSE, S-100β increased, reached the peak at 24 h, and they were highest in injury group 2 and lowest in control group with a statistically significant difference (P<0.05. The brain water content

Efficient transformation of Mycosphaerella fijiensis by underwater shock waves.

Science.gov (United States)

Escobar-Tovar, Lina; Magaña-Ortíz, Denis; Fernández, Francisco; Guzmán-Quesada, Mauricio; Sandoval-Fernández, Jorge A; Ortíz-Vázquez, Elizabeth; Loske, Achim M; Gómez-Lim, Miguel A

2015-12-01

Black leaf streak disease, also known as black Sigatoka, causes dramatic losses in production of banana and plantains fruits. The disease is caused by the pathogenic fungus Mycosphaerella fijiensis (anamorph Pseudocercospora fijiensis; Mycosphaerellaceae). Genetic transformation of M. fijiensis would allow a better understanding of molecular basis of pathogenicity and design novel approaches to control the infection caused by this pathogen. However, transformation of this fungus has not been easy. We report here a protocol for genetic transformation of M. fijiensis employing underwater shock waves and intact conidia. The recombinant strains recovered showed genetic stability over >10 generations. The frequency of transformation obtained was between 75 and 150 times higher than the efficiency reported in the only article published on transformation of M. fijiensis using spheroplasts. This improvement allowed the use of a thousand times less cells than the amount employed before, avoiding the need for cumbersome successive batch cultures. Our protocol is simple, highly efficient, fast and reproducible and together with the available genomes of M. fijiensis and Musa acuminata, it offers new possibilities to study the diverse mechanisms of pathogenesis of the fungus. Copyright © 2015. Published by Elsevier B.V.

Pressure vessel made by free forming using underwater explosion

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H Iyama

2016-03-01

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

Experimental study on underwater electrical explosion of a copper wire

International Nuclear Information System (INIS)

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

2010-01-01

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

Relationship between energy deposition and shock wave phenomenon in an underwater electrical wire explosion

Science.gov (United States)

Han, Ruoyu; Zhou, Haibin; Wu, Jiawei; Qiu, Aici; Ding, Weidong; Zhang, Yongmin

2017-09-01

An experimental study of pressure waves generated by an exploding copper wire in a water medium is performed. We examined the effects of energy deposited at different stages on the characteristics of the resulting shock waves. In the experiments, a microsecond time-scale pulsed current source was used to explode a 300-μm-diameter, 4-cm-long copper wire with initial stored energies ranging from 500 to 2700 J. Our experimental results indicated that the peak pressure (4.5-8.1 MPa) and energy (49-287 J) of the shock waves did not follow a simple relationship with any electrical parameters, such as peak voltage or deposited energy. Conversely, the impulse had a quasi-linear relationship with the parameter Π. We also found that the peak pressure was mainly influenced by the energy deposited before separation of the shock wave front and the discharge plasma channel (DPC). The decay time constant of the pressure waveform was affected by the energy injection after the separation. These phenomena clearly demonstrated that the deposited energy influenced the expansion of the DPC and affected the shock wave characteristics.

Geometric and Optic Characterization of a Hemispherical Dome Port for Underwater Photogrammetry

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Fabio Menna

2016-01-01

Full Text Available The popularity of automatic photogrammetric techniques has promoted many experiments in underwater scenarios leading to quite impressive visual results, even by non-experts. Despite these achievements, a deep understanding of camera and lens behaviors as well as optical phenomena involved in underwater operations is fundamental to better plan field campaigns and anticipate the achievable results. The paper presents a geometric investigation of a consumer grade underwater camera housing, manufactured by NiMAR and equipped with a 7′′ dome port. After a review of flat and dome ports, the work analyzes, using simulations and real experiments, the main optical phenomena involved when operating a camera underwater. Specific aspects which deal with photogrammetric acquisitions are considered with some tests in laboratory and in a swimming pool. Results and considerations are shown and commented.

Experimental Study on Peak Pressure of Shock Waves in Quasi-Shallow Water

Directory of Open Access Journals (Sweden)

Zhenxiong Wang

2015-01-01

Full Text Available Based on the similarity laws of the explosion, this research develops similarity requirements of the small-scale experiments of underwater explosions and establishes a regression model for peak pressure of underwater shock waves under experimental condition. Small-scale experiments are carried out with two types of media at the bottom of the water and for different water depths. The peak pressure of underwater shock waves at different measuring points is acquired. A formula consistent with the similarity law of explosions is obtained and an analysis of the regression precision of the formula confirms its accuracy. Significance experiment indicates that the influence of distance between measuring points and charge on peak pressure of underwater shock wave is the greatest and that of water depth is the least within the range of geometric parameters. An analysis of data from experiments with different media at the bottom of the water reveals an influence on the peak pressure, as the peak pressure of a shock wave in a body of water with a bottom soft mud and rocks is about 1.33 times that of the case where the bottom material is only soft mud.

Development of a Novel Shock Wave Catheter Ablation System

Science.gov (United States)

Yamamoto, H.; Hasebe, Yuhi; Kondo, Masateru; Fukuda, Koji; Takayama, Kazuyoshi; Shimokawa, Hiroaki

Although radio-frequency catheter ablation (RFCA) is quite effective for the treatment tachyarrhythmias, it possesses two fundamental limitations, including limited efficacy for the treatment of ventricular tachyarrhythmias of epicardial origin and the risk of thromboembolism. Consequently, new method is required, which can eradicate arrhythmia source in deep part of cardiac muscle without heating. On the other hand, for a medical application of shock waves, extracorporeal shock wave lithotripter (ESWL) has been established [1]. It was demonstrated that the underwater shock focusing is one of most efficient method to generate a controlled high pressure in a small region [2]. In order to overcome limitations of existing methods, we aimed to develop a new catheter ablation system with underwater shock waves that can treat myocardium at arbitrary depth without causing heat.

Interplanetary shock phenomena beyond 1 AU

International Nuclear Information System (INIS)

Smith, E.J.

1985-01-01

Attention is given to spatial dependences exhibited by spacecraft measurements obtained between 1 and 30 AU, together with temporal variations occurring between solar activity cycle maxima and minima. At 1-3 AU radial distances, shocks develop in association with the corotating solar wind streams characterizing solar minimum and accelerate solar wind evolution with distance while heating the solar wind and generating waves and turbulence. At solar maximum, shocks are observed more frequently at 1 AU but still in association with transient solar events; acceleration leading to energetic storm particles is observed both within and beyond 1 AU. The superimposed effect of large numbers of intense shocks may be responsible for the solar cycle modulation of galactic cosmic rays. 77 references

Surface Ship Shock Modeling and Simulation: Two-Dimensional Analysis

Directory of Open Access Journals (Sweden)

Young S. Shin

1998-01-01

Full Text Available The modeling and simulation of the response of a surface ship system to underwater explosion requires an understanding of many different subject areas. These include the process of underwater explosion events, shock wave propagation, explosion gas bubble behavior and bubble-pulse loading, bulk and local cavitation, free surface effect, fluid-structure interaction, and structural dynamics. This paper investigates the effects of fluid-structure interaction and cavitation on the response of a surface ship using USA-NASTRAN-CFA code. First, the one-dimensional Bleich-Sandler model is used to validate the approach, and second, the underwater shock response of a two-dimensional mid-section model of a surface ship is predicted with a surrounding fluid model using a constitutive equation of a bilinear fluid which does not allow transmission of negative pressures.

Augmentation of DAA Staggered – Solution Equations in Underwater Shock Problems for Singular Structural Mass Matrices

Directory of Open Access Journals (Sweden)

John A. DeRuntz Jr.

2005-01-01

Full Text Available The numerical solution of underwater shock fluid – structure interaction problems using boundary element/finite element techniques became tractable through the development of the family of Doubly Asymptotic Approximations (DAA. Practical implementation of the method has relied on the so-called augmentation of the DAA equations. The fluid and structural systems are respectively coupled by the structural acceleration vector in the surface normal direction on the right hand side of the DAA equations, and the total pressure applied to the structural equations on its right hand side. By formally solving for the acceleration vector from the structural system and substituting it into its place in the DAA equations, the augmentation introduces a term involving the inverse of the structural mass matrix. However there exist at least two important classes of problems in which the structural mass matrix is singular. This paper develops a method to carry out the augmentation for such problems using a generalized inverse technique.

The Fluid-Solid Interaction Dynamics between Underwater Explosion Bubble and Corrugated Sandwich Plate

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Hao Wang

2016-01-01

Full Text Available Lightweight sandwich structures with highly porous 2D cores or 3D (three-dimensional periodic cores can effectively withstand underwater explosion load. In most of the previous studies of sandwich structure antiblast dynamics, the underwater explosion (UNDEX bubble phase was neglected. As the UNDEX bubble load is one of the severest damage sources that may lead to structure large plastic deformation and crevasses failure, the failure mechanisms of sandwich structures might not be accurate if only shock wave is considered. In this paper, detailed 3D finite element (FE numerical models of UNDEX bubble-LCSP (lightweight corrugated sandwich plates interaction are developed by using MSC.Dytran. Upon the validated FE model, the bubble shape, impact pressure, and fluid field velocities for different stand-off distances are studied. Based on numerical results, the failure modes of LCSP and the whole damage process are obtained. It is demonstrated that the UNDEX bubble collapse jet local load plays a more significant role than the UNDEX shock wave load especially in near-field underwater explosion.

Dynamic testing of adhesive joints using a shock testing machine

NARCIS (Netherlands)

Aanhold, J.E. van; Weersink, A.F.J.; Ludolphy, J.W.L.

1998-01-01

A light-weight shock testing machine, designed for type approval testing of naval equipment up to 300 kg mass, has been modified into a dynamic tensile test rig. This enables to test structural details for high rate dynamic tensile loadings such as occur during underwater shock. The maximum capacity

Molecular dynamics simulation of shock wave and spallation phenomena in metal foils irradiated by femtosecond laser pulse

Science.gov (United States)

Zhakhovsky, Vasily; Demaske, Brian; Inogamov, Nail; Oleynik, Ivan

2010-03-01

Femtosecond laser irradiation of metals is an effective technique to create a high-pressure frontal layer of 100-200 nm thickness. The associated ablation and spallation phenomena can be studied in the laser pump-probe experiments. We present results of a large-scale MD simulation of ablation and spallation dynamics developing in 1,2,3μm thick Al and Au foils irradiated by a femtosecond laser pulse. Atomic-scale mechanisms of laser energy deposition, transition from pressure wave to shock, reflection of the shock from the rear-side of the foil, and the nucleation of cracks in the reflected tensile wave, having a very high strain rate, were all studied. To achieve a realistic description of the complex phenomena induced by strong compression and rarefaction waves, we developed new embedded atom potentials for Al and Au based on cold pressure curves. MD simulations revealed the complex interplay between spallation and ablation processes: dynamics of spallation depends on the pressure profile formed in the ablated zone at the early stage of laser energy absorption. It is shown that the essential information such as material properties at high strain rate and spall strength can be extracted from the simulated rear-side surface velocity as a function of time.

Diver Operated Tools and Applications for Underwater Construction

Science.gov (United States)

1987-01-01

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

Natural and bio-inspired underwater adhesives: Current progress and new perspectives

Science.gov (United States)

Cui, Mengkui; Ren, Susu; Wei, Shicao; Sun, Chengjun; Zhong, Chao

2017-11-01

Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.

Natural and bio-inspired underwater adhesives: Current progress and new perspectives

Directory of Open Access Journals (Sweden)

Mengkui Cui

2017-11-01

Full Text Available Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.

Experimental study on scale removal from special-shaped conduits through underwater electrical discharge

International Nuclear Information System (INIS)

Cao, Y; Wang, Z Q; Li, G F; Wu, Y; Zhou, J J

2013-01-01

Underwater electrical discharge technology is an innovative technique that can be used to enhance the stress intensity of water and improve the load addition. The technique enlarges the section area and compresses the surrounding water using a high-powered shock wave, which is induced by an underwater electrical discharge. This paper investigates the effectiveness of scale removal for special-shaped conduits employing underwater electrical discharge. Experimental results show that the pressure wave generated by underwater electrical discharge is capable of eliminating scale in special-shaped conduits. The data indicates that when the capacitance of the parallel-pulsed capacitors was 4 μF, the high pulsed power voltage was 33 kV and the primary discharge gap was 48 mm, the result of scale removal was remarkable. In laboratory tests, the scale of special equipment was removed to a great extent by this method. Because of its effectiveness and low cost, this method improves the practice and extends the lifetime of such equipment, and thus has potential application and economic value.

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.       

A Survey on Underwater Wireless Sensor Networks: Progresses, Applications, and Challenges

Directory of Open Access Journals (Sweden)

Premalatha J.

2016-01-01

Full Text Available The endangered underwater species always drew the attention of the scientific society since their disappearance would cause irreplaceable loss. Asia is home to some of the most diverse habitats in the earth, but it is estimated that more than one in four species are endangered. In Underwater, a lot of factors are putting marine life under immense pressure. Extreme population pressure is leading to pollution, over-fishing and the devastation of crucial habitats. Consequently, the numbers of almost all fish are declining and many are already endangered. To help these species to survive, their habitat should be strictly protected. This can be achieved by strictly monitoring them. During this course, several parameters, constraints about the species and its environments are focused. Now, advances in sensor technology facilitate the monitoring of species and their habitat with less expenditure. Indeed, the increasing sophistication of underwater wireless sensors offers chances that enable new challenges in a lot of areas, like surveillance one. This paper endorses the use of sensors for monitoring underwater species endangered in their habitat. This paper further examines the key approaches and challenges in the design and implementation of underwater wireless sensor networks. We summarize major applications and the main phenomena related to acoustic propagation, and discuss how they affect the design and operation of communication systems and networking protocols at various layers.

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.

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.

Focused tandem shock waves in water and their potential application in cancer treatment

Czech Academy of Sciences Publication Activity Database

Lukeš, Petr; Šunka, Pavel; Hoffer, Petr; Stelmashuk, Vitaliy; Poučková, P.; Zadinová, M.; Zeman, J.; Dibdiak, L.; Kolářová, H.; Tománková, K.; Binder, S.; Beneš, J.

2014-01-01

Roč. 24, č. 1 (2014), s. 51-57 ISSN 0938-1287. [International Symposium on Shock Waves/28./. Manchester, 17.07.2011-22.07.2011] R&D Projects: GA ČR GA202/09/1151 Institutional support: RVO:61389021 Keywords : focused shock waves * underwater discharge * cancer treatment Subject RIV: BL - Plasma and Gas Discharge Physics Impact factor: 0.885, year: 2014

Shock Tube Ignition Delay Data Affected by Localized Ignition Phenomena

KAUST Repository

Javed, Tamour; Badra, J.; Jaasim, Mohammed; Es-sebbar, Et-touhami; Labastida, M.F.; Chung, Suk-Ho; Im, Hong G.; Farooq, Aamir

2016-01-01

Shock tubes have conventionally been used for measuring high-temperature ignition delay times ~ O(1 ms). In the last decade or so, the operating regime of shock tubes has been extended to lower temperatures by accessing longer observation times

Optical aberrations in underwater photogrammetry with flat and hemispherical dome ports

Science.gov (United States)

Menna, Fabio; Nocerino, Erica; Remondino, Fabio

2017-06-01

The paper analyses differences between dome and flat port housings used for underwater photogrammetry. The underwater environment negatively affects image quality and 3D reconstructions, but this influence on photogrammetric measurements, so far, has not been addressed properly in the literature. In this work, motivations behind the need for systematic underwater calibrations are provided, then experimental tests using a specifically designed photogrammetric modular test object in laboratory and at sea are reported. The experiments are carried out using a Nikon D750 24 Mpx DSLR camera with a 24 mm f2.8 AF/D lens coupled with a NIMAR NI3D750ZM housing, equipped first with a dome and, successively, with a flat port. To quantify the degradation of image quality, MTF measurements are carried out, then the outcomes of self-calibrating bundle adjustment calibrations are shown and commented. Optical phenomena like field curvature as well as chromatic aberration and astigmatism are analysed and their implications on the degradation of image quality is factored in the bundle adjustment through a different weighting of 2D image observations.

Shock wave convergence in water with parabolic wall boundaries

International Nuclear Information System (INIS)

Yanuka, D.; Shafer, D.; Krasik, Ya.

2015-01-01

The convergence of shock waves in water, where the cross section of the boundaries between which the shock wave propagates is either straight or parabolic, was studied. The shock wave was generated by underwater electrical explosions of planar Cu wire arrays using a high-current generator with a peak output current of ∼45 kA and rise time of ∼80 ns. The boundaries of the walls between which the shock wave propagates were symmetric along the z axis, which is defined by the direction of the exploding wires. It was shown that with walls having a parabolic cross section, the shock waves converge faster and the pressure in the vicinity of the line of convergence, calculated by two-dimensional hydrodynamic simulations coupled with the equations of state of water and copper, is also larger

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

Full-field peak pressure prediction of shock waves from underwater explosion of cylindrical charges

NARCIS (Netherlands)

Liu, Lei; Guo, Rui; Gao, Ke; Zeng, Ming Chao

2017-01-01

Cylindrical charge is a main form in most application of explosives. By employing numerical calculation and an indirect mapping method, the relation between peak pressures from underwater explosion of cylindrical and spherical charges is investigated, and further a model to predict full-field peak

Basic study on promotion of thawing frozen soil by shock loading

Directory of Open Access Journals (Sweden)

Toshiaki WATANABE

2008-06-01

Full Text Available The aim of study is to confirm a new technique that can crush the frozen soil and/or ice block using underwater shock wave generated by the underwater explosion of explosive. This technique can lead to the earlier sowing, which can have the larger harvest because the duration of sunshine increases. Especially, in Hokkaido prefecture, Japan, if the sowing is carried out in April, we can expect to have 150% of harvest in the ordinary season. In the case of small processing area such as road repairing, frozen soil is thawed by using the heat of gas burner and/or the electric heater. It is not a suitable plan to apply these heating methods to agriculture, from the point of view enormous amount of processing area. Thawing technique for frozen soil is effective against the cold regions, for example, Russia, Norway, and Sweden, etc. At first, we carried out experiments using a detonating fuse and ice block. The propagation process of shock wave into the ice block was observed by means of a high-speed camera. In order to check about that influence we tried to give an actual frozen soil a shock wave. We could get a result that existence of water layer serves an important role in promotion of thawing by the shock loading to the frozen soil.

Professor I I Glass A Tribute and Memorial

CERN Document Server

Igra, Ozer

2013-01-01

The book provides personal memories along with description of scientific works written by ex-graduate students and research associates of the late Professor Glass. The described research work covers a wide range of shock wave phenomena, resulting from seeds planted by Professor Glass. Professor Glass was born in Poland in 1918. He immigrated together with his parents to Canada at the age of 12 and received all his professional education at the University of Toronto, Canada. He became a world recognized expert in shock wave phenomena, and during his 45 years of active research he supervised more than 125 master and doctoral students, post-doctoral fellows and visiting research associates. In this book seven of his past students/research-associates describe their personal memories of Professor Glass and present some of their investigations in shock wave phenomena which sprung from their past work with Professor Glass. Specifically, these investigations include underwater shock waves, shock/bubble interaction, m...

A shock absorber model for structure-borne noise analyses

Science.gov (United States)

Benaziz, Marouane; Nacivet, Samuel; Thouverez, Fabrice

2015-08-01

Shock absorbers are often responsible for undesirable structure-borne noise in cars. The early numerical prediction of this noise in the automobile development process can save time and money and yet remains a challenge for industry. In this paper, a new approach to predicting shock absorber structure-borne noise is proposed; it consists in modelling the shock absorber and including the main nonlinear phenomena responsible for discontinuities in the response. The model set forth herein features: compressible fluid behaviour, nonlinear flow rate-pressure relations, valve mechanical equations and rubber mounts. The piston, base valve and complete shock absorber model are compared with experimental results. Sensitivity of the shock absorber response is evaluated and the most important parameters are classified. The response envelope is also computed. This shock absorber model is able to accurately reproduce local nonlinear phenomena and improves our state of knowledge on potential noise sources within the shock absorber.

Introduction to Shock Waves and Shock Wave Research

Energy Technology Data Exchange (ETDEWEB)

Anderson, William Wyatt [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

2017-02-02

M-9 and a number of other organizations at LANL and elsewhere study materials in dynamic processes. Often, this is described as “shock wave research,” but in reality is broader than is implied by that term. Most of our work is focused on dynamic compression and associated phenomena, but you will find a wide variety of things we do that, while related, are not simple compression of materials, but involve a much richer variety of phenomena. This tutorial will introduce some of the underlying physics involved in this work, some of the more common types of phenomena we study, and common techniques. However, the list will not be exhaustive by any means.

Electromagnetically driven radiative shocks and their measurements

International Nuclear Information System (INIS)

Kondo, K.; Watanabe, M.; Nakajima, M.; Kawamura, T.; Horioka, K.

2005-01-01

Experimental results on a generation of strong shocks in a compact pulse power device are reported. The characteristics of strong shocks are different from hydrodynamical shocks' because they depend on not only collisions but radiation processes. Radiative shocks are relevant to high energy density phenomena such as the explosions of supernovae. When initial pressure is lower than about 50 mtorr, an interesting structure is confirmed at the shock front, which might indicate a phenomenon proceeded by the radiative process. (author)

Tandem shock wave cavitation enhancement for extracorporeal lithotripsy

Science.gov (United States)

Loske, Achim M.; Prieto, Fernando E.; Fernández, Francisco; van Cauwelaert, Javier

2002-11-01

Extracorporeal shock wave lithotripsy (ESWL) has been successful for more than twenty years in treating patients with kidney stones. Hundreds of underwater shock waves are generated outside the patient's body and focused on the kidney stone. Stones fracture mainly due to spalling, cavitation and layer separation. Cavitation bubbles are produced in the vicinity of the stone by the tensile phase of each shock wave. Bubbles expand, stabilize and finally collapse violently, creating stone-damaging secondary shock waves and microjets. Bubble collapse can be intensified by sending a second shock wave a few hundred microseconds after the first. A novel method of generating two piezoelectrically generated shock waves with an adjustable time delay between 50 and 950 µs is described and tested. The objective is to enhance cavitation-induced damage to kidney stones during ESWL in order to reduce treatment time. In vitro kidney stone model fragmentation efficiency and pressure measurements were compared with those for a standard ESWL system. Results indicate that fragmentation efficiency was significantly enhanced at a shock wave delay of about 400 and 250 µs using rectangular and spherical stone phantoms, respectively. The system presented here could be installed in clinical devices at relatively low cost, without the need for a second shock wave generator.

Design of underwater work systems

International Nuclear Information System (INIS)

Lovelace, R.B.

1980-01-01

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

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

Directory of Open Access Journals (Sweden)

Wangqiang Niu

2017-06-01

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

Variation of Pressure Waveforms in Measurements of Extracorporeal Shock Wave Lithotripter

Science.gov (United States)

Inose, Naoto; Ide, Masao

1993-05-01

In this paper, we describe measurement of variation in pressure waveforms of the acoustic field of an extra-corporeal shock-wave lithotripter (ESWL). Variations in the measured acoustic fields and pressure waveform of an underwater spark-gap-type ESWL with an exhausted spark plug electrode have been reported by researchers using crystal sensors. If the ESWL spark plugs become exhausted, patients feel pain during kidney, biliary stone disintegration. We studied the relationship between exhaustion of electrodes and the variation of pressure waveforms and shock-wave fields of the ESWL using a newly developed hydrophone.

The earth's foreshock, bow shock, and magnetosheath

Science.gov (United States)

Onsager, T. G.; Thomsen, M. F.

1991-01-01

Studies directly pertaining to the earth's foreshock, bow shock, and magnetosheath are reviewed, and some comparisons are made with data on other planets. Topics considered in detail include the electron foreshock, the ion foreshock, the quasi-parallel shock, the quasi-perpendicular shock, and the magnetosheath. Information discussed spans a broad range of disciplines, from large-scale macroscopic plasma phenomena to small-scale microphysical interactions.

The earth's foreshock, bow shock, and magnetosheath

International Nuclear Information System (INIS)

Onsager, T.G.; Thomsen, M.F.

1991-01-01

Studies directly pertaining to the earth's foreshock, bow shock, and magnetosheath are reviewed, and some comparisons are made with data on other planets. Topics considered in detail include the electron foreshock, the ion foreshock, the quasi-parallel shock, the quasi-perpendicular shock, and the magnetosheath. Information discussed spans a broad range of disciplines, from large-scale macroscopic plasma phenomena to small-scale microphysical interactions. 184 refs

Taiwan's underwater cultural heritage documentation management

Science.gov (United States)

Tung, Y.-Y.

2015-09-01

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

Shock Hugoniot and equations of states of water, castor oil, and aqueous solutions of sodium chloride, sucrose and gelatin

Science.gov (United States)

Gojani, A. B.; Ohtani, K.; Takayama, K.; Hosseini, S. H. R.

2016-01-01

This paper reports a result of experiments for the determination of reliable shock Hugoniot curves of liquids, in particular, at relatively low pressure region, which are needed to perform precise numerical simulations of shock wave/tissue interaction prior to the development of shock wave related therapeutic devices. Underwater shock waves were generated by explosions of laser ignited 10 mg silver azide pellets, which were temporally and spatially well controlled. Measuring temporal variation of shock velocities and over-pressures in caster oil, aqueous solutions of sodium chloride, sucrose and gelatin with various concentrations, we succeeded to determine shock Hugoniot curves of these liquids and hence parameters describing Tait type equations of state.

Development of underwater laser cutting technology

International Nuclear Information System (INIS)

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

2015-01-01

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

Efficient Underwater RSS Value to Distance Inversion Using the Lambert Function

Directory of Open Access Journals (Sweden)

Majid Hosseini

2014-01-01

Full Text Available There are many applications for using wireless sensor networks (WSN in ocean science; however, identifying the exact location of a sensor by itself (localization is still a challenging problem, where global positioning system (GPS devices are not applicable underwater. Precise distance measurement between two sensors is a tool of localization and received signal strength (RSS, reflecting transmission loss (TL phenomena, is widely used in terrestrial WSNs for that matter. Underwater acoustic sensor networks have not been used (UASN, due to the complexity of the TL function. In this paper, we addressed these problems by expressing underwater TL via the Lambert W function, for accurate distance inversion by the Halley method, and compared this to Newton-Raphson inversion. Mathematical proof, MATLAB simulation, and real device implementation demonstrate the accuracy and efficiency of the proposed equation in distance calculation, with fewer iterations, computation stability for short and long distances, and remarkably short processing time. Then, the sensitivities of Lambert W function and Newton-Raphson inversion to alteration in TL were examined. The simulation results showed that Lambert W function is more stable to errors than Newton-Raphson inversion. Finally, with a likelihood method, it was shown that RSS is a practical tool for distance measurement in UASN.

Blind equalization for underwater communications

NARCIS (Netherlands)

Blom, K.C.H.

2014-01-01

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

Shock parameter calculations at weak interplanetary shock waves

Directory of Open Access Journals (Sweden)

J. M. Gloag

2005-02-01

Full Text Available A large set of interplanetary shock waves observed using the Ulysses spacecraft is analysed in order to determine their local parameters. For the first time a detailed analysis is extended to the thermodynamic properties of a large number of events. The intention is to relate the shock parameters to the requirements set by MHD shock theory. A uniform approach is adopted in the selection of up and downstream regions for this analysis and applied to all the shock waves. Initially, the general case of a 3 component adiabatic plasma is considered. However, the calculation of magnetosonic and Alfvénic Mach numbers and the ratio of downstream to upstream entropy produce some unexpected results. In some cases there is no clear increase in entropy across the shock and also the magnetosonic Mach number can be less than 1. It is found that a more discerning use of data along with an empirical value for the polytropic index can raise the distribution of downstream to upstream entropy ratios to a more acceptable level. However, it is also realised that many of these shocks are at the very weakest end of the spectrum and associated phenomena may also contribute to the explanation of these results.

Uniformity of cylindrical imploding underwater shockwaves at very small radii

Science.gov (United States)

Yanuka, D.; Rososhek, A.; Bland, S. N.; Krasik, Ya. E.

2017-11-01

We compare the convergent shockwaves generated from underwater, cylindrical arrays of copper wire exploded by multiple kilo-ampere current pulses on nanosecond and microsecond scales. In both cases, the pulsed power devices used for the experiments had the same stored energy (˜500 J) and the wire mass was adjusted to optimize energy transfer to the shockwave. Laser backlit framing images of the shock front were achieved down to the radius of 30 μm. It was found that even in the case of initial azimuthal non-symmetry, the shock wave self-repairs in the final stages of its motion, leading to a highly uniform implosion. In both these and previous experiments, interference fringes have been observed in streak and framing images as the shockwave approached the axis. We have been able to accurately model the origin of the fringes, which is due to the propagation of the laser beam diffracting off the uniform converging shock front. The dynamics of the shockwave and its uniformity at small radii indicate that even with only 500 J stored energies, this technique should produce pressures above 1010 Pa on the axis, with temperatures and densities ideal for warm dense matter research.

Nonlinear Weibel Instability and Turbulence in Strong Collisionless Shocks

International Nuclear Information System (INIS)

Medvedev, Mikhail M.

2008-01-01

This research project was devoted to studies of collisionless shocks, their properties, microphysics and plasma physics of underlying phenomena, such as Weibel instability and generation of small-scale fields at shocks, particle acceleration and transport in the generated random fields, radiation mechanisms from these fields in application to astrophysical phenomena and laboratory experiments (e.g., laser-plasma and beam-plasma interactions, the fast ignition and inertial confinement, etc.). Thus, this study is highly relevant to astrophysical sciences, the inertial confinement program and, in particular, the Fast Ignition concept, etc. It makes valuable contributions to the shock physics, nonlinear plasma theory, as well as to the basic plasma science, in general

Underwater wireless communication system

International Nuclear Information System (INIS)

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

2009-01-01

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

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…

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…

INTERFERENCE OF COUNTERPROPAGATING SHOCK WAVES

Directory of Open Access Journals (Sweden)

P. V. Bulat

2015-03-01

Full Text Available The subject of study. We examined the interaction of counterpropagating shock waves. The necessity of counterpropagating shock waves studying occurs at designing of high Mach number modern internal compression air intakes, Ramjets with subsonic and supersonic combustion, in asymmetrical supersonic nozzles and in some other cases. In a sense, this problem is a generalization of the case of an oblique shock reflection from the wall or from the plane of symmetry. With the renewed vigor, the interest to this problem emerged at the end of the 90s. This was due to the start of the programs for flight study at hypersonic speeds. The first experiments performed with air intakes, which realized the interaction of counterpropagating shock waves have shown that the change in flow velocity is accompanied by abrupt alteration of shock-wave structure, the occurrence of nonstationary and oscillatory phenomena. With an increase of flow velocity these phenomena undesirable for aircraft structure became more marked. The reason is that there are two fundamentally different modes of interaction of counterpropagating shock waves: a four-wave regular and a five-wave irregular. The transition from one mode to another can be nonstationary abrupt or gradual, it can also be accompanied by hysteresis. Main results. Criteria for the transition from regular reflection of counterpropagating shock waves to irregular are described: the criterion of von Neumann and the stationary Mach configuration criterion. We described areas in which the transition from one reflection type to another is possible only in abrupt way, as well as areas of possible gradual transition. Intensity dependences of the reflected shock waves from the intensity of interacting counterpropagating shocks were given. Qualitative pictures of shock-wave structures arising from the interaction of counterpropagating shock waves were shown. Calculation results of the intensity of outgoing gas

Relating pressure measurements to phenomena observed in high speed video recordings during tests of explosive charges in a semi-confined blast chamber

CSIR Research Space (South Africa)

Mostert, FJ

2012-09-01

Full Text Available initiation of the charge. It was observed in the video recordings that the detonation product cloud exhibited pulsating behaviour due to the reflected shocks in the chamber analogous to the behaviour of the gas bubble in underwater explosions. This behaviour...

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

Science.gov (United States)

2017-06-01

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

Residual stress improvement mechanism on metal material by underwater laser irradiation

International Nuclear Information System (INIS)

Sano, Yuji; Yoda, Masaki; Mukai, Naruhiko; Obata, Minoru; Kanno, Masanori

2000-01-01

Residual stress improvement technology for component surface by underwater pulsed laser irradiation has been developed as a method of preventing stress corrosion cracking (SCC) of core components in nuclear reactors. In order to optimize the laser irradiation conditions based on a complete understanding of the mechanism, the propagation of a shock wave induced by the impulse of laser irradiation and the dynamic response of the irradiated material were analyzed through time-dependent elasto-plastic calculations with a finite element program. The calculated results are compared with the measured results obtained by experiments in which laser pulses with an energy of 200 mJ are focused to a diameter of 0.8 mm on a water-immersed test piece of 20% cold-worked Type 304 austenitic stainless steel to simulate neutron irradiation hardening. A residual compressive stress, which is nearly equivalent to the yield stress of the processed material, remains on the material surface after passage of the shock wave with enough amplitude to induce a permanent strain. Multiple irradiation of laser pulses extends the stress-improved depth to about 1 mm, which would be the limit corresponding to the three-dimensional dispersion effect of the shock wave. (author)

Condensed matter at high shock pressures

International Nuclear Information System (INIS)

Nellis, W.J.; Holmes, N.C.; Mitchell, A.C.; Radousky, H.B.; Hamilton, D.

1985-01-01

Experimental techniques are described for shock waves in liquids: Hugoniot equation-of-state, shock temperature and emission spectroscopy, electrical conductivity, and Raman spectroscopy. Experimental data are reviewed and presented in terms of phenomena that occur at high densities and temperatures in shocked He, Ar, N 2 , CO, SiO 2 -aerogel, H 2 O, and C 6 H 6 . The superconducting properties of Nb metal shocked to 100 GPa (1 Mbar) and recovered intact are discussed in terms of prospects for synthesizing novel, metastable materials. Ultrahigh pressure data for Cu is reviewed in the range 0.3 to 6TPa (3 to 60 Mbar). 56 refs., 9 figs., 1 tab

Shock Tunnel Studies of Scramjet Phenomena 1993

Science.gov (United States)

Stalker, R. J.; Bakos, R. J.; Morgan, R. G.; Porter, L.; Mee, D.; Paull, A.; Tuttle, S.; Simmons, J. M.; Wendt, M.; Skinner, K.

1995-01-01

Reports by the staff of the University of Queensland on various research studies related to the advancement of scramjet technology and hypervelocity pulse test facilities are presented. These reports document the tests conducted in the reflected shock tunnel T4 and supporting research facilities that have been used to study the injection, mixing, and combustion of hydrogen fuel in generic scramjets at flow conditions typical of hypersonic flight. In addition, topics include the development of instrumentation and measurement technology, such as combustor wall shear and stream composition in pulse facilities, and numerical studies and analyses of the scramjet combustor process and the test facility operation. This research activity is Supplement 10 under NASA Grant NAGw-674.

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.

Shock interactions with heterogeneous energetic materials

Science.gov (United States)

Yarrington, Cole D.; Wixom, Ryan R.; Damm, David L.

2018-03-01

The complex physical phenomenon of shock wave interaction with material heterogeneities has significant importance and nevertheless remains little understood. In many materials, the observed macroscale response to shock loading is governed by characteristics of the microstructure. Yet, the majority of computational studies aimed at predicting phenomena affected by these processes, such as the initiation and propagation of detonation waves in explosives or shock propagation in geological materials, employ continuum material and reactive burn model treatment. In an effort to highlight the grain-scale processes that underlie the observable effects in an energetic system, a grain-scale model for hexanitrostilbene (HNS) has been developed. The measured microstructures were used to produce synthetic computational representations of the pore structure, and a density functional theory molecular dynamics derived equation of state (EOS) was used for the fully dense HNS matrix. The explicit inclusion of the microstructure along with a fully dense EOS resulted in close agreement with historical shock compression experiments. More recent experiments on the dynamic reaction threshold were also reproduced by inclusion of a global kinetics model. The complete model was shown to reproduce accurately the expected response of this heterogeneous material to shock loading. Mesoscale simulations were shown to provide a clear insight into the nature of threshold behavior and are a way to understand complex physical phenomena.

Experimental methods of shock wave research

CERN Document Server

Seiler, Friedrich

2016-01-01

This comprehensive and carefully edited volume presents a variety of experimental methods used in Shock Waves research. In 14 self contained chapters this 9th volume of the “Shock Wave Science and Technology Reference Library” presents the experimental methods used in Shock Tubes, Shock Tunnels and Expansion Tubes facilities. Also described is their set-up and operation. The uses of an arc heated wind tunnel and a gun tunnel are also contained in this volume. Whenever possible, in addition to the technical description some typical scientific results obtained using such facilities are described. Additionally, this authoritative book includes techniques for measuring physical properties of blast waves and laser generated shock waves. Information about active shock wave laboratories at different locations around the world that are not described in the chapters herein is given in the Appendix, making this book useful for every researcher involved in shock/blast wave phenomena.

Evaluation of XHVRB for Capturing Explosive Shock Desensitization

Science.gov (United States)

Tuttle, Leah; Schmitt, Robert; Kittell, Dave; Harstad, Eric

2017-06-01

Explosive shock desensitization phenomena have been recognized for some time. It has been demonstrated that pressure-based reactive flow models do not adequately capture the basic nature of the explosive behavior. Historically, replacing the local pressure with a shock captured pressure has dramatically improved the numerical modeling approaches. Models based upon shock pressure or functions of entropy have recently been developed. A pseudo-entropy based formulation using the History Variable Reactive Burn model, as proposed by Starkenberg, was implemented into the Eulerian shock physics code CTH. Improvements in the shock capturing algorithm were made. The model is demonstrated to reproduce single shock behavior consistent with published pop plot data. It is also demonstrated to capture a desensitization effect based on available literature data, and to qualitatively capture dead zones from desensitization in 2D corner turning experiments. This models shows promise for use in modeling and simulation problems that are relevant to the desensitization phenomena. Issues are identified with the current implementation and future work is proposed for improving and expanding model capabilities. Sandia National Laboratories is a multi-mission laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin Corporation, for the U.S. DOE's National Nuclear Security Administration under contract DE-AC04-94AL85000.

Shock waves and shock tubes; Proceedings of the Fifteenth International Symposium, Berkeley, CA, July 28-August 2, 1985

International Nuclear Information System (INIS)

Bershader, D.; Hanson, R.

1986-01-01

A detailed survey is presented of shock tube experiments, theoretical developments, and applications being carried out worldwide. The discussions explore shock tube physics and the related chemical, physical and biological science and technology. Extensive attention is devoted to shock wave phenomena in dusty gases and other multiphase and heterogeneous systems, including chemically reactive mixtures. Consideration is given to techniques for measuring, visualizing and theoretically modeling flowfield, shock wave and rarefaction wave characteristics. Numerical modeling is explored in terms of the application of computational fluid dynamics techniques to describing flowfields in shock tubes. Shock interactions and propagation, in both solids, fluids, gases and mixed media are investigated, along with the behavior of shocks in condensed matter. Finally, chemical reactions that are initiated as the result of passage of a shock wave are discussed, together with methods of controlling the evolution of laminar separated flows at concave corners on advanced reentry vehicles

Maximum intensity of rarefaction shock waves for dense gases

NARCIS (Netherlands)

Guardone, A.; Zamfirescu, C.; Colonna, P.

2009-01-01

Modern thermodynamic models indicate that fluids consisting of complex molecules may display non-classical gasdynamic phenomena such as rarefaction shock waves (RSWs) in the vapour phase. Since the thermodynamic region in which non-classical phenomena are physically admissible is finite in terms of

Computational and experimental investigation of dynamic shock reflection phenomena

CSIR Research Space (South Africa)

Naidoo, K

2007-07-01

Full Text Available wedge are used to analyse dynamic flow field phenomena and response of the triple point below and within the dual solution domain. Computed, unsteady pressure traces on the reflection plane are also analysed...

Nonlinearity, Conservation Law and Shocks

Indian Academy of Sciences (India)

Almost all natural phenomena, and social and economic changes, .... reference moving with velocity c also by the same symbol x and ... abstract as can be seen from the publication of the book Shock Waves and Reaction Diffusion Equation.

Plasma phenomena around comets: interaction with the solar wind

International Nuclear Information System (INIS)

Sagdeev, R.Z.; Shapiro, V.D.; Shevchenko, V.I.; Szegoe, K.

1987-08-01

The most important plasma physical experimental data measured during the cometary missions are summarized. These data do not include tail phenomena. Theoretical considerations are also presented concerning the upstream and bow shock regions. (author) 47 refs.; 15 figs

Condensed matter at high shock pressures

Energy Technology Data Exchange (ETDEWEB)

Nellis, W.J.; Holmes, N.C.; Mitchell, A.C.; Radousky, H.B.; Hamilton, D.

1985-07-12

Experimental techniques are described for shock waves in liquids: Hugoniot equation-of-state, shock temperature and emission spectroscopy, electrical conductivity, and Raman spectroscopy. Experimental data are reviewed and presented in terms of phenomena that occur at high densities and temperatures in shocked He, Ar, N/sub 2/, CO, SiO/sub 2/-aerogel, H/sub 2/O, and C/sub 6/H/sub 6/. The superconducting properties of Nb metal shocked to 100 GPa (1 Mbar) and recovered intact are discussed in terms of prospects for synthesizing novel, metastable materials. Ultrahigh pressure data for Cu is reviewed in the range 0.3 to 6TPa (3 to 60 Mbar). 56 refs., 9 figs., 1 tab.

Investigation of Surface Phenomena in Shocked Tin in Converging Geometry

Energy Technology Data Exchange (ETDEWEB)

Rousculp, Christopher L. [Los Alamos National Laboratory; Oro, David Michael [Los Alamos National Laboratory; Griego, Jeffrey Randall [Los Alamos National Laboratory; Turchi, Peter John [Los Alamos National Laboratory; Reinovsky, Robert Emil [Los Alamos National Laboratory; Bradley, Joseph Thomas [Los Alamos National Laboratory; Cheng, Baolian [Los Alamos National Laboratory; Freeman, Matthew Stouten [Los Alamos National Laboratory; Patten, Austin Randall [Los Alamos National Laboratory

2016-03-21

There is great interest in the behavior of the free surface of tin under shock loading. While it is known that meso-scale surface imperfections can seed the Richtmyer- Meshkov Instability (RMI) for a surface that is melted on release, much less is known about a tin surface that is solid, but plastically deforming. Here material properties such as shear and yield strength come into play especially in converging geometry. Previous experiments have been driven by direct contact HE. Usually a thin, flat target coupon is fielded with various single-mode, sinusoidal, machined, profiles on the free surface. The free surface is adjacent to either vacuum or an inert receiver gas. Most of these previous driver/target configurations have been nominal planer geometry. With modern HE it has been straightforward to shock tin into melt on release. However it has been challenging to achieve a low enough pressure for solid state on release. Here we propose to extend the existing base of knowledge to include the behavior of the free surface of tin in cylindrical converging geometry. By shock loading a cylindrical tin shell with a magnetically driven cylindrical liner impactor, the free surface evolution can be diagnosed with proton radiography. With the PHELIX capacitor bank, the drive can easily be varied to span the pressure range to achieve solid, mixed, and liquid states on release. A conceptual cylindrical liner and target is shown in Figure 1.

Some perspectives in nuclear astrophysics on non-thermal phenomena

International Nuclear Information System (INIS)

Tatischeff, V.

2012-01-01

In this HDR (Accreditation to Supervise Researches) report, the author presents and comments his research activities on nuclear phenomena in stellar eruptions (solar eruptions, lithium nucleosynthesis in stellar eruptions), on particle acceleration in shock waves of stellar explosions (diffusive acceleration by shock wave, particle acceleration in symbiotic novae, particle acceleration in radio-detected supernovae), of research on low energy cosmic rays (galactic emission of nuclear gamma rays, non thermal soft X rays as new tracer of accelerated particles), and on the origin of short period radioactivities in the primitive solar system (extinguished radio-activities and formation of the solar system, origin of berylium-10 in the primitive solar system). The author concludes with some perspectives on non thermal phenomena in nuclear astrophysics, and on research and development for the future of medium-energy gamma astronomy [fr

ROV Based Underwater Blurred Image Restoration

Institute of Scientific and Technical Information of China (English)

LIU Zhishen; DING Tianfu; WANG Gang

2003-01-01

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

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.

Phenomena of charged particles transport in variable magnetic fields

International Nuclear Information System (INIS)

Savane, Sy Y.; Faza Barry, M.; Vladmir, L.; Diaby, I.

2002-11-01

This present work is dedicated to the study of the dynamical phenomena for the transport of ions in the presence of variable magnetic fields in front of the Jupiter wave shock. We obtain the spectrum of the accelerated ions and we study the conditions of acceleration by solving the transport equation in the planetocentric system. We discuss the theoretical results obtained and make a comparison with the experimental parameters in the region of acceleration behind the Jupiter wave shock. (author)

Photomultiplier characteristics considerations for the deep underwater muon and neutrino detection system

International Nuclear Information System (INIS)

Leskovar, B.

1980-01-01

The results of an investigation of the characteristics of photomultipliers for the Deep Underwater Muon and Neutrino Detection (DUMAND) System are discussed. The pulse-height resolution, the afterpulsing phenomena and the gain sensitivity to the ambient magnetic field have been determined for large photocathode area photomultipliers. Furthermore, the transient time difference, the single photoelectron time spread, and the collection and photocathode quantum efficiency uniformity as a function of the position of the photocathode sensing area have been reviewed. Finally, an attempt has been made to estimate the photomultiplier reliability and its lifetime

Ductile fracture estimation of reactor pressure vessel under thermal shock

International Nuclear Information System (INIS)

Takahashi, Jun; Sakai, Shinsuke; Okamura, Hiroyuki

1990-01-01

This paper presents a new scheme for the estimation of unstable ductile fracture of a reactor pressure vessel under thermal shock conditions. First, it is shown that the bending moment applied to the cracked section can be evaluated by considering the plastic deformation of the cracked section and the thermal deformation of the shell. As the contribution of the local thermal stress to the J-value is negligible, the J-value under thermal shock can be easily evaluated by using fully plastic solutions for the cracked part. Next, the phenomena of ductile fracture under thermal shock are expressed on the load-versus-displacement diagram which enables us to grasp the transient phenomena visually. In addition, several parametrical surveys are performed on the above diagram concerning the variation of (1) thermal shock conditions, (2) initial crack length, and (3) J-resistance curve (i.e. embrittlement by neutron irradiation). (author)

Underwater welding of steel

International Nuclear Information System (INIS)

Ibarra, S.; Olson, D.L.

1992-01-01

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

Colour reconstruction of underwater images

OpenAIRE

Hoth, Julian; Kowalczyk, Wojciech

2017-01-01

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

Quantum imaging for underwater arctic navigation

Science.gov (United States)

Lanzagorta, Marco

2017-05-01

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

Autonomous Underwater Gliders

OpenAIRE

Wood,; Stephen,

2009-01-01

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

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.)

Particle acceleration by coronal and interplanetary shock waves

International Nuclear Information System (INIS)

Pesses, M.E.

1982-01-01

Utilizing many years of observation from deep space and near-earth spacecraft a theoretical understanding has evolved on how ions and electrons are accelerated in interplanetary shock waves. This understanding is now being applied to solar flare-induced shock waves propagating through the solar atmosphere. Such solar flare phenomena as gamma-ray line and neutron emissions, interplanetary energetic electron and ion events, and Type II and moving Type IV radio bursts appear understandable in terms of particle acceleration in shock waves

Influence of water conductivity on shock waves generated by underwater electrical wire explosion

Science.gov (United States)

Liu, Ben; Wang, Deguo; Guo, Yanbao

2018-01-01

The new application of electrical explosion of wire (EEW) used in petroleum industry is to enhance oil recovery (EOR). Because of the complex environment underground, the effect of underground water conductivity on EEW should be considered. This work describes the effect of water conductivities on discharge current, voltage and shock waves. It was found that the effect of water conductivity contains two parts. One is the shunt effect of saline water, which can be considered as a parallel load with the copper wire between the electrodes connected to the discharge circuit. The peak pressure of shock waves are gradually decrease with the increase of water conductivity. The other is the current loss through saline water directly to the ground ends without flowing through the electrodes. The shunt effect is the main factor affecting the wire discharge process. As the charging voltage increased, the energy loss caused by these two parts are all reduced. These indicate that increasing the charging voltage to a certain value will increase the energy efficiency to generate a more powerful shock waves in conductive water.

Underwater Acoustic Networking Techniques

CERN Document Server

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

2012-01-01

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

Quasi-isentropic compression using compressed water flow generated by underwater electrical explosion of a wire array

Science.gov (United States)

Gurovich, V.; Virozub, A.; Rososhek, A.; Bland, S.; Spielman, R. B.; Krasik, Ya. E.

2018-05-01

A major experimental research area in material equation-of-state today involves the use of off-Hugoniot measurements rather than shock experiments that give only Hugoniot data. There is a wide range of applications using quasi-isentropic compression of matter including the direct measurement of the complete isentrope of materials in a single experiment and minimizing the heating of flyer plates for high-velocity shock measurements. We propose a novel approach to generating quasi-isentropic compression of matter. Using analytical modeling and hydrodynamic simulations, we show that a working fluid composed of compressed water, generated by an underwater electrical explosion of a planar wire array, might be used to efficiently drive the quasi-isentropic compression of a copper target to pressures ˜2 × 1011 Pa without any complex target designs.

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

A numerical study on bow shocks around the lightning return stroke channel

International Nuclear Information System (INIS)

Chen, Qiang; Chen, Bin; Yi, Yun; Chen, P. F.; Mao, Yunfei; Xiong, Run

2015-01-01

Bow shock structures are important to various hydrodynamics and magnetohydrodynamics (MHD) phenomena in geophysics and astrophysics. The formation and propagation of bow shocks around the lightning return stroke channel are investigated based on the self-similar motion theory and simulated with a two-dimensional Eulerian finite volume resistive radiation MHD code. In this framework, as verification of theoretical models, the evolving structures of many quantities, such as the plasma density, temperature, pressure, shock velocity, and magnetic field, can be obtained, which present all the characteristics of bow shocks in the lightning return stroke processes. The evolution characteristics and the configuration of the curved return stroke channels, e.g., the non-ideal effects and the scaling laws, are discussed in detail. The results may have applications for some observed features of the return stroke channels and other phenomena in the lightning discharge plasmas

Underwater Acoustic Tracer System

Science.gov (United States)

2009-03-13

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

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

Science.gov (United States)

2011-03-01

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

PENETRATION OF A SHOCK WAVE IN A FLAME FRONT

Directory of Open Access Journals (Sweden)

Dan PANTAZOPOL

2009-09-01

Full Text Available The present paper deals with the interactions between a fully supersonic flame front, situated in a supersonic two-dimensional flow of an ideal homogeneous combustible gas mixture, and an incident shock wawe, which is penetrating in the space of the hot burnt gases. A possible configuration, which was named ,,simple penetration” is examined. For the anlysis of the interference phenomena, shock polar and shock-combustion polar are used. At the same time, the paper shows the possibility to produce similar but more complicated configurations, which may contain expansion fans and reflected shock waves.

Determining spherical lens correction for astronaut training underwater.

Science.gov (United States)

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

2011-09-01

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

Dynamics and Control of Underwater Gliders I: Steady Motions

OpenAIRE

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

2007-01-01

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

The effect of explosive percentage on underwater explosion energy release of hexanitrohexaazaisowurtzitane and octogen based aluminized explosives

Directory of Open Access Journals (Sweden)

Qingjie Jiao

2018-03-01

Full Text Available To control the explosion energy output by optimizing explosive components is a key requirement in a number of different application areas. The effect of different Al/O Ratio on underwater explosion of aluminized explosives has been studied detailedly. However, the effect of explosive percentage in the same Al/O Ratio is rarely researched, especially for Hexanitrohexaazaisowurtzitane (CL-20 based aluminized explosives. In this study, we performed the underwater explosion experiments with 1.2-kilogram explosives in order to investigate the explosion energy released from CL-20 and Octogen (HMX based aluminized explosives. The percentage of the explosive varied from 5% to 30% and it is shown that: the shockwave peak pressure (pm grows gradually; shock wave energy (Es continues increasing, bubble energy (Eb increases then decreases peaking at 15% for both formulas, and the total energy (E and energy release rate (η peak at 20% for CL-20 and 15% for HMX. This paper outlines the physical mechanism of Eb change under the influence of an aluminium initial reaction temperature and reaction active detonation product percentage coupling. The result shows that CL-20 is superior as a new high explosive and has promising application prospects in the regulation of explosive energy output for underwater explosives.

The effect of explosive percentage on underwater explosion energy release of hexanitrohexaazaisowurtzitane and octogen based aluminized explosives

Science.gov (United States)

Jiao, Qingjie; Wang, Qiushi; Nie, Jianxin; Guo, Xueyong; Zhang, Wei; Fan, Wenqi

2018-03-01

To control the explosion energy output by optimizing explosive components is a key requirement in a number of different application areas. The effect of different Al/O Ratio on underwater explosion of aluminized explosives has been studied detailedly. However, the effect of explosive percentage in the same Al/O Ratio is rarely researched, especially for Hexanitrohexaazaisowurtzitane (CL-20) based aluminized explosives. In this study, we performed the underwater explosion experiments with 1.2-kilogram explosives in order to investigate the explosion energy released from CL-20 and Octogen (HMX) based aluminized explosives. The percentage of the explosive varied from 5% to 30% and it is shown that: the shockwave peak pressure (pm) grows gradually; shock wave energy (Es) continues increasing, bubble energy (Eb) increases then decreases peaking at 15% for both formulas, and the total energy (E) and energy release rate (η) peak at 20% for CL-20 and 15% for HMX. This paper outlines the physical mechanism of Eb change under the influence of an aluminium initial reaction temperature and reaction active detonation product percentage coupling. The result shows that CL-20 is superior as a new high explosive and has promising application prospects in the regulation of explosive energy output for underwater explosives.

28th International Symposium on Shock Waves

CERN Document Server

2012-01-01

The University of Manchester hosted the 28th International Symposium on Shock Waves between 17 and 22 July 2011. The International Symposium on Shock Waves first took place in 1957 in Boston and has since become an internationally acclaimed series of meetings for the wider Shock Wave Community. The ISSW28 focused on the following areas: Blast Waves, Chemically Reacting Flows, Dense Gases and Rarefied Flows, Detonation and Combustion, Diagnostics, Facilities, Flow Visualisation, Hypersonic Flow, Ignition, Impact and Compaction, Multiphase Flow, Nozzle Flow, Numerical Methods, Propulsion, Richtmyer-Meshkov, Shockwave Boundary Layer Interaction, Shock Propagation and Reflection, Shock Vortex Interaction, Shockwave Phenomena and Applications, as well as Medical and Biological Applications. The two Volumes contain the papers presented at the symposium and serve as a reference for the participants of the ISSW 28 and individuals interested in these fields.

Underwater welding and repair technologies applied in PWR environment

International Nuclear Information System (INIS)

Scandella, Fabrice; Carpreau, Jean-Michel

2012-01-01

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

Studies on shock phenomena in two-phase flow, (4). Characteristics in channel flow consisting of bubbly mixture and liquid in series

Energy Technology Data Exchange (ETDEWEB)

Akagawa, Koji; Fujii, Terushige; Ito, Yutaka; Hiraki, Sei

1982-04-01

The research carried out so far was related to the case in which the mean void ratio in a pipe distributed almost invariably in axial direction. However, in actual piping system, the distribution of void ratio sometimes changes in axial direction such as evaporating tubes. In this study, in order to clarify the basic characteristics of shock phenomena in a piping system in which the density of two-phase flow changes in axial direction, experiment was carried out on air and water two-component bubbly flow, in which single phase was in upstream, and two-phase flow with constant void ratio in axial direction was in downstream. Also, the theoretical study on the phenomena was performed. The experimental setup and experimental method, the result of the waveform of pressure response, the behavior of pressure waves at the interface of two-phase flow and single phase flow, the qualitative analysis of the waveform of pressure response, and the analysis of pressure rise are reported. By the sudden closure of a valve, the pressure in two-phase flow rose by the initial potential surge, thereafter stepped pressure rise was observed. This phenomenon can be explained by the reflection of pressure waves at the interface of two-phase flow and single phase flow.

Convergence of shock waves between conical and parabolic boundaries

Energy Technology Data Exchange (ETDEWEB)

Yanuka, D.; Zinowits, H. E.; Antonov, O.; Efimov, S.; Virozub, A.; Krasik, Ya. E. [Physics Department, Technion, Haifa 32000 (Israel)

2016-07-15

Convergence of shock waves, generated by underwater electrical explosions of cylindrical wire arrays, between either parabolic or conical bounding walls is investigated. A high-current pulse with a peak of ∼550 kA and rise time of ∼300 ns was applied for the wire array explosion. Strong self-emission from an optical fiber placed at the origin of the implosion was used for estimating the time of flight of the shock wave. 2D hydrodynamic simulations coupled with the equations of state of water and copper showed that the pressure obtained in the vicinity of the implosion is ∼7 times higher in the case of parabolic walls. However, comparison with a spherical wire array explosion showed that the pressure in the implosion vicinity in that case is higher than the pressure in the current experiment with parabolic bounding walls because of strong shock wave reflections from the walls. It is shown that this drawback of the bounding walls can be significantly minimized by optimization of the wire array geometry.

Phase Plane Analysis Method of Nonlinear Traffic Phenomena

Directory of Open Access Journals (Sweden)

Wenhuan Ai

2015-01-01

Full Text Available A new phase plane analysis method for analyzing the complex nonlinear traffic phenomena is presented in this paper. This method makes use of variable substitution to transform a traditional traffic flow model into a new model which is suitable for the analysis in phase plane. According to the new model, various traffic phenomena, such as the well-known shock waves, rarefaction waves, and stop-and-go waves, are analyzed in the phase plane. From the phase plane diagrams, we can see the relationship between traffic jams and system instability. So the problem of traffic flow could be converted into that of system stability. The results show that the traffic phenomena described by the new method is consistent with that described by traditional methods. Moreover, the phase plane analysis highlights the unstable traffic phenomena we are chiefly concerned about and describes the variation of density or velocity with time or sections more clearly.

Human Injury Criteria for Underwater Blasts.

Directory of Open Access Journals (Sweden)

Rachel M Lance

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

Undercuts by Laser Shock Forming

International Nuclear Information System (INIS)

Wielage, Hanna; Vollertsen, Frank

2011-01-01

In laser shock forming TEA-CO 2 -laser induced shock waves are used to form metal foils, such as aluminum or copper. The process utilizes an initiated plasma shock wave on the target surface, which leads to a forming of the foil. A challenge in forming technologies is the manufacturing of undercuts. By conventional forming methods these special forms are not feasible. In this article, it is presented that undercuts in the micro range can be produced by laser shock deep drawing. Different drawing die diameters, drawing die depths and the material aluminum in the thicknesses 20 and 50 μm were investigated. It will be presented that smaller die diameters facilitate undercuts compared to bigger die diameters. The phenomena can be explained by Barlow's formula. Furthermore, it is shown which maximum undercut depth at different die diameters can be reached. To this end, cross-sections of the different parameter combinations are displayed.

Applied pressure-dependent anisotropic grain connectivity in shock consolidated MgB{sub 2} samples

Energy Technology Data Exchange (ETDEWEB)

Ohashi, Wataru [Graduate School of Engineering, University of Yamanashi, Takeda 4-3-11, Kofu 400-8511 (Japan); Takenaka, Kenta [Graduate School of Engineering, University of Yamanashi, Takeda 4-3-11, Kofu 400-8511 (Japan); Kondo, Tadashi [Graduate School of Engineering, University of Yamanashi, Takeda 4-3-11, Kofu 400-8511 (Japan); Tamaki, Hideyuki [Graduate School of Engineering, University of Yamanashi, Takeda 4-3-11, Kofu 400-8511 (Japan); Matsuzawa, Hidenori [Graduate School of Engineering, University of Yamanashi, Takeda 4-3-11, Kofu 400-8511 (Japan)]. E-mail: matuzawa@mx3.nns.ne.jp; Kai, Shoichiro [Advanced Materials and Process Development Group, Explosive Division, Asahi Kasei Chemicals Corporation, Oita 870-0392 (Japan); Kakimoto, Etsuji [Advanced Materials and Process Development Group, Explosive Division, Asahi Kasei Chemicals Corporation, Oita 870-0392 (Japan); Takano, Yoshihiko [National Institute for Materials Science, Tsukuba 305-0047 (Japan); Minehara, Eisuke [FEL Laboratory, Tokai Site, Japan Atomic Energy Research Institute, Shirakata-shirane 2-4, Tokai, Ibaraki 319-1195 (Japan)

2006-09-15

Three different cylindrical MgB{sub 2} bulk samples were prepared by the underwater shock consolidation method in which shock waves of several GPa, generated by detonation of explosives, were applied to a metallic cylinder containing commercially available MgB{sub 2} powders with no additives. Resistivity anisotropy of the samples increased with shock pressure. The highest- and medium-pressure applied samples had finite resistivities in the radial direction for the whole temperature range down to 12 K, whereas their axial and azimuthal resistivities dropped to zero at 32-35 K. By contrast, the lowest-pressure applied sample was approximately isotropic with a normal-state resistivity of {approx}40 {mu}{omega} cm, an onset temperature of {approx}38.5 K, and a transition width of {approx}4.5 K. These extremely anisotropic properties would have resulted from the distortion of grain boundaries and grain cores, caused by the shock pressures and their repeated bouncing.

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

Directory of Open Access Journals (Sweden)

Andrew eStuntz

2016-04-01

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

An underwater shear compactor

International Nuclear Information System (INIS)

Biver, E.; Sims, J.

1997-01-01

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

Underwater Gliders by Dr. Kevin Smith [video

OpenAIRE

Naval Postgraduate School Physics

2015-01-01

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

A study of water hammer phenomena in a one-component two-phase bubbly flow

International Nuclear Information System (INIS)

Fujii, Terushige; Akagawa, Koji

2000-01-01

Water hammer phenomena caused by a rapid valve closure, that is, shock phenomena in two-phase flows, are an important problem for the safety assessment of a hypothetical LOCA. This paper presents the results of experimental and analytical studies of the water hammer phenomena in a one-component tow-phase bubbly flow. In order to clarify the characteristics of water hammer phenomena, experiments for a one-component two-phase flow of Freon R-113 were conducted and a numerical simulation of pressure transients was developed. An overall picture of the water hammer phenomena in a one-component two-phase flow is presented an discussed. (author)

Underwater Ranging

OpenAIRE

S. P. Gaba

1984-01-01

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

UNDERWATER COATINGS FOR CONTAMINATION CONTROL

International Nuclear Information System (INIS)

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

2004-01-01

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

Underwater Gliders: A Review

OpenAIRE

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

2014-01-01

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

The use of underwater high-voltage discharges to improve the efficiency of Jatropha curcas L. biodiesel production.

Science.gov (United States)

Maroušek, Josef; Itoh, Shigeru; Higa, Osamu; Kondo, Yoshikazu; Ueno, Masami; Suwa, Ryuichi; Komiya, Yasuaki; Tominaga, Jun; Kawamitsu, Yoshinobu

2012-01-01

Underwater high-voltage discharges (3.5 kV) resulting in 4.9 kJ shock waves (50-60 MPa) were studied at the laboratory scale as a Jatropha curcas L. seed disintegration method. Grinding and macerating in an excess of methanol (3.5:1) was advantageous because methanol acts both as a liquid carrier for the pressure shock waves and as a solvent that increases the efficiency of oil extraction while remaining usable for esterification. The influence of the number of shock waves and the intensity of methanol maceration on the heat values of the pressed cake are stated in detail. Soxhlet extraction demonstrated that a greater than 94% oil extraction was achieved. The increased disintegration of vacuoles rich in oil was documented by surface area analysis, mineralization kinetics analysis, and electron microscopy. The working volumes were small, and the proportion of energy inadequate compared to the yields released; however, much can be improved by upgrading the process. © 2012 International Union of Biochemistry and Molecular Biology, Inc.

Transient shock waves in heliosphere and Sun-Earth relations

International Nuclear Information System (INIS)

Voeroes, Z.

1990-01-01

The problem of shock waves, caused by solar activity in the Earth's magnetosphere and its magnetic field, is discussed. All types of shock waves have their origin either in solar corona effects or in solar eruptions. Ionospheric and magnetospheric effects, such as X and gamma radiation, particle production, geomagnetic storms and shock waves, caused by solar activity, are dealt with and attempts are made to explain their interdependence. The origin and propagation of coronal shock waves, interplanetary shock waves and geomagnetic field disorders are described and their relations discussed. The understanding of the solar corona and wind phenomena seems to allow prediction of geomagnetic storms. The measurement and analysis of solar activity and its effects could yield useful information about shock waves physics, geomagnetosphere structure and relations between the Earth and the Sun. (J.J.). 7 figs., 1 tab., 37 refs

Unusual behaviour of usual materials in shock waves

International Nuclear Information System (INIS)

Kanel, G I

2014-01-01

Exotic results of investigations of inelastic deformation and fracture under shock wave loading are presented and briefly discussed. Temperature effects on the flow stress at high strain rate may differ even in sign from those we observe at low and moderate strain rates. Investigations of the temperature-rate dependence of the yield stress at shock compression demonstrate intense multiplication of dislocations. At the highest strain rates, so-called ideal (ultimate) shear and tensile strength is reached in experiments with picosecond durations of shock loading. Although grain boundaries, in general, reduce resistance to fracture as compared to single crystals, the spall strength of ultra-fine-grained metals usually slightly exceeds that of coarse-grain samples. Failure wave phenomena have been observed in shock-compressed glasses.

Transient shocks beyond the heliopause

International Nuclear Information System (INIS)

Fermo, R L; Pogorelov, N V; Burlaga, L F

2015-01-01

The heliopause is a rich, dynamic surface affected by the time-dependent solar wind. Stream interactions due to coronal mass ejections (CMEs), corotating interaction regions (CIRs), and other transient phenomena are known to merge producing global merged interaction regions (GMIRs). Numerical simulations of the solar wind interaction with the local interstellar medium (LISM) show that GMIRs, as well other time-dependent structures in the solar wind, may produce compression/rarefaction waves and shocks in the LISM behind the heliopause. These shocks may initiate wave activity observed by the Voyager spacecraft. The magnetometer onboard Voyager 1 indeed observed a few structures that may be interpreted as shocks. We present numerical simulations of such shocks in the year of 2000, when both Voyager spacecraft were in the supersonic solar wind region, and in 2012, when Voyager 1 observed traveling shocks. In the former case, Voyager observations themselves provide time- dependent boundary conditions in the solar wind. In the latter case, we use OMNI data at 1 AU to analyze the plasma and magnetic field behavior after Voyager 1 crossed the heliospheric boundary. Numerical results are compared with spacecraft observations. (paper)

Vorticity dynamics after the shock-turbulence interaction

Science.gov (United States)

Livescu, D.; Ryu, J.

2016-05-01

The interaction of a shock wave with quasi-vortical isotropic turbulence (IT) represents a basic problem for studying some of the phenomena associated with high speed flows, such as hypersonic flight, supersonic combustion and Inertial Confinement Fusion (ICF). In general, in practical applications, the shock width is much smaller than the turbulence scales and the upstream turbulent Mach number is modest. In this case, recent high resolution shock-resolved Direct Numerical Simulations (DNS) (Ryu and Livescu, J Fluid Mech 756:R1, 2014) show that the interaction can be described by the Linear Interaction Approximation (LIA). Using LIA to alleviate the need to resolve the shock, DNS post-shock data can be generated at much higher Reynolds numbers than previously possible. Here, such results with Taylor Reynolds number approximately 180 are used to investigate the changes in the vortical structure as a function of the shock Mach number, Ms, up to Ms=10. It is shown that, as Ms increases, the shock interaction induces a tendency towards a local axisymmetric state perpendicular to the shock front, which has a profound influence on the vortex-stretching mechanism and divergence of the Lamb vector and, ultimately, on the flow evolution away from the shock.

A model for radio emission from solar coronal shocks

Energy Technology Data Exchange (ETDEWEB)

Zhao, G. Q.; Chen, L.; Wu, D. J., E-mail: djwu@pmo.ac.cn [Purple Mountain Observatory, CAS, Nanjing 210008 (China)

2014-05-01

Solar coronal shocks are very common phenomena in the solar atmosphere and are believed to be the drivers of solar type II radio bursts. However, the microphysical nature of these emissions is still an open question. This paper proposes that electron cyclotron maser (ECM) emission is responsible for the generation of radiation from the coronal shocks. In the present model, an energetic ion beam accelerated by the shock first excites the Alfvén wave (AW), then the excited AW leads to the formation of a density-depleted duct along the foreshock boundary of the shock. In this density-depleted duct, the energetic electron beam produced via the shock acceleration can effectively excite radio emission by ECM instability. Our results show that this model may potentially be applied to solar type II radio bursts.

A model for radio emission from solar coronal shocks

International Nuclear Information System (INIS)

Zhao, G. Q.; Chen, L.; Wu, D. J.

2014-01-01

Solar coronal shocks are very common phenomena in the solar atmosphere and are believed to be the drivers of solar type II radio bursts. However, the microphysical nature of these emissions is still an open question. This paper proposes that electron cyclotron maser (ECM) emission is responsible for the generation of radiation from the coronal shocks. In the present model, an energetic ion beam accelerated by the shock first excites the Alfvén wave (AW), then the excited AW leads to the formation of a density-depleted duct along the foreshock boundary of the shock. In this density-depleted duct, the energetic electron beam produced via the shock acceleration can effectively excite radio emission by ECM instability. Our results show that this model may potentially be applied to solar type II radio bursts.

Shock tube Multiphase Experiments

Science.gov (United States)

Middlebrooks, John; Allen, Roy; Paudel, Manoj; Young, Calvin; Musick, Ben; McFarland, Jacob

2017-11-01

Shock driven multiphase instabilities (SDMI) are unique physical phenomena that have far-reaching practical applications in engineering and science. The instability is present in high energy explosions, scramjet combustors, and supernovae events. The SDMI arises when a multiphase interface is impulsively accelerated by the passage of a shockwave. It is similar in development to the Richtmyer-Meshkov (RM) instability however, particle-to-gas coupling is the driving mechanism of the SDMI. As particle effects such as lag and phase change become more prominent, the SDMI's development begins to significantly deviate from the RM instability. We have developed an experiment for studying the SDMI in our shock tube facility. In our experiments, a multiphase interface is created using a laminar jet and flowed into the shock tube where it is accelerated by the passage of a planar shockwave. The interface development is captured using CCD cameras synchronized with planar laser illumination. This talk will give an overview of new experiments conducted to examine the development of a shocked cylindrical multiphase interface. The effects of Atwood number, particle size, and a second acceleration (reshock) of the interface will be discussed.

Underwater 3D filming

OpenAIRE

Rinaldi, Roberto

2014-01-01

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

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

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.

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.

Premixing and steam explosion phenomena in the tests with stratified melt-coolant configuration and binary oxidic melt simulant materials

Energy Technology Data Exchange (ETDEWEB)

Kudinov, Pavel, E-mail: pavel@safety.sci.kth.se; Grishchenko, Dmitry, E-mail: dmitry@safety.sci.kth.se; Konovalenko, Alexander, E-mail: kono@kth.se; Karbojian, Aram, E-mail: karbojan@kth.se

2017-04-01

Highlights: • Steam explosion in stratified melt-coolant configuration is studied experimentally. • Different binary oxidic melt simulant materials were used. • Five spontaneous steam explosions were observed. • Instability of melt-coolant interface and formation of premixing layer was observed. • Explosion strength is influenced by melt superheat and water subcooling. - Abstract: Steam explosion phenomena in stratified melt-coolant configuration are considered in this paper. Liquid corium layer covered by water on top can be formed in severe accident scenarios with (i) vessel failure and release of corium melt into a relatively shallow water pool; (ii) with top flooding of corium melt layer. In previous assessments of potential energetics in stratified melt-coolant configuration, it was assumed that melt and coolant are separated by a stable vapor film and there is no premixing prior to the shock wave propagation. This assumption was instrumental for concluding that the amount of energy that can be released in such configuration is not of safety importance. However, several recent experiments carried out in Pouring and Under-water Liquid Melt Spreading (PULiMS) facility with up to 78 kg of binary oxidic corium simulants mixtures have resulted in spontaneous explosions with relatively high conversion ratios (order of one percent). The instability of the melt-coolant interface, melt splashes and formation of premixing layer were observed in the tests. In this work, we present results of experiments carried out more recently in steam explosion in stratified melt-coolant configuration (SES) facility in order to shed some light on the premixing phenomena and assess the influence of the test conditions on the steam explosion energetics.

Bubbles with shock waves and ultrasound: a review.

Science.gov (United States)

Ohl, Siew-Wan; Klaseboer, Evert; Khoo, Boo Cheong

2015-10-06

The study of the interaction of bubbles with shock waves and ultrasound is sometimes termed 'acoustic cavitation'. It is of importance in many biomedical applications where sound waves are applied. The use of shock waves and ultrasound in medical treatments is appealing because of their non-invasiveness. In this review, we present a variety of acoustics-bubble interactions, with a focus on shock wave-bubble interaction and bubble cloud phenomena. The dynamics of a single spherically oscillating bubble is rather well understood. However, when there is a nearby surface, the bubble often collapses non-spherically with a high-speed jet. The direction of the jet depends on the 'resistance' of the boundary: the bubble jets towards a rigid boundary, splits up near an elastic boundary, and jets away from a free surface. The presence of a shock wave complicates the bubble dynamics further. We shall discuss both experimental studies using high-speed photography and numerical simulations involving shock wave-bubble interaction. In biomedical applications, instead of a single bubble, often clouds of bubbles appear (consisting of many individual bubbles). The dynamics of such a bubble cloud is even more complex. We shall show some of the phenomena observed in a high-intensity focused ultrasound (HIFU) field. The nonlinear nature of the sound field and the complex inter-bubble interaction in a cloud present challenges to a comprehensive understanding of the physics of the bubble cloud in HIFU. We conclude the article with some comments on the challenges ahead.

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

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.

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.

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.

Report of 22nd International Symposium on Shock Waves; Dai 22 kai kokusai shogekiha symposium shusseki hokoku

Energy Technology Data Exchange (ETDEWEB)

Takayama, K. [Tohoku Univ., Sendai (Japan). Inst. of Fluid Science

1999-11-05

Outlined herein are the topics at the 22nd. International Symposium on Shock Waves, held in July 1999 in London. Prof. Takayama of Tohoku University gave an invited lecture on application of shock waves to medical area, stressing significance of shock waves on a human body. A total of 81 papers were presented from Japan. Number of Japanese papers and number of Japanese attendees both accounted for approximately 25%. The themes of these papers are centered by behavior of shock waves (e.g., propagation, reflection, and diffraction), extreme supersonic flows, interference between shock wave and boundary layer, aerodynamics (e.g., interference between vortex and shock wave), numerical simulation of shock wave phenomena, development of a new shock wave tube and measurement method, researches on elementary steps in chemical reactions, shock wave phenomena in condensed media and multi-phase media, shock wave noise produced while a high-speed train is running in a tunnel, and application of shock waves to industrial and medical areas. Japan contributes much to the application to medical area, and a method dispensing with injection is reported. Japan's aerospace-related researches include interference between shock wave and boundary layer, in which the real gas effect is taken into consideration, designs for protection from heat during the re-entry into the atmosphere, and construction of the world largest free-piston type wind tunnel. (NEDO)

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

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

2018-04-04

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

Time-resolved processes in a pulsed electrical discharge in water generated with shock wave assistance in a plate-to-plate configuration

Czech Academy of Sciences Publication Activity Database

Stelmashuk, Vitaliy

2014-01-01

Roč. 47, č. 49 (2014), s. 495204-495204 ISSN 0022-3727 Institutional support: RVO:61389021 Keywords : underwater discharge * streamers * spark * cavitation bubble * shock wave Subject RIV: BL - Plasma and Gas Discharge Physics Impact factor: 2.721, year: 2014 http://iopscience.iop.org/0022-3727/47/49/495204/pdf/0022-3727_47_49_495204.pdf

EXPERIMENTAL STUDY OF SHOCK WAVE DYNAMICS IN MAGNETIZED PLASMAS

International Nuclear Information System (INIS)

Podder, Nirmol K.

2009-01-01

In this four-year project (including one-year extension), the project director and his research team built a shock-wave-plasma apparatus to study shock wave dynamics in glow discharge plasmas in nitrogen and argon at medium pressure (1-20 Torr), carried out various plasma and shock diagnostics and measurements that lead to increased understanding of the shock wave acceleration phenomena in plasmas. The measurements clearly show that in the steady-state dc glow discharge plasma, at fixed gas pressure the shock wave velocity increases, its amplitude decreases, and the shock wave disperses non-linearly as a function of the plasma current. In the pulsed discharge plasma, at fixed gas pressure the shock wave dispersion width and velocity increase as a function of the delay between the switch-on of the plasma and shock-launch. In the afterglow plasma, at fixed gas pressure the shock wave dispersion width and velocity decrease as a function of the delay between the plasma switch-off and shock-launch. These changes are found to be opposite and reversing towards the room temperature value which is the initial condition for plasma ignition case. The observed shock wave properties in both igniting and afterglow plasmas correlate well with the inferred temperature changes in the two plasmas

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...

Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Francisco García-Córdova

2013-04-01

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

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.

Bow shock data analysis

Science.gov (United States)

Zipf, Edward C.; Erdman, Peeter W.

1994-08-01

The University of Pittsburgh Space Physics Group in collaboration with the Army Research Office (ARO) modeling team has completed a systematic organization of the shock and plume spectral data and the electron temperature and density measurements obtained during the BowShock I and II rocket flights which have been submitted to the AEDC Data Center, has verified the presence of CO Cameron band emission during the Antares engine burn and for an extended period of time in the post-burn plume, and have adapted 3-D radiation entrapment codes developed by the University of Pittsburgh to study aurora and other atmospheric phenomena that involve significant spatial effects to investigate the vacuum ultraviolet (VUV) and extreme ultraviolet (EUV) envelope surrounding the re-entry that create an extensive plasma cloud by photoionization.

Development of a General Shocked-Materials-Response Description for Simulations

Energy Technology Data Exchange (ETDEWEB)

Steven M. Valone

2000-07-01

This report outlines broad modeling issues pertaining to polymeric materials behavior under detonation conditions. Models applicable system wide are necessary to cope with the broad range of polymers and complex composite forms that can appear in Laboratory weapons systems. Nine major topics are discussed to span the breadth of materials, forms, and physical phenomena encountered when shocking polymers and foams over wide ranges of temperatures, pressures, shock strengths, confinement conditions, and geometries. The recommendations for directions of more intensive investigation consider physical fidelity, computational complexity, and application over widely varying physical conditions of temperature, pressure, and shock strength.

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.)

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

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

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

DEFF Research Database (Denmark)

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

2015-01-01

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

Shock Wave Science and Technology Reference Library

CERN Document Server

2007-01-01

Shock waves in multiphase flows refers to a rich variety of phenomena of interest to physicists, chemists, and fluid dynamicists, as well as mechanical, biomedical and aeronautical engineers. This volume treats shock and expansion waves in (bullet) complex, bubbly liquids (L van Wijngaarden, Y Tomita, V Kedrinskii) and (bullet) cryogenic liquids (M Murakami) and examines the relationship of shock waves with (bullet) phase transitions (A Guha, CF Delale, G Schnerr, MEH van Dongen) (bullet) induced phase transitions (GEA Meier) as well as their interaction with (bullet) solid foams, textiles, porous and granular media (B Skews, DMJ Smeulders, MEH van Dongen, V Golub, O Mirova) All chapters are self-contained, so they can be read independently, although they are of course thematically interrelated. Taken together, they offer a timely reference on shock waves in multiphase flows, including new viewpoints and burgeoning developments. The book will appeal to beginners as well as professional scientists and engineer...

Equipment and appliances for underwater operations. Pt. 2

International Nuclear Information System (INIS)

Krueger, P.

1976-01-01

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

Underwater cladding with laser beam and plasma arc welding

International Nuclear Information System (INIS)

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

1997-01-01

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

Numerical computation of underwater explosions due to fuel-coolant interactions

International Nuclear Information System (INIS)

Lee, J.H.S.; Frost, D.L.; Knystautas, R.; Teodorczyk, A.; Ciccarelli, G.; Thibault, P.; Penrose, J.

1989-03-01

If coarse molten material is released into a coolant the possibility exists for a violent steam explosion. A detailed quantitative description of the processes involved in steam explosions is currently beyond the capabilities of the scientific community. However, a conservative estimate of the pressure transients resulting from a steam explosion can be obtained by studying the dynamics of the shock associated with the expansion of a high-pressure vapour bubble. In this study, the hydrodynamic equations governing the shock propagation of an expanding bubble were integrated numerically using the Flux Corrected Transport code. Simpler acoustic models based on experience with underwater explosions were also developed and used to estimate pressure transients and to calculate the peak pressures for benchmark cases. The results were found to be an order of magnitude higher than the corresponding pressures obtained using a complex model developed by Henry. A simplified version of the Henry model was developed by neglecting the complex description of the two-phase flow inside the ruptured tube and the arbitrarily assumed heat transfer and condensation rates. Results from the simplified model were found to be generally similar to, but had higher peak pressures than those obtained using the Henry model. It is concluded that the results produced by simple acoustic models, or by a simplified Henry model, are more conservative than the corresponding results obtained with the original Henry model

Underwater image mosaicking and visual odometry

Science.gov (United States)

Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

2017-05-01

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

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.

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.

Polarimetry and Schlieren diagnostics of underwater exploding wires

Science.gov (United States)

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

2009-11-01

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

Polarimetry and Schlieren diagnostics of underwater exploding wires

International Nuclear Information System (INIS)

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

2009-01-01

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

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.

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.

Experimental research on crossing shock wave boundary layer interactions

Science.gov (United States)

Settles, G. S.; Garrison, T. J.

1994-10-01

An experimental research effort of the Penn State Gas Dynamics Laboratory on the subject of crossing shock wave boundary layer interactions is reported. This three year study was supported by AFOSR Grant 89-0315. A variety of experimental techniques were employed to study the above phenomena including planar laser scattering flowfield visualization, kerosene lampblack surface flow visualization, laser-interferometer skin friction surveys, wall static pressure measurements, and flowfield five-hole probe surveys. For a model configuration producing two intersecting shock waves, measurements were made for a range of oblique shock strengths at freestream Mach numbers of 3.0 and 3.85. Additionally, measurements were made at Mach 3.85 for a configuration producing three intersecting waves. The combined experimental dataset was used to formulate the first detailed flowfield models of the crossing-shock and triple-shock wave/boundary layer interactions. The structure of these interactions was found to be similar over a broad range of interaction strengths and is dominated by a large, separated, viscous flow region.

The influence of underwater turbulence on optical phase measurements

Science.gov (United States)

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

2016-05-01

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

Optimal Node Placement in Underwater Wireless Sensor Networks

KAUST Repository

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

2013-01-01

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

Kidney damage in extracorporeal shock wave lithotripsy: a numerical approach for different shock profiles.

Science.gov (United States)

Weinberg, Kerstin; Ortiz, Michael

2009-08-01

In shock-wave lithotripsy--a medical procedure to fragment kidney stones--the patient is subjected to hypersonic waves focused at the kidney stone. Although this procedure is widely applied, the physics behind this medical treatment, in particular the question of how the injuries to the surrounding kidney tissue arise, is still under investigation. To contribute to the solution of this problem, two- and three-dimensional numerical simulations of a human kidney under shock-wave loading are presented. For this purpose a constitutive model of the bio-mechanical system kidney is introduced, which is able to map large visco-elastic deformations and, in particular, material damage. The specific phenomena of cavitation induced oscillating bubbles is modeled here as an evolution of spherical pores within the soft kidney tissue. By means of large scale finite element simulations, we study the shock-wave propagation into the kidney tissue, adapt unknown material parameters and analyze the resulting stress states. The simulations predict localized damage in the human kidney in the same regions as observed in animal experiments. Furthermore, the numerical results suggest that in first instance the pressure amplitude of the shock wave impulse (and not so much its exact time-pressure profile) is responsible for damaging the kidney tissue.

Operational experience in underwater photogrammetry

Science.gov (United States)

Leatherdale, John D.; John Turner, D.

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

Evaluating the SCC resistance of underwater welds in sodium tetrathionate

International Nuclear Information System (INIS)

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

1997-01-01

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

Development of Calculation Algorithm for ECCS Kinematic Shock

Energy Technology Data Exchange (ETDEWEB)

Lee, Seung-Chan; Yoon, Duk-Joo; Ha, Sang-Jun [KHNP-CRI, Daejeon (Korea, Republic of)

2014-10-15

The void fraction of inverted U-pipes in front of SI(Safety Injection) pumps impact on the pipe system of ECCS(Emergency Core Cooling Systems). This phenomena is called as 'Kinematic Shock'. The purpose of this paper is to achieve the more exactly calculation when the kinematic shock is calculated by simplified equation. The behavior of the void packet of the ECCS pipes is illustrated by the simplified (other name is kinematic shock equation).. The kinematic shock is defined as the depth of total length of void clusters in the pipes of ECCS when the void cluster is continually reached along the part of pipes in vertical direction. In this paper, the simplified equation is evaluated by comparing calculation error each other.]. The more exact methods of calculating the depth of the kinematic shock in ECCS is achieved. The error of kinematic shock calculation is strongly depended on the calculation search gap and the order of Taylor's expansion. From this study, to select the suitable search gap and the suitable calculation order, differential root method, secant method, and Taylor's expansion form are compared one another.

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.

Have shock waves been observed in nuclear collisions

International Nuclear Information System (INIS)

Gudima, K.K.; Toneev, V.D.

Experimental data on shock wave phenomena in nuclear reactions are analyzed within the kinetic theory rather than that of the hydrodynamic approach. Beginning with a presentation of the model, which is a generalization of the cascade--evaporation model to the case of the interaction of two nuclei, it is then ascertained to what degree the developed approach is valid. Next on the basis of this model the results of experiments performed are examined to find the effects of a shock wave. The results of this analysis and the related set-up of new experiments are discussed also. 34 references

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.

FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

Directory of Open Access Journals (Sweden)

R. Rinaldi

2015-04-01

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

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.

Low-contrast underwater living fish recognition using PCANet

Science.gov (United States)

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

2018-04-01

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

Admissibility region for rarefaction shock waves in dense gases

NARCIS (Netherlands)

Zamfirescu, C.; Guardone, A.; Colonna, P.

2008-01-01

In the vapour phase and close to the liquid–vapour saturation curve, fluids made of complex molecules are expected to exhibit a thermodynamic region in which the fundamental derivative of gasdynamic ? is negative. In this region, non-classical gasdynamic phenomena such as rarefaction shock waves are

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

Condensation phenomena in a turbine blade passage

International Nuclear Information System (INIS)

Skillings, S.A.

1989-02-01

The mechanisms associated with the formation and growth of water droplets in the large low-pressure (LP) turbines used for electrical power generation are poorly understood and recent measurements have indicated that an unusually high loss is associated with the initial nucleation of these droplets. In order to gain an insight into the phenomena which arise in the turbine situation, some experiments were performed to investigate the behaviour of condensing steam flows in a blade passage. This study has revealed the fundamental significance of droplet nucleation in modifying the single-phase flow structure and results are presented which show the change in shock wave pattern when inlet superheat and outlet Mach number are varied. The trailing-edge shock wave structure appears considerably more robust towards variation of inlet superheat than purely one-dimensional considerations may suggest and the inadequacies of adopting a one-dimensional theory to analyse multi-dimensional condensing flows are demonstrated. Over a certain range of outlet Mach numbers an oscillating shock wave will establish in the throat region of the blade passage and this has been shown to interact strongly with droplet nucleation, resulting in a considerably increased mean droplet size. The possible implications of these results for turbine performance are also discussed. (author)

Nonlinear CARS measurement of nitrogen vibrational and rotational temperatures behind hypervelocity strong shock wave

Science.gov (United States)

Osada, Takashi; Endo, Youichi; Kanazawa, Chikara; Ota, Masanori; Maeno, Kazuo

2009-02-01

The hypervelocity strong shock waves are generated, when the space vehicles reenter the atmosphere from space. Behind the shock wave radiative and non-equilibrium flow is generated in front of the surface of the space vehicle. Many studies have been reported to investigate the phenomena for the aerospace exploit and reentry. The research information and data on the high temperature flows have been available to the rational heatproof design of the space vehicles. Recent development of measurement techniques with laser systems and photo-electronics now enables us to investigate the hypervelocity phenomena with greatly advanced accuracy. In this research strong shock waves are generated in low-density gas to simulate the reentry range gas flow with a free-piston double-diaphragm shock tube, and CARS (Coherent Anti-stokes Raman Spectroscopy) measurement method is applied to the hypervelocity flows behind the shock waves, where spectral signals of high space/time resolution are acquired. The CARS system consists of YAG and dye lasers, a spectroscope, and a CCD camera system. We obtain the CARS signal spectrum data by this special time-resolving experiment, and the vibrational and rotational temperatures of N2 are determined by fitting between the experimental spectroscopic profile data and theoretically estimated spectroscopic data.

Nonlinear CARS measurement of nitrogen vibrational and rotational temperatures behind hypervelocity strong shock wave

Energy Technology Data Exchange (ETDEWEB)

Osada, Takashi; Endo, Youichi [Graduate Student, Chiba University 1-33 Yayoi, Inage, Chiba, 263-8522 (Japan); Kanazawa, Chikara [Undergraduate, Chiba University 1-33 Yayoi, Inage, Chiba, 63-8522 (Japan); Ota, Masanori; Maeno, Kazuo, E-mail: maeno@faculty.chiba-u.j [Graduate School of Engineering, Chiba University 1-33 Yayoi, Inage, Chiba, 263-8522 (Japan)

2009-02-01

The hypervelocity strong shock waves are generated, when the space vehicles reenter the atmosphere from space. Behind the shock wave radiative and non-equilibrium flow is generated in front of the surface of the space vehicle. Many studies have been reported to investigate the phenomena for the aerospace exploit and reentry. The research information and data on the high temperature flows have been available to the rational heatproof design of the space vehicles. Recent development of measurement techniques with laser systems and photo-electronics now enables us to investigate the hypervelocity phenomena with greatly advanced accuracy. In this research strong shock waves are generated in low-density gas to simulate the reentry range gas flow with a free-piston double-diaphragm shock tube, and CARS (Coherent Anti-stokes Raman Spectroscopy) measurement method is applied to the hypervelocity flows behind the shock waves, where spectral signals of high space/time resolution are acquired. The CARS system consists of YAG and dye lasers, a spectroscope, and a CCD camera system. We obtain the CARS signal spectrum data by this special time-resolving experiment, and the vibrational and rotational temperatures of N{sub 2} are determined by fitting between the experimental spectroscopic profile data and theoretically estimated spectroscopic data.

Nonlinear CARS measurement of nitrogen vibrational and rotational temperatures behind hypervelocity strong shock wave

International Nuclear Information System (INIS)

Osada, Takashi; Endo, Youichi; Kanazawa, Chikara; Ota, Masanori; Maeno, Kazuo

2009-01-01

The hypervelocity strong shock waves are generated, when the space vehicles reenter the atmosphere from space. Behind the shock wave radiative and non-equilibrium flow is generated in front of the surface of the space vehicle. Many studies have been reported to investigate the phenomena for the aerospace exploit and reentry. The research information and data on the high temperature flows have been available to the rational heatproof design of the space vehicles. Recent development of measurement techniques with laser systems and photo-electronics now enables us to investigate the hypervelocity phenomena with greatly advanced accuracy. In this research strong shock waves are generated in low-density gas to simulate the reentry range gas flow with a free-piston double-diaphragm shock tube, and CARS (Coherent Anti-stokes Raman Spectroscopy) measurement method is applied to the hypervelocity flows behind the shock waves, where spectral signals of high space/time resolution are acquired. The CARS system consists of YAG and dye lasers, a spectroscope, and a CCD camera system. We obtain the CARS signal spectrum data by this special time-resolving experiment, and the vibrational and rotational temperatures of N 2 are determined by fitting between the experimental spectroscopic profile data and theoretically estimated spectroscopic data.

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

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.

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.

Design and Evaluation Methods for Underwater Control Systems

Energy Technology Data Exchange (ETDEWEB)

Chi, Lin

1997-12-31

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

Construction Method of the Topographical Features Model for Underwater Terrain Navigation

Directory of Open Access Journals (Sweden)

Wang Lihui

2015-09-01

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

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.

Applications of Shock Wave Research to Developments of Therapeutic Devices.

Science.gov (United States)

Takayama, Kazuyoshi

2007-06-01

Underwater shock wave research applied to medicine started in 1980 by exploding micro lead azide pellets in water. Collaboration with urologists in the School of Medicine, Tohoku University at the same time was directed to disintegration of kidney stones by controlling shock waves. We initially proposed a miniature truncated ellipsoidal cavity for generating high-pressures enough to disintegrate the stone but gave up the idea, when encountering the Dornie Systems' invention of an extracorporeal shock wave lithotripter (ESWL). Then we confirmed its effectiveness by using 10 mg silver azide pellets and constructed our own lithotripter, which was officially approved for a clinical use in 1987. Tissue damage during ESWL was attributable to bubble collapse and we convinced it could be done in a controlled fashion. In 1996, we used 160 mJ pulsed Ho:YAG laser beam focusing inside a catheter for shock generation and applied it to the revascularization of cerebral embolism, which is recently expanded to the treatment of pulmonary infarction. Micro water jets discharged in air were so effective to dissect soft tissues preserving small blood vessels. Animal experiments are successfully performed with high frequency water jets driven by an actuator-assisted micro-pump. A metal foil is deformed at high speed by a Q-switched Nd:YAG laser beam loading. We used this technique to project micro-particles or dry drugs attached on its reverse side and extended it to a laser ablation assisted dry drug delivery or DNA introductory system.

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

Science.gov (United States)

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

2016-05-01

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

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

Science.gov (United States)

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

2015-12-23

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

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.

Study of archaeological underwater finds: deterioration and conservation

Science.gov (United States)

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

2010-09-01

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

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

KAUST Repository

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

2017-01-01

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

Study on in-vessel thermohydraulics phenomena of sodium-cooled fast reactors. 3. Numerical investigation for thermal stratification phenomena in the upper plenum

International Nuclear Information System (INIS)

Muramatsu, Toshiharu; Yamaguchi, Akira

2002-06-01

A large-scale sodium-cooled fast breeder reactor in the feasibility studies on commercialized fast reactors has a feature of consideration of thorough simplified and compacted systems and components design to realize drastic economical improvements. Therefore, special attentions should be paid to thermohydraulic designs for gas entrainment behavior from free surface, flow-induced vibration of in-vessel components, thermal stratification in the plenum, thermal shock for various structures due to high-speed coolant flows, nonsymmetrical coolant flows, etc. in the reactor vessel. In-vessel thermohydraulic analyses were carried out using a multi-dimensional code AQUA to understand the thermal stratification characteristics in the upper plenum, and to investigate trade-off relations between gas entrainment and thermal stratification phenomena on in-vessel structures for the elimination of gas entrainment possibility. From the analysis, the following results were obtained. (1) Dummy plug insertion to a slit of the upper core structure is one of the effective measures to stabilize the in-vessel flow patterns and to mitigate in-vessel thermal shocks. (2) Though flow guide device such as a baffle ring attached to reactor vessel wall is an effective measure to eliminate impinging jet to dipped plate, rising characteristics of the thermal stratification interface are affected by the baffle ring devise. (3) Thermal stratification characteristics are not influenced very much by the installation of a partial inner barrel to the dipped plate, which is an effective measure to reduce the horizontal flow velocity components at free surface. (4) Labyrinth structures to the gap between the reactor vessel wall and the outer dipped plate have direct effects upon in-vessel thermal shock characteristics including thermal stratification phenomena due to the closing of flow path between the upper plenum and the free surface plenum. (author)

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

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.

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.

WODA Technical Guidance on Underwater Sound from Dredging.

Science.gov (United States)

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

2016-01-01

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

Communication and cooperation in underwater acoustic networks

Science.gov (United States)

Yerramalli, Srinivas

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

Numerical study of effects of accommodation coefficients on slip phenomena

Energy Technology Data Exchange (ETDEWEB)

Choi, Young Jae; Kwon, Oh Joon [KAIST, Daejeon (Korea, Republic of)

2015-05-15

An unstructured mesh Navier-Stokes solver employing a Maxwell slip boundary condition was developed. The present flow solver was applied to the simulation of flows around an axisymmetric hollow cylinder in a Mach 10.4 free stream, known as Calspan-UB Research Center (CUBRC) Run 14 case, and the velocity slip and the temperature jump on the cylinder surface were investigated. The effect of tangential momentum and thermal accommodation coefficients used in the Maxwell condition was also investigated by adjusting their values. The results show that the reverse flow region is developed on the body surface due to the interaction between the shock and the boundary layer. Also, the shock impingement makes pressure high. The flow properties on the surface agree well with the experimental data, and the velocity slip and the temperature jump vary consistently with the local Knudsen number change. The accommodation coefficients affect the slip phenomena and the size of the flow region. The slip phenomena become larger when both tangential momentum and thermal accommodation coefficients are decreased. However, the range of the reverse flow region decreases when the momentum accommodation coefficient is decreased. The characteristics of the momentum and thermal accommodation coefficients also are overlapped when they are altered together.

A soap film shock tube to study two-dimensional compressible flows

Energy Technology Data Exchange (ETDEWEB)

Wen, C.Y.; Chen, Y.M.; Chang-Jian, S.K. [Dept. of Mechanical Engineering, Da-Yeh University Chang-Hwa (Taiwan)

2001-07-01

A new experimental approach to the study of the two-dimensional compressible flow phenomena is presented. In this technique, a variety of compressible flows were generated by bursting plane vertical soap films. An aureole and a ''shock wave'' preceding the rim of the expanding hole were clearly observed using traditional high-speed flash photography and a fast line-scan charge coupled device (CCD) camera. The moving shock wave images obtained from the line-scan CCD camera were similar to the x-t diagrams in gas dynamics. The moving shock waves cause thickness jumps and induce supersonic flows. Photographs of the supersonic flows over a cylinder and a wedge are presented. The results suggest clearly the feasibility of the ''soap film shock tube''. (orig.)

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.

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

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.

Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

M. Fauzi Nor Shah

2011-08-01

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

Comparative study of the expansion dynamics of laser-driven plasma and shock wave in in-air and underwater ablation regimes

Science.gov (United States)

Nguyen, Thao T. P.; Tanabe, Rie; Ito, Yoshiro

2018-03-01

We compared the expansion characteristics of the plasma plumes and shock waves generated in laser-induced shock process between the two ablation regimes: in air and under water. The observation was made from the initial moment when the laser pulse hit the target until 1.5 μs. The shock processes were driven by focusing a single laser pulse (1064 nm, FWHM = 13 ns) onto the surface of epoxy-resin blocks using a 40-mm focal length lens. The estimated laser intensity at the target plane is approximate to 9 ×109Wcm-2 . We used the fast-imaging technique to observe the expansion of the plasma plume and a custom-designed time-resolved photoelasticity imaging technique to observe the propagation of shock waves with the time resolution of nanoseconds. We found that at the same intensity of the laser beam, the plasma expansion during the laser pulse follows different mechanisms: the plasma plume that grows in air follows a radiation-wave model while a detonation-wave model can explain the expansion of the plasma plume induced in water. The ideal blast wave theory can be used to predict the decay of the shock wave in air but is not appropriate to describe the decay of the shock wave induced under water.

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.

Experimental and Numerical Investigations on Deformation of Cylindrical Shell Panels to Underwater Explosion

Directory of Open Access Journals (Sweden)

K. Ramajeyathilagam

2001-01-01

Full Text Available Experimental and numerical investigations on cylindrical shell panels subjected to underwater explosion loading are presented. Experiments were conducted on panels of size 0.8 × 0.6 × 0.00314 m and shell rise-to-span ratios h/l = 0.0, 0.05, 0.1 , using a box model set-up under air backed conditions in a shock tank. Small charges of PEK I explosive were employed. The plastic deformation of the panels was measured for three loading conditions. Finite element analysis was carried out using the CSA/GENSA [DYNA3D] software to predict the plastic deformation for various loading conditions. The analysis included material and geometric non-linearities, with strain rate effects incorporated based on the Cowper-Symonds relation. The numerical results for plastic deformation are compared with those from experiments.

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

Science.gov (United States)

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

2017-10-01

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

The importance of microjet vs shock wave formation in sonophoresis.

Science.gov (United States)

Wolloch, Lior; Kost, Joseph

2010-12-01

Low-frequency ultrasound application has been shown to greatly enhance transdermal drug delivery. Skin exposed to ultrasound is affected in a heterogeneous manner, thus mass transport through the stratum corneum occurs mainly through highly permeable localized transport regions (LTRs). Shock waves and microjets generated during inertial cavitations are responsible for the transdermal permeability enhancement. In this study, we evaluated the effect of these two phenomena using direct and indirect methods, and demonstrated that the contribution of microjets to skin permeability enhancement is significantly higher than shock waves. Copyright © 2010. Published by Elsevier B.V.

Notes on the Prediction of Shock-induced Boundary-layer Separation

Science.gov (United States)

Lange, Roy H.

1953-01-01

The present status of available information relative to the prediction of shock-induced boundary-layer separation is discussed. Experimental results showing the effects of Reynolds number and Mach number on the separation of both laminar and turbulent boundary layer are given and compared with available methods for predicting separation. The flow phenomena associated with separation caused by forward-facing steps, wedges, and incident shock waves are discussed. Applications of the flat-plate data to problems of separation on spoilers, diffusers, and scoop inlets are indicated for turbulent boundary layers.

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.)

OPTICAL correlation identification technology applied in underwater laser imaging target identification

Science.gov (United States)

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

2012-01-01

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

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.

Shock wave science and technology reference library

CERN Document Server

2009-01-01

This book is the second of several volumes on solids in the Shock Wave Science and Technology Reference Library. These volumes are primarily concerned with high-pressure shock waves in solid media, including detonation and high-velocity impact and penetration events. Of the four extensive chapters in this volume, the first two describe the reactive behavior of condensed phase explosives, - Condensed-Phase Explosives: Shock Initiation and Detonation Phenomena (SA Sheffield and R Engelke) - First Principles Molecular Simulations of Energetic Materials at High-Pressures (F Zhang, S Alavi, and TK Woo), and the remaining two discuss the inert, mechanical response of solid materials. - Combined Compression and Shear Plane Waves (ZP Tang and JB Aidun), and - Dynamic Fragmentation of Solids (D Grady). All chapters are each self-contained, and can be read independently of each other. They offer a timely reference, for beginners as well as professional scientists and engineers, on the foundations of detonation phenomen...

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.

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.

Underwater inverse LIBS (iLIBS) for marine archaeology

Science.gov (United States)

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

2013-05-01

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

Remarks on the observability of single beacon underwater navigation

DEFF Research Database (Denmark)

Jouffroy, Jerome; Ross, Andrew

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

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.

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.

Underwater Acoustic Target Tracking: A Review

Science.gov (United States)

Han, Ying; Fan, Liying

2018-01-01

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

Afocal viewport optics for underwater imaging

Science.gov (United States)

Slater, Dan

2014-09-01

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

Underwater running device

International Nuclear Information System (INIS)

Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

1996-01-01

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

Smelling and Tasting Underwater.

Science.gov (United States)

Atema, Jelle

1980-01-01

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

Polarization Calculation and Underwater Target Detection Inspired by Biological Visual Imaging

Directory of Open Access Journals (Sweden)

Jie Shen

2014-04-01

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

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

Application of underwater radon measurements in geology

Energy Technology Data Exchange (ETDEWEB)

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

1988-01-01

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

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.

Lower hybrid waves at the shock front: a reassessment

Directory of Open Access Journals (Sweden)

S. N. Walker

2008-03-01

Full Text Available The primary process occurring at a collisionless shock is the redistribution of the bulk upstream energy into other degrees of freedom. One part of this process results in the acceleration of electrons at the shock front. Accelerated electrons are observed at the terrestrial and other planetary shocks, comets, and their effects are observed in astrophysical phenomena such as supernova remnants and jets in the form of X-ray bremsstrahlung radiation. One of the physical models for electron acceleration at supercritical shocks is based on low-hybrid turbulence due to the presence of reflected ions in the foot region. Since lower hybrid waves propagate almost perpendicular to the magnetic field they can be simultaneously in resonance with both the unmagnetised ions (ω=Vik⊥ and magnetised electrons (ω=Vek||. In this paper, Cluster observations of the electric field are used to study the occurrence of lower hybrid waves in the front of the terrestrial bow shock. It is shown that the lower hybrid waves exist as isolated wave packets. However, the very low level of the observed lower hybrid turbulence is too small to impart significant energisation to the electron population.

Simulations of Shock Wave Interaction with a Particle Cloud

Science.gov (United States)

Koneru, Rahul; Rollin, Bertrand; Ouellet, Frederick; Annamalai, Subramanian; Balachandar, S.'Bala'

2016-11-01

Simulations of a shock wave interacting with a cloud of particles are performed in an attempt to understand similar phenomena observed in dispersal of solid particles under such extreme environment as an explosion. We conduct numerical experiments in which a particle curtain fills only 87% of the shock tube from bottom to top. As such, the particle curtain upon interaction with the shock wave is expected to experience Kelvin-Helmholtz (KH) and Richtmyer-Meshkov (RM) instabilities. In this study, the initial volume fraction profile matches with that of Sandia Multiphase Shock Tube experiments, and the shock Mach number is limited to M =1.66. In these simulations we use a Eulerian-Lagrangian approach along with state-of-the-art point-particle force and heat transfer models. Measurements of particle dispersion are made at different initial volume fractions of the particle cloud. A detailed analysis of the evolution of the particle curtain with respect to the initial conditions is presented. This work was supported by the U.S. Department of Energy, National Nuclear Security Administration, Advanced Simulation and Computing Program, as a Cooperative Agreement under the Predictive Science Academic Alliance Program, Contract No. DE-NA0002378.

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

Solar radio bursts of spectral type II, coronal shocks, and optical coronal transients

Science.gov (United States)

Maxwell, A.; Dryer, M.

1981-01-01

An examination is presented of the association of solar radio bursts of spectral type II and coronal shocks with solar flare ejecta observed in H-alpha, the green coronal line, and white-light coronagraphs. It is suggested that fast-moving optical coronal transients should for the most part be identified with piston-type phenomena well behind the outward-traveling shock waves that generate type II radio bursts. A general model is presented which relates type II radio bursts and coronal shocks to optically observed ejecta and consists of three main velocity regimes: (1) a quasi-hemispherical shock wave moving outward from the flare at speeds of 1000-2000 km/sec and Alfven Mach number of about 1.5; (2) the velocity of the piston driving the shock, on the order of 0.8 that of the shock; and (3) the regime of the slower-moving H-alpha ejecta, with velocities of 300-500 km/sec.

Pseudo-shock waves and their interactions in high-speed intakes

Science.gov (United States)

Gnani, F.; Zare-Behtash, H.; Kontis, K.

2016-04-01

In an air-breathing engine the flow deceleration from supersonic to subsonic conditions takes places inside the isolator through a gradual compression consisting of a series of shock waves. The wave system, referred to as a pseudo-shock wave or shock train, establishes the combustion chamber entrance conditions, and therefore influences the performance of the entire propulsion system. The characteristics of the pseudo-shock depend on a number of variables which make this flow phenomenon particularly challenging to be analysed. Difficulties in experimentally obtaining accurate flow quantities at high speeds and discrepancies of numerical approaches with measured data have been readily reported. Understanding the flow physics in the presence of the interaction of numerous shock waves with the boundary layer in internal flows is essential to developing methods and control strategies. To counteract the negative effects of shock wave/boundary layer interactions, which are responsible for the engine unstart process, multiple flow control methodologies have been proposed. Improved analytical models, advanced experimental methodologies and numerical simulations have allowed a more in-depth analysis of the flow physics. The present paper aims to bring together the main results, on the shock train structure and its associated phenomena inside isolators, studied using the aforementioned tools. Several promising flow control techniques that have more recently been applied to manipulate the shock wave/boundary layer interaction are also examined in this review.

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

Science.gov (United States)

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

2018-05-25

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

Shocks, singularities and oscillations in nonlinear optics and fluid mechanics

CERN Document Server

Santo, Daniele; Lannes, David

2017-01-01

The book collects the most relevant results from the INdAM Workshop "Shocks, Singularities and Oscillations in Nonlinear Optics and Fluid Mechanics" held in Rome, September 14-18, 2015. The contributions discuss recent major advances in the study of nonlinear hyperbolic systems, addressing general theoretical issues such as symmetrizability, singularities, low regularity or dispersive perturbations. It also investigates several physical phenomena where such systems are relevant, such as nonlinear optics, shock theory (stability, relaxation) and fluid mechanics (boundary layers, water waves, Euler equations, geophysical flows, etc.). It is a valuable resource for researchers in these fields. .

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

OpenAIRE

Kia, Chua; Arshad, Mohd Rizal

2006-01-01

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

A review of underwater bio-mimetic propulsion: cruise and fast-start

Science.gov (United States)

Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang

2017-08-01

This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion.

A review of underwater bio-mimetic propulsion: cruise and fast-start

Energy Technology Data Exchange (ETDEWEB)

Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang, E-mail: PanGuang_010@163.com [School of Marine Science and Technology, Northwestern Polytechnical University, Xian 710072 (China)

2017-08-15

This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion. (review)

Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

Science.gov (United States)

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

2014-10-01

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

Channel coding for underwater acoustic single-carrier CDMA communication system

Science.gov (United States)

Liu, Lanjun; Zhang, Yonglei; Zhang, Pengcheng; Zhou, Lin; Niu, Jiong

2017-01-01

CDMA is an effective multiple access protocol for underwater acoustic networks, and channel coding can effectively reduce the bit error rate (BER) of the underwater acoustic communication system. For the requirements of underwater acoustic mobile networks based on CDMA, an underwater acoustic single-carrier CDMA communication system (UWA/SCCDMA) based on the direct-sequence spread spectrum is proposed, and its channel coding scheme is studied based on convolution, RA, Turbo and LDPC coding respectively. The implementation steps of the Viterbi algorithm of convolutional coding, BP and minimum sum algorithms of RA coding, Log-MAP and SOVA algorithms of Turbo coding, and sum-product algorithm of LDPC coding are given. An UWA/SCCDMA simulation system based on Matlab is designed. Simulation results show that the UWA/SCCDMA based on RA, Turbo and LDPC coding have good performance such that the communication BER is all less than 10-6 in the underwater acoustic channel with low signal to noise ratio (SNR) from -12 dB to -10dB, which is about 2 orders of magnitude lower than that of the convolutional coding. The system based on Turbo coding with Log-MAP algorithm has the best performance.

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.

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.

Maxwell Prize Talk: Scaling Laws for the Dynamical Plasma Phenomena

Science.gov (United States)

Ryutov, Livermore, Ca 94550, Usa, D. D.

2017-10-01

The scaling and similarity technique is a powerful tool for developing and testing reduced models of complex phenomena, including plasma phenomena. The technique has been successfully used in identifying appropriate simplified models of transport in quasistationary plasmas. In this talk, the similarity and scaling arguments will be applied to highly dynamical systems, in which temporal evolution of the plasma leads to a significant change of plasma dimensions, shapes, densities, and other parameters with respect to initial state. The scaling and similarity techniques for dynamical plasma systems will be presented as a set of case studies of problems from various domains of the plasma physics, beginning with collisonless plasmas, through intermediate collisionalities, to highly collisional plasmas describable by the single-fluid MHD. Basic concepts of the similarity theory will be introduced along the way. Among the results discussed are: self-similarity of Langmuir turbulence driven by a hot electron cloud expanding into a cold background plasma; generation of particle beams in disrupting pinches; interference between collisionless and collisional phenomena in the shock physics; similarity for liner-imploded plasmas; MHD similarities with an emphasis on the effect of small-scale (turbulent) structures on global dynamics. Relations between astrophysical phenomena and scaled laboratory experiments will be discussed.

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

Directory of Open Access Journals (Sweden)

A. E. Yilmaz

2009-12-01

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

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

DEFF Research Database (Denmark)

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

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

Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

DEFF Research Database (Denmark)

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

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

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

Underwater methods for study of salmonids in the Intermountain West

Science.gov (United States)

Russell F. Thurow

1994-01-01

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

A computational method for oleo-acoustics, application to hydraulic shock absorbers

NARCIS (Netherlands)

B. Koren (Barry); P.F.M. Michielsen (Paul); J.-W. Kars; P. Wesseling

1995-01-01

textabstractTo predict high-frequency oil-flow phenomena in hydraulic-shock-absorber designs, a mathematical-physical model is proposed. The model consists of the 2-D unsteady Euler equations in axial-symmetric coordinates and an appropriate equation of state for oil. The main topic of the paper is

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.

[Extracorporeal shock-wave lithotripsy of gallstones].

Science.gov (United States)

Freund, H R; Lebensart, P D; Muggia-Sullam, M; Durst, A L

1989-08-01

We performed 16 extracorporeal shock-wave lithotripsies (ESWL) to fragment gallstones in 11 women and 2 men, aged 19 to 57 (mean 41 +/- 10) years, during the past 10 months. Criteria for selection included a history of biliary colic, not more than 3 stones with a total diameter of not more than 30 mm, and a functioning gallbladder. 210 patients were examined, of whom 98 were referred for additional screening by combined ultrasonography and oral cholecystography. This resulted in rejection of another 71 patients due to multiple stones (38%), nonfunctioning gallbladder (22%), calcified stones (12%), stones not visualized in the prone position (9%), excessively large stones (3%) and other reasons (16%). Only 27 patients fulfilled all the criteria. Under epidural or general anesthesia (11 and 2 patients, respectively), we administered 1200-3500 (mean 2250 +/- 750) shock waves at 20-24 KV with the Tripter X1 (Direx, Israel-USA). This is an ultrasound-guided, modular portable, shock-wave generator utilizing underwater high energy spark discharge. Chenodeoxycholic or ursodeoxycholic acid, 10 mg/kg/day, was started 1 week prior to ESWL and continued for 3 months after disappearance of fragments and debris. We encountered skin petechiae in all patients, transient hematuria in 8, mild biliary colic in 1 and a small liver hematoma in 1. To date, 3 patients are free of stones, while in 7 only sludge and tiny fragments are present which we expect to disappear as a result of the litholytic therapy. 3 patients had fragments larger than 5 mm and required a second ESWL. Thus ESWL, which was indicated in only 13% of screened patients, proved to be safe and can be expected to be successful in 75% of selected candidates.

Radiating shocks and condensations in flares

International Nuclear Information System (INIS)

Fisher, G.H.

1985-01-01

Rapid energy release (by either ''thick target'' (beam) or ''thermal'' models of heating) in solar flare loop models usually leads to ''chromospheric evaporation,'' the process of heating cool chromospheric material to coronal temperatures, and the resulting increase in hot soft x-ray emitting plasma. The evaporated plasma flows up into the coronal portion of the loop because of the increased pressure in the evaporated region. However, the pressure increase also leads to a number of interesting phenomena in the flare chromosphere, which will be the subject of this paper. The sudden pressure increase in the evaporated plasma initiates a downward moving ''chromospheric condensation,'' an overdense region which gradually decelerates as it accretes material and propagates into the gravitationally stratified chromosphere. Solutions to an equation of motion for this condensation shows that its motion decays after about one minute of propagation into the chromosphere. When the front of this downflowing region is supersonic relative to the atmosphere ahead of it, a radiating shock will form. If the downflow is rapid enough, the shock strength should be sufficient to excite uv radiation normally associated with the transition region, and furthermore, the radiating shock will be brighter than the transition region. These results lead to a number of observationally testable relationships between the optical and ultraviolet spectra from the condensation and radiating shock

High pressure multiple shock response of aluminum

International Nuclear Information System (INIS)

Lawrence, R.J.; Asay, J.R.

1977-01-01

It is well known that both dynamic yield strength and rate-dependent material response exert direct influence on the development of surface and interface instabilities under conditions of strong shock loading. A detailed understanding of these phenomena is therefore an important aspect of the analysis of dynamic inertial confinement techniques which are being used in such applications as the generation of controlled thermonuclear fusion. In these types of applications the surfaces and interfaces under consideration can be subjected to cyclic loading characterized by shock pressures on the order of 100 GPa or more. It thus becomes important to understand how rate effects and material strength differ from the values observed in the low pressure regime where they are usually measured, as well as how they are altered by the loading history

Experimental Research on the Dynamic Response of Floating Structures with Coatings Subjected to Underwater Explosion

Directory of Open Access Journals (Sweden)

Feng Xiao

2014-01-01

Full Text Available This paper presents an experimental investigation into the dynamic response of three free floating stiffened metal boxes with protective coatings subjected to underwater explosion (UNDEX. One box was kept intact while the other two were, respectively, covered with monolithic coatings and chiral honeycomb coatings. Three groups of live fire tests with different attack angles and stand-off distances were conducted. The acceleration on the stiffener and strain peak on the bottom hull were selected as the major comparative criterions. Test results show that the impulse transmitted to the structure at the initial stage can be reduced, owing to the coating flexibility and fluid-structure interaction mechanism. Consequently, the acceleration peaks induced by both shock wave and bubble pulse were reduced. The shock environment can be more effectively improved by honeycomb coating when compared with monolithic coating. Most of the strain peaks decreased to a certain extent, but some of them were notably manifested, especially for honeycomb coating. The test affirms the fact that soft coating can cause stress concentration on the shell that is in direct contact with the coating due to the impedance mismatch between the interfaces of materials. A softer rubber coating induces a greater magnitude of strain.

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.

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...

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.

Underwater laser cladding and seal welding for INCONEL 52

International Nuclear Information System (INIS)

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

2007-01-01

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

Safety aspects for underwater vehicles

Digital Repository Service at National Institute of Oceanography (India)

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

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

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

Defect detectability of eddy current testing for underwater laser beam welding

International Nuclear Information System (INIS)

Ueno, Souichi; Kobayashi, Noriyasu; Ochiai, Makoto; Kasuya, Takashi; Yuguchi, Yasuhiro

2011-01-01

We clarified defect detectability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding works of dissimilar metal welding (DMW) of reactor vessel nozzle. The underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in the grooves and welded surface grinding as a post treatment. Therefore groove and welded surface inspections are required in the underwater condition. The ECT is a major candidate as this inspection technique because a penetrant testing is difficult to perform in the underwater condition. Several kinds of experiments were curried out using a cross coil an ECT probe and ECT data acquisition system in order to demonstrate the ECT defect detectability. We used specimens, simulating groove and DMW materials at an RV nozzle, with electro-discharge machining (EDM) slits over it. Additionally, we performed a detection test for artificial stress corrosion cracking (SCC) defects. From these experimental results, we confirmed that an ECT was possible to detect EDM slits 0.3 mm or more in depth and artificial SCC defects 0.02 mm to 0.48 mm in depth on machined surface. Furthermore, the underwater ECT defect detectability is equivalent to that in air. We clarified an ECT is sufficiently usable as a surface inspection technique for underwater laser beam welding works. (author)

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

OpenAIRE

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

2015-01-01

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

Applicability evaluation of eddy current testing for underwater laser beam welding

International Nuclear Information System (INIS)

Kobayashi, Noriyasu; Kasuya, Takashi; Ueno, Souichi; Ochiai, Makoto; Yuguchi, Yasuhiro

2010-01-01

We clarified a defect detecting capability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding. An underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in groove and welding surface grinding as a post treatment. Therefore groove and grinded welding surface inspections are required underwater. We curried out defect detection tests using three kinds of specimens simulated a groove, reactor vessel nozzle dissimilar metal welding materials and a laser beam welding material with a cross coil ECT probe. From experimental results, we confirmed that it is possible to detect 0.3 mm or more depth electro-discharge machining slits on machining surfaces in all specimens and an ECT has possibility as a surface inspection technique for underwater laser beam welding. (author)

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

Directory of Open Access Journals (Sweden)

Muhammad Khalid

2017-01-01

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

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.

Shock waves in P-bar target

Energy Technology Data Exchange (ETDEWEB)

Tang, Zhijing; Anderson, K.

1991-11-01

The deposition of large amount of beam energy in short time will cause high temperature and pressure in the center of P-bar Target, and this disturbance will propagate outwards as a shock wave. Shock wave induced material changes which are of our concern include void growth and accompanying density decrease which will decrease antiproton yield, and crack formation and fracture as was observed in tungsten target which will destroy the integrity of the target. Our objective is to analyze the shock wave behavior in the target, optimize its design so that the destructive effects of shock wave can be minimized, the integrity of the target can be maintained, and a reasonably high yield of antiproton production can be achieved. In this report we put together some results of our analysis of a cylindrical copper target. We hope that it will provide a general overview of the shock wave phenomena in the target, establish a basis for further research, and facilitate the target design. First, energy deposition data are analyzed, and it is justified that as an approximation, the problem can be treated as axi-symmetric. The average data therefore are used as energy profile, however, the maximum energy deposition are still used as the peak value. Next some basic estimations are made as to what temperature and pressure can reach at present level of energy deposition. Then some characteristics of wave propagation in a thermal shock loaded solid are illustrated with a one-dimensional model. Since there is no analytical solution available for cylindrical geometry, our understanding of the problem relies on numerical model, which are performed via finite element package ANSYS. results of numerical analysis are summarized, sources of potential danger are identified, and design ideas to minimize the damage are proposed.

Shock waves in P-bar target

International Nuclear Information System (INIS)

Tang, Zhijing; Anderson, K.

1991-11-01

The deposition of large amount of beam energy in short time will cause high temperature and pressure in the center of P-bar Target, and this disturbance will propagate outwards as a shock wave. Shock wave induced material changes which are of our concern include void growth and accompanying density decrease which will decrease antiproton yield, and crack formation and fracture as was observed in tungsten target which will destroy the integrity of the target. Our objective is to analyze the shock wave behavior in the target, optimize its design so that the destructive effects of shock wave can be minimized, the integrity of the target can be maintained, and a reasonably high yield of antiproton production can be achieved. In this report we put together some results of our analysis of a cylindrical copper target. We hope that it will provide a general overview of the shock wave phenomena in the target, establish a basis for further research, and facilitate the target design. First, energy deposition data are analyzed, and it is justified that as an approximation, the problem can be treated as axi-symmetric. The average data therefore are used as energy profile, however, the maximum energy deposition are still used as the peak value. Next some basic estimations are made as to what temperature and pressure can reach at present level of energy deposition. Then some characteristics of wave propagation in a thermal shock loaded solid are illustrated with a one-dimensional model. Since there is no analytical solution available for cylindrical geometry, our understanding of the problem relies on numerical model, which are performed via finite element package ANSYS. results of numerical analysis are summarized, sources of potential danger are identified, and design ideas to minimize the damage are proposed

Lower hybrid waves at the shock front: a reassessment

Directory of Open Access Journals (Sweden)

S. N. Walker

2008-03-01

Full Text Available The primary process occurring at a collisionless shock is the redistribution of the bulk upstream energy into other degrees of freedom. One part of this process results in the acceleration of electrons at the shock front. Accelerated electrons are observed at the terrestrial and other planetary shocks, comets, and their effects are observed in astrophysical phenomena such as supernova remnants and jets in the form of X-ray bremsstrahlung radiation. One of the physical models for electron acceleration at supercritical shocks is based on low-hybrid turbulence due to the presence of reflected ions in the foot region. Since lower hybrid waves propagate almost perpendicular to the magnetic field they can be simultaneously in resonance with both the unmagnetised ions (ω=V_ik_⊥ and magnetised electrons (ω=V_ek_||. In this paper, Cluster observations of the electric field are used to study the occurrence of lower hybrid waves in the front of the terrestrial bow shock. It is shown that the lower hybrid waves exist as isolated wave packets. However, the very low level of the observed lower hybrid turbulence is too small to impart significant energisation to the electron population.

Numerical studies of electron dynamics in oblique quasi-perpendicular collisionless shock waves

International Nuclear Information System (INIS)

Liewer, P.C.; Decyk, V.K.; Dawson, J.M.; Lembege, B.

1991-01-01

Linear and nonlinear electron damping of the whistler precursor wave train to low Mach number quasi-perpendicular oblique shocks is studied using a one-dimensional electromagnetic plasma simulation code with particle electrons and ions. In some parameter regimes, electrons are observed to trap along the magnetic field lines in the potential of the whistler precursor wave train. This trapping can lead to significant electron heating in front of the shock for β e (∼10% or less). Use of the 64-processor Caltech/JPL Mark IIIfp hypercube concurrent computer has enables us to make long runs using realistic mass ratios (m i /m e = 1,600) in the full particle in-cell code and thus simulate shock parameter regimes and phenomena not previously studied numerically

Study on underwater plasma arc cutting technology

International Nuclear Information System (INIS)

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

1980-01-01

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

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.

Hydrodynamic design of an underwater hull cleaning robot and its evaluation

Directory of Open Access Journals (Sweden)

Man Hyung Lee

2012-12-01

Full Text Available An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

Monterey Bay ambient noise profiles using underwater gliders

OpenAIRE

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

2013-01-01

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

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

Directory of Open Access Journals (Sweden)

Nasir Saeed

2017-12-01

Full Text Available Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization.

Science.gov (United States)

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

2017-12-26

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

KAUST Repository

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

2017-01-01

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

KAUST Repository

Saeed, Nasir

2017-12-26

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Cutting method and device underwater

International Nuclear Information System (INIS)

Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

1998-01-01

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

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

KAUST Repository

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

2018-01-01

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

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.

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.

Summary of the guideline on underwater laser beam repair welding

International Nuclear Information System (INIS)

Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

2013-01-01

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

ROV-based Underwater Vision System for Intelligent Fish Ethology Research

Directory of Open Access Journals (Sweden)

Rui Nian

2013-09-01

Full Text Available Fish ethology is a prospective discipline for ocean surveys. In this paper, one ROV-based system is established to perform underwater visual tasks with customized optical sensors installed. One image quality enhancement method is first presented in the context of creating underwater imaging models combined with homomorphic filtering and wavelet decomposition. The underwater vision system can further detect and track swimming fish from the resulting images with the strategies developed using curve evolution and particular filtering, in order to obtain a deeper understanding of fish behaviours. The simulation results have shown the excellent performance of the developed scheme, in regard to both robustness and effectiveness.

Application of YAG laser processing in underwater welding and cutting

Energy Technology Data Exchange (ETDEWEB)

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

2002-09-01

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

Shock-induced electrical activity in polymeric solids. A mechanically induced bond scission model

International Nuclear Information System (INIS)

Graham, R.A.

1979-01-01

When polymeric solids are subjected to high-pressure shock loading, two anomalous electrical phenomena, shock-induced conduction and shock-induced polarization, are observed. The present paper proposes a model of mechanically induced bond scission within the shock front to account for the effects. An experimental study of shock-induced polarization in poly(pyromellitimide) (Vespel SP-1) is reported for shock compressions from 17 to 23% (pressures from 2.5 to 5.4 GPa). Poly(pyromellitimide) is found to be a strong generator of such polarization and the polarization is found to reflect an irreversible or highly hysteretic process. The present measurements are combined with prior measurements to establish a correlation between monomer structure and strength of shock-induced polarization; feeble signals are observed in the simpler monomer repeat units of poly(tetrafluoroethylene) and polyethylene while the strongest signals are observed in more complex monomers of poly(methyl methacrylate) and poly(pyromellitimide). It is also noted that there is an apparent correlation between shock-induced conduction and shock-induced polarization. Such shock-induced electrical activity is also found to be well correlated with the propensity for mechanical bond scission observed in experiments carried out in conventional mechanochemical studies. The bond scission model can account for characteristics observed for electrical activity in shock-loaded polymers and their correlation to monomer structure. Localization of elastic energy within the monomer repeat unit or along the main chain leads to the different propensities for bond scission and resulting shock-induced electrical activity

Optimum LED wavelength for underwater optical wireless communication at turbid water

Science.gov (United States)

Rosenkrantz, Etai; Arnon, Shlomi

2014-10-01

Underwater optical wireless communication is an emerging technology, which can provide high data rate. High data rate communication is required for applications such as underwater imaging, networks of sensors and swarms of underwater vehicles. These applications pursue an affordable light source, which can be obtained by light emitting diodes (LED). LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness based on off-the-shelf components such as blue and green light emitting diodes. In this paper we present our recent theoretical and experimental results in this field.

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...

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)

FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

OpenAIRE

R. Rinaldi; H. Hordosch

2015-01-01

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

Experimental search for compression phenomena in fast nucleus--nucleus collisions

International Nuclear Information System (INIS)

Schopper, E.; Baumgardt, H.G.; Obst, E.

1977-01-01

The occurrence of compression phenomena and shock waves, connected with the increase of the density of the nuclear matter during the interpenetration of two fast nuclei, are discussed. Current experiments dealing with this problem are reviewed. Before considering the mechanism of the interpenetration of two fast nuclei it may be useful to look at more simple situations, i.e., proton-proton interactions, then to envelop them with nuclear matter, considering proton-nucleus interactions. Only very general features are described, which may give suggestions for the understanding of the nucleus-nucleus impact

Shock - A reappraisal: The holistic approach

Directory of Open Access Journals (Sweden)

Fabrizio Giuseppe Bonanno

2012-01-01

Full Text Available Shock as reaction to life-threatening condition needs to be reclassified in a timely and more scientific synopsis. It is not possible or beneficial any longer to avoid a holistic approach in critical illness. Semantics of critical illness has often been unfriendly in the literature and a simplification with the elimination of conceptual pleonasms and misnomers under the exclusive light of physiology and physiopathology would be advantageous. Speaking one language to describe the same phenomenon worldwide is essential for understanding; moreover, it increases focus on characterization and significance of the phenomena.

Development of underwater and hyperbaric medicine in Malaysia.

Science.gov (United States)

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

2006-12-01

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

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.

Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

Science.gov (United States)

1998-03-31

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

Strong underwater adhesives made by self-assembling multi-protein nanofibres.

Science.gov (United States)

Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M; Lu, Timothy K

2014-10-01

Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly and structure-function relationships of these natural amyloid fibres remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibres. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibres have an underwater adhesion energy approaching 20.9 mJ m(-2), which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibres taken on their own and exhibit better tolerance to auto-oxidation than Mfps at pH ≥ 7.0.

On the Performance of the Underwater Acoustic Sensor Networks

Science.gov (United States)

2015-05-01

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

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, ...

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

Science.gov (United States)

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

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Pengfei Shi

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

Nonlinear theory of diffusive acceleration of particles by shock waves

Energy Technology Data Exchange (ETDEWEB)

Malkov, M.A. [University of California at San Diego, La Jolla, CA (United States)]. E-mail: mmalkov@ucsd.edu; Drury, L. O' C. [Dublin Institute for Advanced Studies, 5 Merrion Square, Dublin 2 (Ireland)

2001-04-01

Among the various acceleration mechanisms which have been suggested as responsible for the nonthermal particle spectra and associated radiation observed in many astrophysical and space physics environments, diffusive shock acceleration appears to be the most successful. We review the current theoretical understanding of this process, from the basic ideas of how a shock energizes a few reactionless particles to the advanced nonlinear approaches treating the shock and accelerated particles as a symbiotic self-organizing system. By means of direct solution of the nonlinear problem we set the limit to the test-particle approximation and demonstrate the fundamental role of nonlinearity in shocks of astrophysical size and lifetime. We study the bifurcation of this system, proceeding from the hydrodynamic to kinetic description under a realistic condition of Bohm diffusivity. We emphasize the importance of collective plasma phenomena for the global flow structure and acceleration efficiency by considering the injection process, an initial stage of acceleration and, the related aspects of the physics of collisionless shocks. We calculate the injection rate for different shock parameters and different species. This, together with differential acceleration resulting from nonlinear large-scale modification, determines the chemical composition of accelerated particles. The review concentrates on theoretical and analytical aspects but our strategic goal is to link the fundamental theoretical ideas with the rapidly growing wealth of observational data. (author)

Enhanced shock wave generation via pre-breakdown acceleration using water electrolysis in negative streamer pulsed spark discharges

Science.gov (United States)

Lee, Kern; Chung, Kyoung-Jae; Hwang, Y. S.

2018-03-01

This paper presents a method for enhancement of shock waves generated from underwater pulsed spark discharges with negative (anode-directed) subsonic streamers, for which the pre-breakdown process is accelerated by preconditioning a gap with water electrolysis. Hydrogen microbubbles are produced at the cathode by the electrolysis and move towards the anode during the preconditioning phase. The numbers and spatial distributions of the microbubbles vary with the amplitude and duration of each preconditioning pulse. Under our experimental conditions, the optimum pulse duration is determined to be ˜250 ms at a pulse voltage of 400 V, where the buoyancy force overwhelms the electric force and causes the microbubbles to be swept out from the water gap. When a high-voltage pulse is applied to the gap just after the preconditioning pulse, the pre-breakdown process is significantly accelerated in the presence of the microbubbles. At the optimum preconditioning pulse duration, the average breakdown delay is reduced by 87% and, more importantly, the energy consumed during the pre-breakdown period decreases by 83%. This reduced energy consumption during the pre-breakdown period, when combined with the morphological advantages of negative streamers, such as thicker and longer stalks, leads to a significant improvement in the measured peak pressure (˜40%) generated by the underwater pulsed spark discharge. This acceleration of pre-breakdown using electrolysis overcomes the biggest drawback of negative subsonic discharges, which is slow vapor bubble formation due to screening effects, and thus enhances the efficiency of the shock wave generation process using pulsed spark discharges in water.

Underwater electric field detection system based on weakly electric fish

Science.gov (United States)

Xue, Wei; Wang, Tianyu; Wang, Qi

2018-04-01

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

Airborne lidar detection of an underwater thermal vent

Science.gov (United States)

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

2017-07-01

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

Plastic deformation mechanism of polycrystalline copper foil shocked with femtosecond laser

International Nuclear Information System (INIS)

Ye, Y.X.; Feng, Y.Y.; Lian, Z.C.; Hua, Y.Q.

2014-01-01

Plastic deformation mechanism of polycrystalline copper foil shocked with femtosecond (fs) laser has been characterized through optical microscopy (OM), scanning electron microscopy (SEM) and transmission electron microscopy (TEM). Experiments of ns laser shocking copper (Cu) and fs laser shocking aluminum (Al) were also conducted for comparison. Dislocations arranged in multiple forms, profuse twins and stacking faults (SFs) coexist in the fs laser shocked copper. At small strain condition, dislocation slip is the dominant deformation mode and small amount of SFs act as complementary mechanism. With strain increasing, profuse twins and SFs form to accommodate the plastic deformation. Furthermore, new formed SFs incline to locate around the old ones because the dislocation densities there are more higher. So there is a high probability for new SFs overlapping on old ones to form twins, or connecting old ones to lengthen them, which eventually produce the phenomena that twins connect with each other or twins connect with SFs. Strain greatly influences the dislocation density. Twins and SFs are more dependent on strain rate and shock pressure. Medium stacking fault energy (SFE) of copper helps to extend partial dislocations and provides sources for forming SFs and twins.

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

Directory of Open Access Journals (Sweden)

Kelly de Jesus

2015-01-01

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

An energy-harvesting power supply for underwater bridge scour monitoring sensors

Science.gov (United States)

Wang, Yuli; Li, Yingjie; He, Longzhuang; Shamsi, Pourya; Zheng, Yahong R.

2018-03-01

The natural force of scouring has become one of the most critical risk endangering the endurance of bridges, thus leading to the necessity of deploying underwater monitoring sensors to actively detect potential scour holes under bridges. Due to the difficulty in re-charging batteries for underwater sensors, super capacitors with energy harvesting (EH) means are exploited to prolong the sustainability of underwater sensors. In this paper, an energy harvesting power supply based on a helical turbine is proposed to power underwater monitoring sensors. A small helical turbine is designed to convert water flow energy to electrical energy with favorable environmental robustness. A 3-inch diameter, 2.5-inch length and 3-bladed helical turbine was designed with two types of waterproof coupling with the sensor housing. Both designs were prototyped and tested under different flow conditions and we get valid voltage around 0.91 V which is enough to power monitoring sensor. The alternating current (AC) electrical energy generated by the helical turbine is then rectified and boosted to drive a DC charger for efficiently charging one super capacitor. The charging circuit was designed, prototyped and tested thoroughly with the helical turbine harvester. The results were promising, that the overall power supply can power an underwater sensor node with wireless transceivers for long-term operations

The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

Science.gov (United States)

1997-04-01

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

Do dividend shocks affect excess returns? An experimental study

Directory of Open Access Journals (Sweden)

Draganac Dragana

2017-01-01

Full Text Available The dividend announcement of a company is an informational event that can cause underreaction, momentum, overreaction, post-dividend announcement drift, and mean reversion. It is the uncertainty surrounding dividend announcements that leads to such behavioural phenomena. Most authors consider that underreaction occurs after dividend shocks because new information about the dividend is being slowly and gradually built into the stock price. The effect of dividend shocks is often reflected in excess returns, which can last up to one year after the shock. The experiment described in this paper tests whether statistically significant excess returns are realized after a shock dividend announcement. Participants trade with the stocks of two companies, which only differ by dividend-generating stochastic process. The dividend process of Company 2 is a Merton-style jump-diffusion process (consisting of two parts: Brownian motion and Poisson jump, while the dividend process of Company 1 contains only the Brownian motion component. Statistically significant excess returns are expected when trading with Company 2 stocks. An autoregressive model is applied in order to test this hypothesis. The conclusion is that a dividend shock is followed by statistically significant excess returns in 20 of the 22 experiments, which implies that markets are inefficient after sudden and large changes in dividends. Underreaction and discount rate effects are identified.

Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

Directory of Open Access Journals (Sweden)

Xianbo Xiang

2010-02-01

Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

Underwater Welding Techniques

OpenAIRE

Esam F. Alajmi; Ahmad A. Alqenaei

2017-01-01

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

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

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

KAUST Repository

Lu, Yimeng

2018-01-01

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

The key kinematic determinants of undulatory underwater swimming at maximal velocity.

Science.gov (United States)

Connaboy, Chris; Naemi, Roozbeh; Brown, Susan; Psycharakis, Stelios; McCabe, Carla; Coleman, Simon; Sanders, Ross

2016-01-01

The optimisation of undulatory underwater swimming is highly important in competitive swimming performance. Nineteen kinematic variables were identified from previous research undertaken to assess undulatory underwater swimming performance. The purpose of the present study was to determine which kinematic variables were key to the production of maximal undulatory underwater swimming velocity. Kinematic data at maximal undulatory underwater swimming velocity were collected from 17 skilled swimmers. A series of separate backward-elimination analysis of covariance models was produced with cycle frequency and cycle length as dependent variables (DVs) and participant as a fixed factor, as including cycle frequency and cycle length would explain 100% of the maximal swimming velocity variance. The covariates identified in the cycle-frequency and cycle-length models were used to form the saturated model for maximal swimming velocity. The final parsimonious model identified three covariates (maximal knee joint angular velocity, maximal ankle angular velocity and knee range of movement) as determinants of the variance in maximal swimming velocity (adjusted-r2 = 0.929). However, when participant was removed as a fixed factor there was a large reduction in explained variance (adjusted r2 = 0.397) and only maximal knee joint angular velocity continued to contribute significantly, highlighting its importance to the production of maximal swimming velocity. The reduction in explained variance suggests an emphasis on inter-individual differences in undulatory underwater swimming technique and/or anthropometry. Future research should examine the efficacy of other anthropometric, kinematic and coordination variables to better understand the production of maximal swimming velocity and consider the importance of individual undulatory underwater swimming techniques when interpreting the data.

Assessing Mongolian gerbil emotional behavior: effects of two shock intensities and response-independent shocks during an extended inhibitory-avoidance task

OpenAIRE

Camilo Hurtado-Parrado; Camilo González-León; Mónica A. Arias-Higuera; Angelo Cardona; Lucia G. Medina; Laura García-Muñoz; Christian Sánchez; Julián Cifuentes; Juan Carlos Forigua; Andrea Ortiz; Cesar A. Acevedo-Triana; Javier L. Rico

2017-01-01

Despite step-down inhibitory avoidance procedures that have been widely implemented in rats and mice to study learning and emotion phenomena, performance of other species in these tasks has received less attention. The case of the Mongolian gerbil is of relevance considering the discrepancies in the parameters of the step-down protocols implemented, especially the wide range of foot-shock intensities (i.e., 0.4–4.0 mA), and the lack of information on long-term performance, extinction effects,...

Experimental Measurements of Temporal Dispersion for Underwater Laser Communications and Imaging

Science.gov (United States)

Cochenour, Brandon Michael

The challenge in implementing optical sensors underwater lies in the high variability of the ocean environment where propagation of light in the ocean is complicated by absorption and scattering. Most underwater optical sensors operate in the blue/green portion of the electromagnetic spectrum where seawater exhibits an absorption minimum. Mitigating scattering however is a greater challenge. In particular, scattering causes both spatial distortion (beam spreading) and temporal dispersion (pulse spreading or distortion). Each of type of dispersion decreases sensor performance (operating range, image resolution, data bandwidth, etc.). While spatial dispersion has received a great deal of attention in previous decades, technological limitations of sensor hardware have made experimental measurements of temporal dispersion underwater difficult until now. The main contribution of this thesis are experimental measurements of temporal dispersion of optical beams in turbid water, made with a high sensitivity/high dynamic range experimental technique. Measurements are performed as a function of water clarity (0-20 attenuation lengths), transmitter/receiver alignment (0-30 degrees, half angle), receiver field of view (1-7 degrees, full angle), and transmitter beam divergence (collimated and diffuse). Special attention is paid to the interdependency between spatial and temporal dispersion. This work provides severable notable contributions: 1. While experimental characterization of spatial dispersion has received significant attention underwater, there has been a lack of measurements characterizing temporal dispersion underwater. This work provides the most comprehensive set of experimental measurements to date regarding the temporal dispersion of optical beams underwater. 2. An experimental analysis of the influence of scattering phase function on temporal dispersion. Coarse estimates of the scattering phase function are used to determine the ranges (or attenuation lengths

Typical Underwater Tunnels in the Mainland of China and Related Tunneling Technologies

Directory of Open Access Journals (Sweden)

Kairong Hong

2017-12-01

Full Text Available In the past decades, many underwater tunnels have been constructed in the mainland of China, and great progress has been made in related tunneling technologies. This paper presents the history and state of the art of underwater tunnels in the mainland of China in terms of shield-bored tunnels, drill-and-blast tunnels, and immersed tunnels. Typical underwater tunnels of these types in the mainland of China are described, along with innovative technologies regarding comprehensive geological prediction, grouting-based consolidation, the design and construction of large cross-sectional tunnels with shallow cover in weak strata, cutting tool replacement under limited drainage and reduced pressure conditions, the detection and treatment of boulders, the construction of underwater tunnels in areas with high seismic intensity, and the treatment of serious sedimentation in a foundation channel of immersed tunnels. Some suggestions are made regarding the three potential great strait-crossing tunnels—the Qiongzhou Strait-Crossing Tunnel, Bohai Strait-Crossing Tunnel, and Taiwan Strait-Crossing Tunnel—and issues related to these great strait-crossing tunnels that need further study are proposed. Keywords: Underwater tunnel, Strait-crossing tunnel, Shield-bored tunnel, Immersed tunnel, Drill and blast

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

OpenAIRE

Li, Chongyi; Guo, Jichang; Guo, Chunle

2017-01-01

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

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

International Nuclear Information System (INIS)

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

2012-01-01

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

Underwater noise due to precipitation

DEFF Research Database (Denmark)

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

1989-01-01

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

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)

Study of Travelling Interplanetary Phenomena Report

Science.gov (United States)

Dryer, Murray

1987-09-01

Scientific progress on the topic of energy, mass, and momentum transport from the Sun into the heliosphere is contingent upon interdisciplinary and international cooperative efforts on the part of many workers. Summarized here is a report of some highlights of research carried out during the SMY/SMA by the STIP (Study of Travelling Interplanetary Phenomena) Project that included solar and interplanetary scientists around the world. These highlights are concerned with coronal mass ejections from solar flares or erupting prominences (sometimes together); their large-scale consequences in interplanetary space (such as shocks and magnetic 'bubbles'); and energetic particles and their relationship to these large-scale structures. It is concluded that future progress is contingent upon similar international programs assisted by real-time (or near-real-time) warnings of solar activity by cooperating agencies along the lines experienced during the SMY/SMA.

Influence of Housing Wall Compliance on Shock Absorbers in the Context of Vehicle Dynamics

Science.gov (United States)

Pulvirenti, G.; Faria, C.

2017-10-01

Shock absorbers play a key role in vehicle dynamics. Researchers have spent significant effort in order to understand phenomena associated with this component, but there are still several issues to address, in part because new technology development and design trends continually lead to new challenges, among which weight reduction is crucial. For shock absorbers, weight reduction is related to the use of new materials (e.g. composite) or new design paradigms (e.g. more complex geometry, wall thickness, etc.). All of them are directly linked to wall compliance values higher than the actual ones. The present article proposes a first analysis of the phenomena introduced by a high wall compliance, through a modelling approach and various simulations in order to understand the vehicle behaviour changes. It is shown that high values of wall compliance lead to increased hysteresis in the force-velocity curve. However, comfort, handling and ride performances are not significantly affected by this designing parameter.

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

Directory of Open Access Journals (Sweden)

Chua Kia

2005-09-01

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

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

Directory of Open Access Journals (Sweden)

Chua Kia

2008-11-01

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

Admissibility region for rarefaction shock waves in dense gases

OpenAIRE

Zamfirescu, C.; Guardone, A.; Colonna, P.

2008-01-01

In the vapour phase and close to the liquid–vapour saturation curve, fluids made of complex molecules are expected to exhibit a thermodynamic region in which the fundamental derivative of gasdynamic ? is negative. In this region, non-classical gasdynamic phenomena such as rarefaction shock waves are physically admissible, namely they obey the second law of thermodynamics and fulfil the speed-orienting condition for mechanical stability. Previous studies have demonstrated that the thermodynami...

Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

Institute of Scientific and Technical Information of China (English)

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

2007-01-01

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

Microcontroller-based underwater acoustic ECG telemetry system.

Science.gov (United States)

Istepanian, R S; Woodward, B

1997-06-01

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

Machine learning to analyze images of shocked materials for precise and accurate measurements

Energy Technology Data Exchange (ETDEWEB)

Dresselhaus-Cooper, Leora; Howard, Marylesa; Hock, Margaret C.; Meehan, B. T.; Ramos, Kyle J.; Bolme, Cindy A.; Sandberg, Richard L.; Nelson, Keith A.

2017-09-14

A supervised machine learning algorithm, called locally adaptive discriminant analysis (LADA), has been developed to locate boundaries between identifiable image features that have varying intensities. LADA is an adaptation of image segmentation, which includes techniques that find the positions of image features (classes) using statistical intensity distributions for each class in the image. In order to place a pixel in the proper class, LADA considers the intensity at that pixel and the distribution of intensities in local (nearby) pixels. This paper presents the use of LADA to provide, with statistical uncertainties, the positions and shapes of features within ultrafast images of shock waves. We demonstrate the ability to locate image features including crystals, density changes associated with shock waves, and material jetting caused by shock waves. This algorithm can analyze images that exhibit a wide range of physical phenomena because it does not rely on comparison to a model. LADA enables analysis of images from shock physics with statistical rigor independent of underlying models or simulations.

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.

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

Directory of Open Access Journals (Sweden)

Gu Wenbin

2015-01-01

Full Text Available Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater drilling blasting was measured in a field experiment. It shows that the water bottom vibration monitor could collect vibration signals quite effectively in underwater environments. The followed signal analysis shows that the characteristics of water bottom vibration and land ground vibration induced by the same underwater drilling blasting are quite different due to the different geological environments. The amplitude and frequency band of water bottom vibration both exceed those of land ground vibration. Water bottom vibration is mainly in low-frequency band that induced by blasting impact directly acts on rock. Besides the low-frequency component, land vibration contains another higher frequency band component that induced by followed water hammer wave acts on bank slope.

Shock tubes and waves; Proceedings of the Sixteenth International Symposium, Rheinisch-Westfaelische Technische Hochschule, Aachen, Federal Republic of Germany, July 26-31, 1987

Science.gov (United States)

Groenig, Hans

Topics discussed in this volume include shock wave structure, propagation, and interaction; shocks in condensed matter, dusty gases, and multiphase media; chemical processes and related combustion and detonation phenomena; shock wave reflection, diffraction, and focusing; computational fluid dynamic code development and shock wave application; blast and detonation waves; advanced shock tube technology and measuring technique; and shock wave applications. Papers are presented on dust explosions, the dynamics of shock waves in certain dense gases, studies of condensation kinetics behind incident shock waves, the autoignition mechanism of n-butane behind a reflected shock wave, and a numerical simulation of the focusing process of reflected shock waves. Attention is also given to the equilibrium shock tube flow of real gases, blast waves generated by planar detonations, modern diagnostic methods for high-speed flows, and interaction between induced waves and electric discharge in a very high repetition rate excimer laser.

Shock structure in continuum models of gas dynamics: stability and bifurcation analysis

International Nuclear Information System (INIS)

Simić, Srboljub S

2009-01-01

The problem of shock structure in gas dynamics is analysed through a comparative study of two continuum models: the parabolic Navier–Stokes–Fourier model and the hyperbolic system of 13 moments equations modeling viscous, heat-conducting monatomic gases within the context of extended thermodynamics. When dissipative phenomena are neglected these models both reduce to classical Euler's equations of gas dynamics. The shock profile solution, assumed in the form of a planar travelling wave, reduces the problem to a system of ordinary differential equations, and equilibrium states appear to be stationary points of the system. It is shown that in both models an upstream equilibrium state suffers an exchange of stability when the shock speed crosses the critical value which coincides with the highest characteristic speed of the Euler's system. At the same time a downstream equilibrium state could be seen as a steady bifurcating solution, while the shock profile represents a heteroclinic orbit connecting the two stationary points. Using centre manifold reduction it is demonstrated that both models, although mathematically different, obey the same transcritical bifurcation pattern in the neighbourhood of the bifurcation point corresponding to the critical value of shock speed, the speed of sound

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

DEFF Research Database (Denmark)

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

2015-01-01

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

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

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.

Cluster protocols in Underwater Sensor Networks: a Research Review

Directory of Open Access Journals (Sweden)

K. Ovaliadis

2014-07-01

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

Automated gravity gradient tensor inversion for underwater object detection

International Nuclear Information System (INIS)

Wu, Lin; Tian, Jinwen

2010-01-01

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

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…

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

KAUST Repository

Lu, Yimeng

2018-05-01

This thesis explores a game-theoretical approach for underwater environmental monitoring applications. We first apply game-theoretical algorithm to multi-agent resource coverage problem in drifting environments. Furthermore, existing utility design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current, previous knowledge of the resource and occasional communications between agents into account, and adapt to them to reach better performance. As the motivation of this thesis is from real applications, in this work we emphasize highly on implementation phase. A ROS-Gazebo simulation environment was created for preparation of actual tests. The algorithms are implemented in simulating both the dynamics of vehicles and the environment. After that, a multi-agent underwater autonomous robotic system was developed for hardware test in real settings with local controllers to make their own decisions. These systems are used for testing above mentioned algorithms and future development of other underwater projects. After that, other works related to robotics during this thesis will be briefly mentioned, including contributions in MBZIRC robotics competition and distributed control of UAVs in an adversarial environment.

Nonuniform Illumination Correction Algorithm for Underwater Images Using Maximum Likelihood Estimation Method

Directory of Open Access Journals (Sweden)

Sonali Sachin Sankpal

2016-01-01

Full Text Available Scattering and absorption of light is main reason for limited visibility in water. The suspended particles and dissolved chemical compounds in water are also responsible for scattering and absorption of light in water. The limited visibility in water results in degradation of underwater images. The visibility can be increased by using artificial light source in underwater imaging system. But the artificial light illuminates the scene in a nonuniform fashion. It produces bright spot at the center with the dark region at surroundings. In some cases imaging system itself creates dark region in the image by producing shadow on the objects. The problem of nonuniform illumination is neglected by the researchers in most of the image enhancement techniques of underwater images. Also very few methods are discussed showing the results on color images. This paper suggests a method for nonuniform illumination correction for underwater images. The method assumes that natural underwater images are Rayleigh distributed. This paper used maximum likelihood estimation of scale parameter to map distribution of image to Rayleigh distribution. The method is compared with traditional methods for nonuniform illumination correction using no-reference image quality metrics like average luminance, average information entropy, normalized neighborhood function, average contrast, and comprehensive assessment function.

Self-Assembling Multi-Component Nanofibers for Strong Bioinspired Underwater Adhesives

Science.gov (United States)

Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M.; Lu, Timothy K

2014-01-01

Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly, and structure-function relationship of those natural amyloid fibers remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibers. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibers have an underwater adhesion energy approaching 20.9 mJ/m2, which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibers taken on their own at all pHs and exhibit better tolerance to auto-oxidation than Mfps at pH ≥7.0. This work establishes a platform for engineering multi-component self-assembling materials inspired by nature. PMID:25240674

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.

Shock Tube and Ballistic Range Facilities at NASA Ames Research Center

Science.gov (United States)

Grinstead, Jay H.; Wilder, Michael C.; Reda, Daniel C.; Cornelison, Charles J.; Cruden, Brett A.; Bogdanoff, David W.

2010-01-01

The Electric Arc Shock Tube (EAST) facility and the Hypervelocity Free Flight Aerodynamic Facility (HFFAF) at NASA Ames Research Center are described. These facilities have been in operation since the 1960s and have supported many NASA missions and technology development initiatives. The facilities have world-unique capabilities that enable experimental studies of real-gas aerothermal, gas dynamic, and kinetic phenomena of atmospheric entry.

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.

Self-flowing underwater concrete mixtures for high rise structures

International Nuclear Information System (INIS)

Yousri, K.M.

2005-01-01

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

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.

DUMAND-II (Deep Underwater Muon and Neutrino Detector) PROGRESS Report

OpenAIRE

Young, Kenneth K.

1994-01-01

The DUMAND-II detector will search for astronomical sources of high energy neutrinos. Successful deployment of the basic infrastructure, including the shore cable, the underwater junction box, and an environmental module was accomplished in December, 1993. One optical module string was also deployed and operated, logging data for about 10 hours. The underwater cable was connected to the shore station where we were able to successfully exercise system controls and log further environmental dat...

Extension and Validation of UNDEX Analysis Methods

National Research Council Canada - National Science Library

Donahue, L

2004-01-01

.... Adaptive grid schemes for underwater shock and bubble analysis, hydrostatic pressure and airwater/seafloor boundaries, underwater explosion profiles, and fluid-backed shapes were also implemented...

A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks.

Science.gov (United States)

Li, Ning; Cürüklü, Baran; Bastos, Joaquim; Sucasas, Victor; Fernandez, Jose Antonio Sanchez; Rodriguez, Jonathan

2017-05-04

The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV's parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power

A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks

Directory of Open Access Journals (Sweden)

Ning Li

2017-05-01

Full Text Available The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project is to make autonomous underwater vehicles (AUVs, remote operated vehicles (ROVs and unmanned surface vehicles (USVs more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV’s parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the

Isolation of a conjugative F-like plasmid from a multidrug-resistant Escherichia coli strain CM6 using tandem shock wave-mediated transformation.

Science.gov (United States)

Soto-Alonso, G; Cruz-Medina, J A; Caballero-Pérez, J; Arvizu-Hernández, I; Ávalos-Esparza, L M; Cruz-Hernández, A; Romero-Gómez, S; Rodríguez, A L; Pastrana-Martínez, X; Fernández, F; Loske, A M; Campos-Guillén, J

2015-07-01

Genetic characterization of plasmids from bacterial strains provides insight about multidrug resistance. Ten wild type Escherichia coli (E. coli) strains isolated from cow fecal samples were characterized by their antibiotic resistance profile, plasmid patterns and three different identification methods. From one of the strains, a fertility factor-like plasmid was replicated using tandem shock wave-mediated transformation. Underwater shock waves with a positive pressure peak of up to approximately 40 MPa, followed by a pressure trough of approximately -19 MPa were generated using an experimental piezoelectric shock wave source. Three different shock wave energies and a fixed delay of 750 μs were used to study the relationship between energy and transformation efficiency (TE), as well as the influence of shock wave energy on the integrity of the plasmid. Our results showed that the mean shock wave-mediated TE and the integrity of the large plasmid (~70 kb) were reduced significantly at the energy levels tested. The sequencing analysis of the plasmid revealed a high identity to the pHK17a plasmid, including the replication system, which was similar to the plasmid incompatibility group FII. It also showed that it carried an extended spectrum beta-lactamase gene, ctx-m-14. Furthermore, diverse genes for the conjugative mechanism were identified. Our results may be helpful in improving methodologies for conjugative plasmid transfer and directly selecting the most interesting plasmids from environmental samples. Copyright © 2015 Elsevier B.V. All rights reserved.

Astrophysical disks Collective and Stochastic Phenomena

CERN Document Server

Fridman, Alexei M; Kovalenko, Ilya G

2006-01-01

The book deals with collective and stochastic processes in astrophysical discs involving theory, observations, and the results of modelling. Among others, it examines the spiral-vortex structure in galactic and accretion disks , stochastic and ordered structures in the developed turbulence. It also describes sources of turbulence in the accretion disks, internal structure of disk in the vicinity of a black hole, numerical modelling of Be envelopes in binaries, gaseous disks in spiral galaxies with shock waves formation, observation of accretion disks in a binary system and mass distribution of luminous matter in disk galaxies. The editors adaptly brought together collective and stochastic phenomena in the modern field of astrophysical discs, their formation, structure, and evolution involving the methodology to deal with, the results of observation and modelling, thereby advancing the study in this important branch of astrophysics and benefiting Professional Researchers, Lecturers, and Graduate Students.

Research on the underwater target imaging based on the streak tube laser lidar

Science.gov (United States)

Cui, Zihao; Tian, Zhaoshuo; Zhang, Yanchao; Bi, Zongjie; Yang, Gang; Gu, Erdan

2018-03-01

A high frame rate streak tube imaging lidar (STIL) for real-time 3D imaging of underwater targets is presented in this paper. The system uses 532nm pulse laser as the light source, the maximum repetition rate is 120Hz, and the pulse width is 8ns. LabVIEW platform is used in the system, the system control, synchronous image acquisition, 3D data processing and display are realized through PC. 3D imaging experiment of underwater target is carried out in a flume with attenuation coefficient of 0.2, and the images of different depth and different material targets are obtained, the imaging frame rate is 100Hz, and the maximum detection depth is 31m. For an underwater target with a distance of 22m, the high resolution 3D image real-time acquisition is realized with range resolution of 1cm and space resolution of 0.3cm, the spatial relationship of the targets can be clearly identified by the image. The experimental results show that STIL has a good application prospect in underwater terrain detection, underwater search and rescue, and other fields.

Development of underwater camera using high-definition camera

International Nuclear Information System (INIS)

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

2012-01-01

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

Time-of-flight range imaging for underwater applications

Science.gov (United States)

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

2018-02-01

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

Reduced Attitude Control of a Robotic Underwater Vehicle

Directory of Open Access Journals (Sweden)

Bláha Lukáš

2017-01-01

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

Study of underwater laser propulsion using different target materials.

Science.gov (United States)

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

2014-07-14

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

Environmental effects on underwater optical transmission

Science.gov (United States)

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

2017-05-01

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

Flow features that arise due to the interaction of a plane shock wave with concave profiles

CSIR Research Space (South Africa)

MacLucas, David A

2012-10-01

Full Text Available The focus of the author's thesis was the aerodynamic flow field that develops as a result of the interaction of a moving plane shock wave with concave profiles. In this presentation, he discusses some of the interesting flow phenomena that arise...

Type II solar radio bursts, interplanetary shocks, and energetic particle events

International Nuclear Information System (INIS)

Cane, H.V.; Stone, R.G.

1984-01-01

Using the ISEE 3 radio astronomy experiment data we have identified 37 interplanetary type II bursts in the period 1978 September to 1981 December. We lists these events and the associated phenomena. The events are preceded by intense, soft X-ray events with long decay times and type II or type IV bursts, or both, at meter wavelengths. The meter wavelength type II bursts are usually intense and exhibit herringbone structure. The extension of the herringbone structure into the kilometer wavelength range appears as a fast drift radio feature which we refer to as a shock associated radio event. The shock associated event is an important diagnostic for the presence of a strong shock and particle acceleration. The majority of the interplanetary type II bursts are associated with energetic particle events. Our results support other studies which indicate that energetic soalr particles detected at 1 A.U. are generatd by shock acceleration. From a preliminary analysis of the available data there appears to be a high correlation with white light coronal transients. The transients are fast: i.e., velocities greater than 500 km s -1

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

Science.gov (United States)

Jabba Molinares, Daladier

2009-01-01

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

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

Science.gov (United States)

Schloesser, Donald W.

1986-01-01

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

Simulations of Turbulent Flows with Strong Shocks and Density Variations: Final Report

Energy Technology Data Exchange (ETDEWEB)

Sanjiva Lele

2012-10-01

The target of this SciDAC Science Application was to develop a new capability based on high-order and high-resolution schemes to simulate shock-turbulence interactions and multi-material mixing in planar and spherical geometries, and to study Rayleigh-Taylor and Richtmyer-Meshkov turbulent mixing. These fundamental problems have direct application in high-speed engineering flows, such as inertial confinement fusion (ICF) capsule implosions and scramjet combustion, and also in the natural occurrence of supernovae explosions. Another component of this project was the development of subgrid-scale (SGS) models for large-eddy simulations of flows involving shock-turbulence interaction and multi-material mixing, that were to be validated with the DNS databases generated during the program. The numerical codes developed are designed for massively-parallel computer architectures, ensuring good scaling performance. Their algorithms were validated by means of a sequence of benchmark problems. The original multi-stage plan for this five-year project included the following milestones: 1) refinement of numerical algorithms for application to the shock-turbulence interaction problem and multi-material mixing (years 1-2); 2) direct numerical simulations (DNS) of canonical shock-turbulence interaction (years 2-3), targeted at improving our understanding of the physics behind the combined two phenomena and also at guiding the development of SGS models; 3) large-eddy simulations (LES) of shock-turbulence interaction (years 3-5), improving SGS models based on the DNS obtained in the previous phase; 4) DNS of planar/spherical RM multi-material mixing (years 3-5), also with the two-fold objective of gaining insight into the relevant physics of this instability and aiding in devising new modeling strategies for multi-material mixing; 5) LES of planar/spherical RM mixing (years 4-5), integrating the improved SGS and multi-material models developed in stages 3 and 5. This final report is

Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions.

Science.gov (United States)

Muhammed, Dalhatu; Anisi, Mohammad Hossein; Zareei, Mahdi; Vargas-Rosales, Cesar; Khan, Anwar

2018-02-01

Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node's cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions

Directory of Open Access Journals (Sweden)

Dalhatu Muhammed

2018-02-01

Full Text Available Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal, long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions

Science.gov (United States)

Muhammed, Dalhatu; Anisi, Mohammad Hossein; Vargas-Rosales, Cesar; Khan, Anwar

2018-01-01

Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted. PMID:29389874

Laser Beam Propagation Through Inhomogeneous Media with Shock-Like Profiles: Modeling and Computing

Science.gov (United States)

Adamovsky, Grigory; Ida, Nathan

1997-01-01

Wave propagation in inhomogeneous media has been studied for such diverse applications as propagation of radiowaves in atmosphere, light propagation through thin films and in inhomogeneous waveguides, flow visualization, and others. In recent years an increased interest has been developed in wave propagation through shocks in supersonic flows. Results of experiments conducted in the past few years has shown such interesting phenomena as a laser beam splitting and spreading. The paper describes a model constructed to propagate a laser beam through shock-like inhomogeneous media. Numerical techniques are presented to compute the beam through such media. The results of computation are presented, discussed, and compared with experimental data.

CFD Based Added Mass Prediction in Cruise Condition of Underwater Vehicle Dynamic

Science.gov (United States)

Agoes Moelyadi, Mochammad; Bambang Riswandi, Bagus

2018-04-01

One of the unsteady flow behavior on the hydrodynamic characteristics of underwater vehicle is the presence of added mass. In cruising conditions, the underwater vehicle may require the addition of speed or experience the disturbance in the form of unsteady flow so that cause the hydrodynamic interaction between the surface of the vehicle with the surrounding fluid. This leads to the rise of local velocity of flow and the great changes of hydrodynamic forces which are very influential on the stability of the underwater vehicle. One of the result is an additional force called added mass. It is very useful parameter to control underwater vehicle dynamic.This paper reports the research on the added mass coefficient of underwater vehicles obtained through the Computational Fluid Dynmaic (CFD) simulation method using CFX software. Added mass coefficient is calculated by performing an unsteady simulation or known as transient simulation. Computational simulations are based on the Reynold Average Navier- Stokes (RANS) equation solution. The simulated vehicle moves forward and backward according to the sinus function, with a frequency of 0.25 Hz, a 2 m amplitude, a cruising depth of 10 m below sea level, and Vcruise 1.54 m / s (Re = 9.000.000). Simulation result data includes velocity contour, variation of force and acceleration to frequency, and added mass coefficient.

Priority Determination of Underwater Tourism Site Development in Gorontalo Province using Analytical Hierarchy Process (AHP)

Science.gov (United States)

Rohandi, M.; Tuloli, M. Y.; Jassin, R. T.

2018-02-01

This research aims to determine the development of priority of underwater tourism in Gorontalo province using the Analytical Hierarchy Process (AHP) method which is one of DSS methods applying Multi-Attribute Decision Making (MADM). This method used 5 criteria and 28 alternatives to determine the best priority of underwater tourism site development in Gorontalo province. Based on the AHP calculation it appeared that the best priority development of underwater tourism site is Pulau Cinta whose total AHP score is 0.489 or 48.9%. This DSS produced a reliable result, faster solution, time-saving, and low cost for the decision makers to obtain the best underwater tourism site to be developed.

SEATURTLE: Sustained Engagement Autonomous Tracking of Underwater RepTiLEs

OpenAIRE

Budd, Johnathan

2015-01-01

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

Some applications of the moving finite element method to fluid flow and related problems

International Nuclear Information System (INIS)

Berry, R.A.; Williamson, R.L.

1983-01-01

The Moving Finite Element (MFE) method is applied to one-dimensional, nonlinear wave type partial differential equations which are characteristics of fluid dynamic and related flow phenomena problems. These equation systems tend to be difficult to solve because their transient solutions exhibit a spacial stiffness property, i.e., they represent physical phenomena of widely disparate length scales which must be resolved simultaneously. With the MFE method the node points automatically move (in theory) to optimal locations giving a much better approximation than can be obtained with fixed mesh methods (with a reasonable number of nodes) and with significantly reduced artificial viscosity or diffusion content. Three applications are considered. In order of increasing complexity they are: (1) a thermal quench problem, (2) an underwater explosion problem, and (3) a gas dynamics shock tube problem. The results are briefly shown

A Wide Area Risk Assessment Framework for Underwater Military Munitions Response

Science.gov (United States)

Holland, K. T.; Calantoni, J.

2017-12-01

Our objective was to develop a prototype statistical framework supporting Wide Area Assessment and Remedial Investigation decisions relating to the risk of unexploded ordnance and other military munitions concentrated in underwater environments. Decision making involving underwater munitions is inherently complex due to the high degree of uncertainty in the environmental conditions that force munitions responses (burial, decay, migration, etc.) and associated risks to the public. The prototype framework provides a consistent approach to accurately delineating contaminated areas at underwater munitions sites through the estimation of most probable concentrations. We adapted existing deterministic models and environmental data services for use within statistical modules that allowed the estimation of munition concentration given historic site information and environmental attributes. Ultimately this risk surface can be used to evaluate costs associated with various remediation approaches (e.g. removal, monitoring, etc.). Unfortunately, evaluation of the assessment framework was limited due to the lack of enduser data services from munition site managers. Of the 450 U.S. sites identified as having potential contamination with underwater munitions, assessment of available munitions information (including historic firing or disposal records, and recent ground-truth munitions samples) indicated very limited information in the databases. Example data types include the most probable munition types, approximate firing / disposal dates and locations, and any supportive munition survey or sampling results. However the overall technical goal to integrate trained statistical belief networks with detailed geophysical knowledge of sites, of sensors and of the underwater environment was demonstrated and should allow probabilistic estimates of the most likely outcomes and tradeoffs while managing uncertainty associated with military munitions response.

Validation of Underwater Sensor Package Using Feature Based SLAM

Directory of Open Access Journals (Sweden)

Christopher Cain

2016-03-01

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

Validation of Underwater Sensor Package Using Feature Based SLAM

Science.gov (United States)

Cain, Christopher; Leonessa, Alexander

2016-01-01

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

L2-LBMT: A Layered Load Balance Routing Protocol for underwater multimedia data transmission

Science.gov (United States)

Lv, Ze; Tang, Ruichun; Tao, Ye; Sun, Xin; Xu, Xiaowei

2017-12-01

Providing highly efficient underwater transmission of mass multimedia data is challenging due to the particularities of the underwater environment. Although there are many schemes proposed to optimize the underwater acoustic network communication protocols, from physical layer, data link layer, network layer to transport layer, the existing routing protocols for underwater wireless sensor network (UWSN) still cannot well deal with the problems in transmitting multimedia data because of the difficulties involved in high energy consumption, low transmission reliability or high transmission delay. It prevents us from applying underwater multimedia data to real-time monitoring of marine environment in practical application, especially in emergency search, rescue operation and military field. Therefore, the inefficient transmission of marine multimedia data has become a serious problem that needs to be solved urgently. In this paper, A Layered Load Balance Routing Protocol (L2-LBMT) is proposed for underwater multimedia data transmission. In L2-LBMT, we use layered and load-balance Ad Hoc Network to transmit data, and adopt segmented data reliable transfer (SDRT) protocol to improve the data transport reliability. And a 3-node variant of tornado (3-VT) code is also combined with the Ad Hoc Network to transmit little emergency data more quickly. The simulation results show that the proposed protocol can balance energy consumption of each node, effectively prolong the network lifetime and reduce transmission delay of marine multimedia data.

Modelling of the underwater disposal of uranium mine tailings in Elliot Lake

International Nuclear Information System (INIS)

Halbert, B.E.; Scharer, J.M.; Chakravatti, J.L.; Barnes, E.

1982-01-01

Underwater disposal of uranium mine tailings from the Elliot Lake area operations offers potential advantages in controlling radon gas release, emission of airborne particulate matter, and acid production from pyrites in the tailings. In addition, the proximity of the three active properties, one owned by Denison Mines Limited and two by Rio Algom Limited, to a large deep lake has spurred interest in the concept. It has been estimated that the placement of approximately 150 million tonnes of tailings from future planned production would occupy less than 20% of the lake volume. To assess the applicability of the underwater tailings disposal concept, a multi-stage study was developed in conjunction with the regulatory agencies. The most important facet identified for investigation during the first-stage investigations was an assessment of the effects of underwater disposal on water quality in the Serpent River Basin watershed. To simulate the effects of underwater disposal, a computer simulation routine was developed and integrated with a water quality model previously developed for the Basin which predicts levels of total dissolved solids, ammonia, dissolved radium-226 and pH. The underwater disposal model component reflects the effects of direct input of tailings into the hypolimnion, the chemical/biological transformation of dissolved constituents in the water column, the reactions of pyritic tailings deposited on the bottom, and the flux of dissolved constituents from the tailings into the water column. To establish site-specific values for the underwater disposal model, field and laboratory experiments were utilized to evaluate rates of pyrite and ammonia oxidation, and pH-alkalinity relationships. The results of these studies and their use in the water quality model are discussed. In addition, the results of two model run simulations are presented. (author)

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

Science.gov (United States)

Stone, William C. (Inventor); Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kapit, Jason (Inventor); Scully, Mark (Inventor); Kimball, Peter (Inventor)

2018-01-01

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

Ireland and the UNESCO Convention on the Protection of the Underwater Cultural Heritage

Science.gov (United States)

Kirwan, Seán

2010-12-01

Ratification by Ireland of the 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage will not be able to take place until after enactment of additional domestic legislation. The reasons for this are examined in the context of Ireland's legal system. Since 1987 Ireland has had extensive legal protection for underwater cultural heritage, but the jurisdictional aspects of the Convention are key to understanding why additional legislation is necessary. Issues relating to salvage law are also considered. The 2001 Convention is placed in the context of development of Irish policy on underwater cultural heritage.

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

Geometrical shock dynamics for magnetohydrodynamic fast shocks

KAUST Repository

Mostert, W.; Pullin, D. I.; Samtaney, Ravi; Wheatley, V.

2016-01-01

We describe a formulation of two-dimensional geometrical shock dynamics (GSD) suitable for ideal magnetohydrodynamic (MHD) fast shocks under magnetic fields of general strength and orientation. The resulting area–Mach-number–shock-angle relation is then incorporated into a numerical method using pseudospectral differentiation. The MHD-GSD model is verified by comparison with results from nonlinear finite-volume solution of the complete ideal MHD equations applied to a shock implosion flow in the presence of an oblique and spatially varying magnetic field ahead of the shock. Results from application of the MHD-GSD equations to the stability of fast MHD shocks in two dimensions are presented. It is shown that the time to formation of triple points for both perturbed MHD and gas-dynamic shocks increases as (Formula presented.), where (Formula presented.) is a measure of the initial Mach-number perturbation. Symmetry breaking in the MHD case is demonstrated. In cylindrical converging geometry, in the presence of an azimuthal field produced by a line current, the MHD shock behaves in the mean as in Pullin et al. (Phys. Fluids, vol. 26, 2014, 097103), but suffers a greater relative pressure fluctuation along the shock than the gas-dynamic shock. © 2016 Cambridge University Press

Geometrical shock dynamics for magnetohydrodynamic fast shocks

KAUST Repository

Mostert, W.

2016-12-12

We describe a formulation of two-dimensional geometrical shock dynamics (GSD) suitable for ideal magnetohydrodynamic (MHD) fast shocks under magnetic fields of general strength and orientation. The resulting area–Mach-number–shock-angle relation is then incorporated into a numerical method using pseudospectral differentiation. The MHD-GSD model is verified by comparison with results from nonlinear finite-volume solution of the complete ideal MHD equations applied to a shock implosion flow in the presence of an oblique and spatially varying magnetic field ahead of the shock. Results from application of the MHD-GSD equations to the stability of fast MHD shocks in two dimensions are presented. It is shown that the time to formation of triple points for both perturbed MHD and gas-dynamic shocks increases as (Formula presented.), where (Formula presented.) is a measure of the initial Mach-number perturbation. Symmetry breaking in the MHD case is demonstrated. In cylindrical converging geometry, in the presence of an azimuthal field produced by a line current, the MHD shock behaves in the mean as in Pullin et al. (Phys. Fluids, vol. 26, 2014, 097103), but suffers a greater relative pressure fluctuation along the shock than the gas-dynamic shock. © 2016 Cambridge University Press

Nano-material aspects of shock absorption in bone joints.

Science.gov (United States)

Tributsch, H; Copf, F; Copf, P; Hindenlang, U; Niethard, F U; Schneider, R

2010-01-01

This theoretical study is based on a nano-technological evaluation of the effect of pressure on the composite bone fine structure. It turned out, that the well known macroscopic mechano-elastic performance of bones in combination with muscles and tendons is just one functional aspect which is critically supported by additional micro- and nano- shock damping technology aimed at minimising local bone material damage within the joints and supporting spongy bone material. The identified mechanisms comprise essentially three phenomena localised within the three-dimensional spongy structure with channels and so called perforated flexible tensulae membranes of different dimensions intersecting and linking them. Kinetic energy of a mechanical shock may be dissipated within the solid-liquid composite bone structure into heat via the generation of quasi-chaotic hydromechanic micro-turbulence. It may generate electro-kinetic energy in terms of electric currents and potentials. And the resulting specific structural and surface electrochemical changes may induce the compressible intra-osseal liquid to build up pressure dependent free chemical energy. Innovative bone joint prostheses will have to consider and to be adapted to the nano-material aspects of shock absorption in the operated bones.

Simulation of the behavior of pressurized underwater concrete

Directory of Open Access Journals (Sweden)

Ashraf Mohamed Heniegal

2015-06-01

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

Cognitive Routing in Software-Defined Underwater Acoustic Networks

Directory of Open Access Journals (Sweden)

Huma Ghafoor

2017-12-01

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

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.

Underwater Electromagnetic Sensor Networks—Part I: Link Characterization

Directory of Open Access Journals (Sweden)

Gara Quintana-Díaz

2017-01-01

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

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.

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.

Rogue and shock waves in nonlinear dispersive media

CERN Document Server

Resitori, Stefania; Baronio, Fabio

2016-01-01

This self-contained set of lectures addresses a gap in the literature by providing a systematic link between the theoretical foundations of the subject matter and cutting-edge applications in both geophysical fluid dynamics and nonlinear optics. Rogue and shock waves are phenomena that may occur in the propagation of waves in any nonlinear dispersive medium. Accordingly, they have been observed in disparate settings – as ocean waves, in nonlinear optics, in Bose-Einstein condensates, and in plasmas. Rogue and dispersive shock waves are both characterized by the development of extremes: for the former, the wave amplitude becomes unusually large, while for the latter, gradients reach extreme values. Both aspects strongly influence the statistical properties of the wave propagation and are thus considered together here in terms of their underlying theoretical treatment. This book offers a self-contained graduate-level text intended as both an introduction and reference guide for a new generation of scientists ...

Underwater Image Enhancement by Adaptive Gray World and Differential Gray-Levels Histogram Equalization

Directory of Open Access Journals (Sweden)

WONG, S.-L.

2018-05-01

Full Text Available Most underwater images tend to be dominated by a single color cast. This paper presents a solution to remove the color cast and improve the contrast in underwater images. However, after the removal of the color cast using Gray World (GW method, the resultant image is not visually pleasing. Hence, we propose an integrated approach using Adaptive GW (AGW and Differential Gray-Levels Histogram Equalization (DHE that operate in parallel. The AGW is applied to remove the color cast while DHE is used to improve the contrast of the underwater image. The outputs of both chromaticity components of AGW and intensity components of DHE are combined to form the enhanced image. The results of the proposed method are compared with three existing methods using qualitative and quantitative measures. The proposed method increased the visibility of underwater images and in most cases produces better quantitative scores when compared to the three existing methods.

Motion analysis and trials of the deep sea hybrid underwater glider Petrel-II

Science.gov (United States)

Liu, Fang; Wang, Yan-hui; Wu, Zhi-liang; Wang, Shu-xin

2017-03-01

A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.

A microstructural investigation of shock-loading effects in FCC materials

Science.gov (United States)

Rohatgi, Aashish

A systematic investigation of the influence of stacking fault energy (SFE) on shock loading effects in Cu and Cu-Al alloys has been conducted. Shock deformation in many materials is known to produce dislocation density in excess of that produced by quasi-static deformation to an equivalent strain. If the shock pressure is high enough and/or the SFE of the material is low enough, shock loading may also generate deformation twins. Both dislocations and deformation twins contribute to the post-shock strength of the material. Cu and a series of Cu-Al alloys with increasing Al contents were shock deformed at pressures of 10 and 35 GPa with a pulse duration of 1 mus each. The materials showed shock-strengthening which decreased with decreasing SFE. The twin component of post-shock strength was found to increase with decreasing SFE, while the dislocation component concurrently decreased. Since slip and twinning are competing phenomena, a greater propensity for twinning at lower SFE results in the shock-strain in low SFE materials being accommodated preferentially by twinning than by slip. Thus, the dislocation density in a twinned material is lower than if the deformation was accommodated entirely by slip. Additionally, as low SFE hinders cross-slip, a low SFE material shows a large Bauschinger effect and is unable to store additional dislocation line-length resulting in a lower dislocation density than in a similarly deformed high SFE material. The stored energy of materials shock-deformed to the same peak shock pressure was measured using differential scanning calorimetry (DSC) and was found to decrease with decreasing SFE. Using the stored energy data and a known value of energy per unit length of a dislocation, the stored dislocation density was found to decrease with decreasing SFE. It is suggested that the deformation twin boundaries are not as effective strengtheners, as dislocation-dislocation interactions. As a result of the lower strengthening efficiency but a

Investigation on Mie-Grüneisen type shock Hugoniot equation of state for concrete

Directory of Open Access Journals (Sweden)

M Katayama

2017-09-01

Full Text Available This paper ascertains that the bilinear shock Hugoniot equation of state (EOS can model the plasticizing process of the porous media like concrete material for high-velocity impact problems successfully. The negative slope of the bilinear Hugoniot for low particle velocity regime can simulate the process that the porosity of concrete may be compressed to form shock wave in concrete, through a series of numerical analyses over the investigation on the physical phenomena. The results of particle velocity for the concrete material are also discussed to be compared with those of non-porous aluminum alloy for 100 and 1000 m/s impact velocities. All the numerical simulations were carried out by applying the bilinear shock Hugoniot EOS to concrete which was linked to the binary object of a hydrocode: ANSYS Autodyn®[1−3] through a user’s subroutine.

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

Science.gov (United States)

2005-07-18

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

Disequilibrium analysis of three macroeconomies after two OPEC shocks: US, Germany, and Japan

Energy Technology Data Exchange (ETDEWEB)

Lin, G.Y.

1983-01-01

Economic performance in each economy is discussed and an appraisal of policy choices is given. Two OPEC shocks, (1973-1974) and (1979-1980), are specially brought out because of their uniqueness in economic history and also their dominant feature as supply-side shocks which are ignored in the conventional Keynesian economics. The model considers both aggregate demand and aggregate supply in an economy, and provides a framework to describe economic phenomena after OPEC shocks. The model consists of two dynamic adjustments, quantity adjustments and price adjustments. It is assumed that quantity adjustments are observed more frequently than price adjustments in the short run. However, prices are not perfectly rigid but less frequently adjusted. Under this framework, the phenomenon of classical unemployment can be distinguished from Keynesian unemployment for the purpose of discussion. The results showed that all these three economies were in the classical unemployment regime during the first oil shock and, during the second oil shock, Germany and Japan were in the classical unemployment regime while US was in the Keynesian unemployment regime. However, both Germany and Japan performed comparatively better than the US during the second oil shock in terms of real growth of GNP and inflation rates. It demonstrated that Germany and Japan were aware of the feature of supply shocks and paid attention to both demand and supply, especially to promote supply by reducing the dependence on oil and by increasing the flexibility of money wage rates.

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

Directory of Open Access Journals (Sweden)

Gianluca Dini

2012-02-01

Full Text Available Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles—AUVs respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach. The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011.

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...

Validation of multi-body modelling methodology for reconfigurable underwater robots

DEFF Research Database (Denmark)

Nielsen, M.C.; Eidsvik, O. A.; Blanke, Mogens

2016-01-01

This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types...... of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules...

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)

A Comprehensive Study on the Internet of Underwater Things: Applications, Challenges, and Channel Models.

Science.gov (United States)

Kao, Chien-Chi; Lin, Yi-Shan; Wu, Geng-De; Huang, Chun-Ju

2017-06-22

The Internet of Underwater Things (IoUT) is a novel class of Internet of Things (IoT), and is defined as the network of smart interconnected underwater objects. IoUT is expected to enable various practical applications, such as environmental monitoring, underwater exploration, and disaster prevention. With these applications, IoUT is regarded as one of the potential technologies toward developing smart cities. To support the concept of IoUT, Underwater Wireless Sensor Networks (UWSNs) have emerged as a promising network system. UWSNs are different from the traditional Territorial Wireless Sensor Networks (TWSNs), and have several unique properties, such as long propagation delay, narrow bandwidth, and low reliability. These unique properties would be great challenges for IoUT. In this paper, we provide a comprehensive study of IoUT, and the main contributions of this paper are threefold: (1) we introduce and classify the practical underwater applications that can highlight the importance of IoUT; (2) we point out the differences between UWSNs and traditional TWSNs, and these differences are the main challenges for IoUT; and (3) we investigate and evaluate the channel models, which are the technical core for designing reliable communication protocols on IoUT.

Mechanically durable underwater superoleophobic surfaces based on hydrophilic bulk metals for oil/water separation

Science.gov (United States)

Yu, Huadong; Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Wang, Zuobin; Li, Yiquan; Yu, Zhanjiang; Weng, Zhankun

2018-04-01

Despite the success of previous methods for fabricating underwater superoleophobic surfaces, most of the surfaces based on soft materials are prone to collapse and deformation due to their mechanically fragile nature, and they fail to perform their designed functions after the surface materials are damaged in water. In this work, the nanosecond laser-induced oxide coatings on hydrophilic bulk metals are reported which overcomes the limitation and shows the robust underwater superoleophobicity to a mechanical challenge encountered by surfaces deployed in water environment. The results show that the surface materials have the advantage that the underwater superoleophobicity is still preserved after the surfaces are scratched by knife or sandpaper and even completely destroyed because of the hydrophilic property of damaged materials in water. It is important that the results provide a guide for the design of durable underwater superoleophobic surfaces, and the development of superoleophobic materials in many potential applications such as the oil-repellent and the oil/water separation. Additionally, the nanosecond laser technology is simple, cost-effective and suitable for the large-area and mass fabrication of mechanically durable underwater superoleophobic metal materials.

Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Yi-Hsiang Tseng

2013-01-01

Full Text Available The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.

An Environment-Friendly Multipath Routing Protocol for Underwater Acoustic Sensor Network

Directory of Open Access Journals (Sweden)

Yun Li

2017-01-01

Full Text Available Underwater Acoustic Sensor Network (UASN is a promising technique by facilitating a wide range of aquatic applications. However, routing scheme in UASN is a challenging task because of the characteristics of the nodes mobility, interruption of link, and interference caused by other underwater acoustic systems such as marine mammals. In order to achieve reliable data delivery in UASN, in this work, we present a disjoint multipath disruption-tolerant routing protocol for UASN (ENMR, which incorporates the Hue, Saturation, and Value color space (HSV model to establish routing paths to greedily forward data packets to sink nodes. ENMR applies the mechanism to maintain the network topology. Simulation results show that, compared with the classic underwater routing protocols named PVBF, ENMR can improve packet delivery ratio and reduce network latency while avoiding introducing additional energy consumption.

A study on practical use of underwater abrasive water jet cutting

Science.gov (United States)

Yamaguchi, Hitoshi; Demura, Kenji

1993-09-01

The practicality of underwater abrasive water jet cutting technology was studied in experiments. A study of abrasives in slurried form showed that optimum polymer concentration can be selected to suit underwater conditions. For the long-distance transport of slurry from the ocean surface to the ocean floor, a direct supply system by hose proved to be practical. This system takes advantage of the insolubility of the slurry in water due to a difference in specific gravity. For cutting thick steel plate at great ocean depths, a simulation with a pressurized container revealed the requirements for actual cutting. Confirmation of remote cutting operations will become the most important technology in field applications. Underwater sound vibration characteristics were found to change significantly in direct response to modifications in cutting conditions. This will be important basic data to develop an effective sensoring method.

Practical method for assessing pressure shock hazards in pipeline systems of the process industry; Praxisorientierte Vorgehensweise zur Beurteilung der Druckstossgefahren in Rohrleitungssystemen der Prozessindustrie

Energy Technology Data Exchange (ETDEWEB)

Thiemeier, T.; Westphal, F. [Siemens AG Automation and Drives, Prozess Sicherheit, Frankfurt am Main (Germany); Schaefer, J. [Sanofi-Aventis Deutschland GmbH, USB Sicherheit, Frankfurt am Main (Germany)

2006-11-15

In industrial applications where long large-diameter pipelines are required, the danger of pressure shocks and cavitation shocks is well known and is taken into account in projecting. Transient flow phenomena, however, tend to be neglected even though damage and leakages are caused by the same mechanisms also in chemical engineering processes. The contribution describes a staged procedure that makes it possible to assess the potential hazards resulting from pressure shocks in process engineering without requiring too detailed an analysis of uncritical cases. (orig.)

Measurement and Analysis of the Diffusible Hydrogen in Underwater Wet Welding Joint

Directory of Open Access Journals (Sweden)

Kong Xiangfeng

2016-01-01

Full Text Available The diffusible hydrogen in steel weldments is one of the main reasons that led to hydrogen assisted cracking. In this paper, the results of literatures survey and preliminary tests of the diffusible hydrogen in underwater wet welding joint were presented. A fluid-discharge method of for measuring the diffusible hydrogen in weldment was introduced in detail. Two kinds of underwater welding electrode diffusible hydrogen are 26.5 mL/100g and 35.5 mL/100g by fluid-discharge method, which are high levels. The diffusible hydrogen of underwater welding is higher than atmospheric welding, and the result is closely related to welding material. The best way to control the diffusible hydrogen is adjusting welding material and improving fluidity of slag.

PENETRATION OF A SHOCK WAVE IN A FULLY SUPERSONIC FLAME FRONT WITH THE FORMATION OF AN EXPANSION FAN

Directory of Open Access Journals (Sweden)

Dan PANTAZOPOL

2011-03-01

Full Text Available In a previous paper [3] was treated the ,,simple penetration” of an incident shock wavethrough a fully supersonic flame front in the space of the hot burnt gases, situated in a supersonictwo-dimensional flow of an ideal homogeneous /combustible gas was treated in a previous paper [3].In the present paper takes into consideration, a configuration, in which an expansion fan is produced,is take into consideration the shock polar and expansion polar are used for the analyze of theinterference phenomena.

The discovery of nuclear compression phenomena in relativistic heavy-ion collisions

International Nuclear Information System (INIS)

Schmidt, H.R.

1991-01-01

This article has attempted to review more than 15 years of research on shock compression phenomena, which is closely related to the goal of determining the nuclear EOS. Exciting progress has been made in this field over the last years and the fundamental physics of relativistic heavy ion-collisions has been well established. Overwhelming experimental evidence for the existence of shock compression has been extracted from the data. While early, inclusive measurements had been rather inconclusive, the advent of 4π-detectors like the GSI-LBL Plastic Ball had enabled the outstanding discovery of collective flow effects, as they were predicted by fluid-dynamical calculations. The particular case of conical Mach shock waves, anticipated for asymmetric collisions, has not been observed. What are the reasons? Surprisingly, the maximum energy of 2.1 GeV/nucleon for heavy ions at the BEVALAC had been found to be too low for Mach shock waves to occur. The small 20 Ne-nucleus is stopped in the heavy Au target. A Mach cone, however, if it had developed in the early stage of the collision will be wiped out by thermal motion in the process of slowing the projectile down to rest. A comparison of the data with models hints towards a rather hard EOS, although a soft one cannot be excluded definitively. A quantitative extraction is aggravated by a number in-medium and final-state effects which influence the calculated observables in a similar fashion as different choices of an EOS. Thus, as of now, the precise knowledge of the EOS of hot and dense matter is still an open question and needs further investigation. (orig.)

Underwater navigation using diffusion-based trajectory observers

DEFF Research Database (Denmark)

Jouffroy, Jerome; Opderbecke, Jan

2007-01-01

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

Development of a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics

Science.gov (United States)

Amin, Osman Md; Karim, Md. Arshadul; Saad, Abdullah His

2017-12-01

At present, research on unmanned underwater vehicle (UUV) has become a significant & familiar topic for researchers from various engineering fields. UUV is of mainly two types - AUV (Autonomous Underwater vehicle) & ROV (Remotely Operated Vehicle). There exist a significant number of published research papers on UUV, where very few researchers emphasize on the ease of maneuvering and control of UUV. Maneuvering is important for underwater vehicle in avoiding obstacles, installing underwater piping system, searching undersea resources, underwater mine disposal operations, oceanographic surveys etc. A team from Dept. of Naval Architecture & Marine Engineering of MIST has taken a project to design a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics. The main objective of the research is to develop a control system for UUV which would be able to maneuver the vehicle in six DOF (Degrees of Freedom) with great ease. For this purpose we are not only focusing on controllability but also designing an efficient hull with minimal drag force & optimized propeller using CFD technique. Motors were selected on the basis of the simulated thrust generated by propellers in ANSYS Fluent software module. Settings for control parameters to carry out different types of maneuvering such as hovering, spiral, one point rotation about its centroid, gliding, rolling, drifting and zigzag motions were explained in short at the end.

Climate variability, food production shocks, and violent conflict in Sub-Saharan Africa

OpenAIRE

Buhaug, Halvard; Benjaminsen, Tor A; Sjaastad, Espen Olav; Theisen, Ole Magnus

2015-01-01

Earlier research that reports a correlational pattern between climate anomalies and violent conflict routinely refers to drought-induced agricultural shocks and adverse economic spillover effects as a key causal mechanism linking the two phenomena. Comparing half a century of statistics on climate variability, food production, and political violence across Sub-Saharan Africa, this study offers the most precise and theoretically consistent empirical assessment to date of the purported indirect...

3D MODELING FOR UNDERWATER ARCHAEOLOGICAL DOCUMENTATION: METRIC VERIFICATIONS

Directory of Open Access Journals (Sweden)

S. D’Amelio

2015-04-01

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

Localization of an Underwater Control Network Based on Quasi-Stable Adjustment

Science.gov (United States)

Chen, Xinhua; Zhang, Hongmei; Feng, Jie

2018-01-01

There exists a common problem in the localization of underwater control networks that the precision of the absolute coordinates of known points obtained by marine absolute measurement is poor, and it seriously affects the precision of the whole network in traditional constraint adjustment. Therefore, considering that the precision of underwater baselines is good, we use it to carry out quasi-stable adjustment to amend known points before constraint adjustment so that the points fit the network shape better. In addition, we add unconstrained adjustment for quality control of underwater baselines, the observations of quasi-stable adjustment and constrained adjustment, to eliminate the unqualified baselines and improve the results’ accuracy of the two adjustments. Finally, the modified method is applied to a practical LBL (Long Baseline) experiment and obtains a mean point location precision of 0.08 m, which improves by 38% compared with the traditional method. PMID:29570627

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.

Physics of Collisionless Shocks Space Plasma Shock Waves

CERN Document Server

Balogh, André

2013-01-01

The present book provides a contemporary systematic treatment of shock waves in high-temperature collisionless plasmas as are encountered in near Earth space and in Astrophysics. It consists of two parts. Part I develops the complete theory of shocks in dilute hot plasmas under the assumption of absence of collisions among the charged particles when the interaction is mediated solely by the self-consistent electromagnetic fields. Such shocks are naturally magnetised implying that the magnetic field plays an important role in their evolution and dynamics. This part treats both subcritical shocks, which dissipate flow energy by generating anomalous resistance or viscosity, and supercritical shocks. The main emphasis is, however, on super-critical shocks where the anomalous dissipation is insufficient to retard the upstream flow. These shocks, depending on the direction of the upstream magnetic field, are distinguished as quasi-perpendicular and quasi-parallel shocks which exhibit different behaviours, reflecti...

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

Science.gov (United States)

2010-10-01

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

Underwater explosive compaction-sintering of tungsten-copper coating on a copper surface

Science.gov (United States)

Chen, Xiang; Li, Xiaojie; Yan, Honghao; Wang, Xiaohong; Chen, Saiwei

2018-01-01

This study investigated underwater explosive compaction-sintering for coating a high-density tungsten-copper composite on a copper surface. First, 50% W-50% Cu tungsten-copper composite powder was prepared by mechanical alloying. The composite powder was pre-compacted and sintered by hydrogen. Underwater explosive compaction was carried out. Finally, a high-density tungsten-copper coating was obtained by diffusion sintering of the specimen after explosive compaction. A simulation of the underwater explosive compaction process showed that the peak value of the pressure in the coating was between 3.0 and 4.8 GPa. The hardness values of the tungsten-copper layer and the copper substrate were in the range of 87-133 and 49 HV, respectively. The bonding strength between the coating and the substrate was approximately 100-105 MPa.

A Comprehensive Study on the Internet of Underwater Things: Applications, Challenges, and Channel Models

Directory of Open Access Journals (Sweden)

Chien-Chi Kao

2017-06-01

Full Text Available The Internet of Underwater Things (IoUT is a novel class of Internet of Things (IoT, and is defined as the network of smart interconnected underwater objects. IoUT is expected to enable various practical applications, such as environmental monitoring, underwater exploration, and disaster prevention. With these applications, IoUT is regarded as one of the potential technologies toward developing smart cities. To support the concept of IoUT, Underwater Wireless Sensor Networks (UWSNs have emerged as a promising network system. UWSNs are different from the traditional Territorial Wireless Sensor Networks (TWSNs, and have several unique properties, such as long propagation delay, narrow bandwidth, and low reliability. These unique properties would be great challenges for IoUT. In this paper, we provide a comprehensive study of IoUT, and the main contributions of this paper are threefold: (1 we introduce and classify the practical underwater applications that can highlight the importance of IoUT; (2 we point out the differences between UWSNs and traditional TWSNs, and these differences are the main challenges for IoUT; and (3 we investigate and evaluate the channel models, which are the technical core for designing reliable communication protocols on IoUT.

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

Indian Academy of Sciences (India)

Jalaja Janardanan Kartha

2017-09-07

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

The Control Packet Collision Avoidance Algorithm for the Underwater Multichannel MAC Protocols via Time-Frequency Masking

Directory of Open Access Journals (Sweden)

Yang Yu

2016-01-01

Full Text Available Establishing high-speed and reliable underwater acoustic networks among multiunmanned underwater vehicles (UUVs is basic to realize cooperative and intelligent control among different UUVs. Nevertheless, different from terrestrial network, the propagation speed of the underwater acoustic network is 1500 m/s, which makes the design of the underwater acoustic network MAC protocols a big challenge. In accordance with multichannel MAC protocols, data packets and control packets are transferred through different channels, which lowers the adverse effect of acoustic network and gradually becomes the popular issues of underwater acoustic networks MAC protocol research. In this paper, we proposed a control packet collision avoidance algorithm utilizing time-frequency masking to deal with the control packets collision in the control channel. This algorithm is based on the scarcity of the noncoherent underwater acoustic communication signals, which regards collision avoiding as separation of the mixtures of communication signals from different nodes. We first measure the W-Disjoint Orthogonality of the MFSK signals and the simulation result demonstrates that there exists time-frequency mask which can separate the source signals from the mixture of the communication signals. Then we present a pairwise hydrophones separation system based on deep networks and the location information of the nodes. Consequently, the time-frequency mask can be estimated.

Acquisition and tracking for underwater optical communications

Science.gov (United States)

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

2017-10-01

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

Cascading Multi-Hop Reservation and Transmission in Underwater Acoustic Sensor Networks

Directory of Open Access Journals (Sweden)

Jae-Won Lee

2014-10-01

Full Text Available The long propagation delay in an underwater acoustic channel makes designing an underwater media access control (MAC protocol more challenging. In particular, handshaking-based MAC protocols widely used in terrestrial radio channels have been known to be inappropriate in underwater acoustic channels, because of the inordinately large latency involved in exchanging control packets. Furthermore, in the case of multi-hop relaying in a hop-by-hop handshaking manner, the end-to-end delay significantly increases. In this paper, we propose a new MAC protocol named cascading multi-hop reservation and transmission (CMRT. In CMRT, intermediate nodes between a source and a destination may start handshaking in advance for the next-hop relaying before handshaking for the previous node is completed. By this concurrent relaying, control packet exchange and data delivery cascade down to the destination. In addition, to improve channel utilization, CMRT adopts a packet-train method where multiple data packets are sent together by handshaking once. Thus, CMRT reduces the time taken for control packet exchange and accordingly increases the throughput. The performance of CMRT is evaluated and compared with that of two conventional MAC protocols (multiple-access collision avoidance for underwater (MACA-U and MACA-U with packet trains (MACA-UPT. The results show that CMRT outperforms other MAC protocols in terms of both throughput and end-to-end delay.

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.

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

MOSES, development of an Underwater Warfare Testbed

NARCIS (Netherlands)

Lentze, S.G.

2001-01-01

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

A geophysical shock and air blast simulator at the National Ignition Facility

Energy Technology Data Exchange (ETDEWEB)

Fournier, K. B. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Brown, C. G. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); May, M. J. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Compton, S. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Walton, O. R. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Shingleton, N. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Kane, J. O. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Holtmeier, G. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Loey, H. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Mirkarimi, P. B. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Dunlop, W. H. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Guyton, R. L. [National Security Technologies, Livermore, CA (United States); Huffman, E. [National Security Technologies, Livermore, CA (United States)

2014-09-01

The energy partitioning energy coupling experiments at the National Ignition Facility (NIF) have been designed to measure simultaneously the coupling of energy from a laser-driven target into both ground shock and air blast overpressure to nearby media. The source target for the experiment is positioned at a known height above the ground-surface simulant and is heated by four beams from the NIF. The resulting target energy density and specific energy are equal to those of a low-yield nuclear device. The ground-shock stress waves and atmospheric overpressure waveforms that result in our test system are hydrodynamically scaled analogs of full-scale seismic and air blast phenomena. This report summarizes the development of the platform, the simulations, and calculations that underpin the physics measurements that are being made, and finally the data that were measured. Agreement between the data and simulation of the order of a factor of two to three is seen for air blast quantities such as peak overpressure. Historical underground test data for seismic phenomena measured sensor displacements; we measure the stresses generated in our ground-surrogate medium. We find factors-of-a-few agreement between our measured peak stresses and predictions with modern geophysical computer codes.

A geophysical shock and air blast simulator at the National Ignition Facility

Energy Technology Data Exchange (ETDEWEB)

Fournier, K. B.; Brown, C. G.; May, M. J.; Compton, S.; Walton, O. R.; Shingleton, N.; Kane, J. O.; Holtmeier, G.; Loey, H.; Mirkarimi, P. B.; Dunlop, W. H. [Lawrence Livermore National Laboratory, P.O. Box 808, L-481, Livermore, California 94550 (United States); Guyton, R. L.; Huffman, E. [National Securities Technologies, Vasco Rd., Livermore, California 94551 (United States)

2014-09-15

The energy partitioning energy coupling experiments at the National Ignition Facility (NIF) have been designed to measure simultaneously the coupling of energy from a laser-driven target into both ground shock and air blast overpressure to nearby media. The source target for the experiment is positioned at a known height above the ground-surface simulant and is heated by four beams from the NIF. The resulting target energy density and specific energy are equal to those of a low-yield nuclear device. The ground-shock stress waves and atmospheric overpressure waveforms that result in our test system are hydrodynamically scaled analogs of full-scale seismic and air blast phenomena. This report summarizes the development of the platform, the simulations, and calculations that underpin the physics measurements that are being made, and finally the data that were measured. Agreement between the data and simulation of the order of a factor of two to three is seen for air blast quantities such as peak overpressure. Historical underground test data for seismic phenomena measured sensor displacements; we measure the stresses generated in our ground-surrogate medium. We find factors-of-a-few agreement between our measured peak stresses and predictions with modern geophysical computer codes.

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

Science.gov (United States)

2012-06-27

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

Human Injury Criteria for Underwater Blasts

Science.gov (United States)

2014-09-08

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

Shock Deformation and Volcanism across the Cretaceous - Transition.

Science.gov (United States)

Huffman, Alan Royce

1990-01-01

The cause of the Cretaceous-Tertiary (K/T) transition remains one of the most controversial scientific topics in the geosciences. Geological and geophysical evidence associated with the K/T boundary have been used to argue that the extinctions were caused by meteor impact or volcanism. The goal of this study was to assess the viability of a volcanic model for the K/T transition. Comparison of natural and experimentally-shocked quartz and feldspar using optical and transmission electron microscopy (TEM) revealed that the optical and statistical character of shock-induced microstructures in volcanic rocks are different from both classic impact microstructures, and from the Raton K/T samples. A series of 31 high-explosive (HE) shock-recovery experiments at pressures to 25 GPa and temperatures to 750^circC were completed on samples of granite and quartzite. TEM and optical microscopy reveal that pre-shock temperature and pulse duration have a first-order effect on the development of shock-induced microstructures in quartz and feldspar. Application of the experimental results to natural shock-induced microstructures indicates that the volcanic microstructures are probably produced at elevated temperatures and shock pressures that do not exceed 15 GPa. The results also suggest that the Raton K/T deposits were produced at pressures below about 25 GPa. Analysis of samples from the K/T transition at DSDP Site 527 and correlations between biostratigraphy, isotopes, and the data from this study suggest that the decline in marine productivity over an extended period of time may be due to climate changes induced by basaltic volcanism. The eruption of the Deccan Traps is a viable mechanism for the K/T extinctions, and the correlation of flood basalts with every major biotic crisis in the last 250 Ma supports the link between these two phenomena. Eruption of flood basalts enriched in F, Cl, CO_2 , and SO_2, could disrupt the terrestrial ecosystem, and could produce effects

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...

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.)

Numerical Simulation of Explosive Forming Using Detonating Fuse

Directory of Open Access Journals (Sweden)

H Iyama

2017-09-01

Full Text Available The explosive forming is a characteristic method. An underwater shock wave is generated by underwater explosion of an explosive. A metal plate is affected high strain rate by the shock loading and is formed along a metal die. Although this method has the advantage of mirroring the shape of the die, a free forming was used in this paper. An expensive metal die is not necessary for this free forming. It is possible that a metal plate is formed with simple supporting parts. However, the forming shape is depend on the shock pressure distribution act on the metal plate. This pressure distribution is able to change by the shape of explosive, a mass of explosive and a shape of pressure vessel. On the other hand, we need the pressure vessel for food processing by the underwater shock wave. Therefore, we propose making the pressure vessel by this explosive forming. One design suggestion of pressure vessel made of stainless steel was considered. However, we cannot decide suitable conditions, the mass of the explosive and the distance between the explosive and the metal plate to make the pressure vessel. In order to decide these conditions, we have tried the numerical simulation on this explosive forming. The basic simulation method was ALE (Arbitrary Laglangian Eulerian method including with Mie-Grümeisen EOS (equation of state, JWL EOS, Johnson-Cook constitutive equation for a material model. In this paper, the underwater pressure contours to clear the propagations of the underwater shock wave, forming processes and deformation velocity of the metal plate is shown and it will be discussed about those results.

Paranormal phenomena

Science.gov (United States)

Gaina, Alex

1996-08-01

Critical analysis is given of some paranormal phenomena events (UFO, healers, psychokinesis (telekinesis))reported in Moldova. It is argued that correct analysis of paranormal phenomena should be made in the framework of electromagnetism.

Regulation of the heat shock response under anoxia in the turtle, Trachemys scripta elegans.

Science.gov (United States)

Krivoruchko, Anastasia; Storey, Kenneth B

2010-03-01

The effects of 20 h of anoxic submergence in cold water and 5 h of aerobic recovery on the heat shock response were analyzed in four organs of the anoxia-tolerant turtle Trachemys scripta elegans. Immunoblotting was used to analyze levels of active and inactive forms of the heat shock transcription factor 1 (HSF1), nuclear translocation of HSF1, and the levels of six heat shock proteins (HSPs). PCR was also used to retrieve the turtle HSF1 nucleotide sequence; its deduced amino acid sequence showed 97% identity with chicken HSF1. White skeletal muscle showed a strong fivefold increase in the amount of active HSF1 under anoxic conditions as well as an 80% increase in nuclear localization. This was accompanied by upregulation of five HSPs by 1.8- to 2.9-fold: Hsp25, Hsp40, Hsp70, Hsc70, and Hsp90, the latter two remained elevated after 5 h of aerobic recovery. Kidney and liver showed little change in active HSF1 content during anoxia and recovery, but a significant increase in the nuclear localization of HSF1 during anoxia. This supported enhanced expression of three HSPs in kidney (Hsp40, Hsc70, and Hsp90) and four in liver (Hsp40, Hsp60, Hsp70, Hsc70). Heart displayed a strong increase in active HSF1 during anoxia and recovery (6.6- to 6.8-fold higher than control) and increased nuclear localization but heart HSP levels did not rise. The data demonstrate organ-specific regulation of HSPs during anoxia exposure and aerobic recovery in T. s. elegans and suggest that the heat shock response is an important aspect of cytoprotection during facultative anaerobiosis, particularly with regard to underwater hibernation of turtles in cold water.

Efficient Modelling Methodology for Reconfigurable Underwater Robots

DEFF Research Database (Denmark)

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

2016-01-01

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

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

Using the combination refraction-reflection solid to design omni-directional light source used in underwater wireless optical communication

Science.gov (United States)

Rao, Jionghui; Yao, Wenming; Wen, Linqiang

2015-10-01

Underwater wireless optical communication is a communication technology which uses laser as an information carrier and transmits data through water. Underwater wireless optical communication has some good features such as broader bandwidth, high transmission rate, better security, anti—interference performance. Therefore, it is promising to be widely used in the civil and military communication domains. It is also suitable for high-speed, short-range communication between underwater mobile vehicles. This paper presents a design approach of omni-directional light source used in underwater wireless optical communication, using TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and using the modulated DPSS green laser in the transmitter module to output the laser beam in small divergence angles, after expanded by the combination refraction-reflection solid, the angle turns into a space divergence angle of 2π, achieving the omni-directional light source of hemisphere space, and test in the air and underwater, the result shows that the effect is fine. This paper analyzes the experimental test in the air and water, in order to make further improvement of the uniformity of light distribution, we optimize the reflector surface parameters of combination refraction-reflection solid and test in the air and water. The result shows that omni-directional light source used in underwater wireless optical communication optimized could achieve the uniformity of light distribution of underwater space divergence angle of 2π. Omni-directional light source used in underwater wireless optical communication designed in this paper has the characteristics of small size and uniformity of light distribution, it is suitable for application between UUVs, AUVs, Swimmer Delivery Vehicles (SDVs) and other underwater vehicle fleet, it realizes point-to-multipoint communications.

Underwater image enhancement based on the dark channel prior and attenuation compensation

Science.gov (United States)

Guo, Qingwen; Xue, Lulu; Tang, Ruichun; Guo, Lingrui

2017-10-01

Aimed at the two problems of underwater imaging, fog effect and color cast, an Improved Segmentation Dark Channel Prior (ISDCP) defogging method is proposed to solve the fog effects caused by physical properties of water. Due to mass refraction of light in the process of underwater imaging, fog effects would lead to image blurring. And color cast is closely related to different degree of attenuation while light with different wavelengths is traveling in water. The proposed method here integrates the ISDCP and quantitative histogram stretching techniques into the image enhancement procedure. Firstly, the threshold value is set during the refinement process of the transmission maps to identify the original mismatching, and to conduct the differentiated defogging process further. Secondly, a method of judging the propagating distance of light is adopted to get the attenuation degree of energy during the propagation underwater. Finally, the image histogram is stretched quantitatively in Red-Green-Blue channel respectively according to the degree of attenuation in each color channel. The proposed method ISDCP can reduce the computational complexity and improve the efficiency in terms of defogging effect to meet the real-time requirements. Qualitative and quantitative comparison for several different underwater scenes reveals that the proposed method can significantly improve the visibility compared with previous methods.

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...

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.

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.

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.

Underwater noise modelling for environmental impact assessment

International Nuclear Information System (INIS)

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

2016-01-01

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

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.)

Underwater noise from a wave energy converter

DEFF Research Database (Denmark)

Tougaard, Jakob

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

20-meter underwater wireless optical communication link with 15 Gbps data rate

KAUST Repository

Shen, Chao

2016-10-24

The video streaming, data transmission, and remote control in underwater call for high speed (Gbps) communication link with a long channel length (∼10 meters). We present a compact and low power consumption underwater wireless optical communication (UWOC) system utilizing a 450-nm laser diode (LD) and a Si avalanche photodetector. With the LD operating at a driving current of 80 mA with an optical power of 51.3 mW, we demonstrated a high-speed UWOC link offering a data rate up to 2 Gbps over a 12-meter-long, and 1.5 Gbps over a record 20-meter-long underwater channel. The measured bit-error rate (BER) are 2.8 × 10-5, and 3.0 × 10-3, respectively, which pass well the forward error correction (FEC) criterion. © 2016 Optical Society of America.

20-meter underwater wireless optical communication link with 15 Gbps data rate

KAUST Repository

Shen, Chao; Guo, Yong; Oubei, Hassan M.; Ng, Tien Khee; Liu, Guangyu; Park, Kihong; Ho, Kang-Ting; Alouini, Mohamed-Slim; Ooi, Boon S.

2016-01-01

The video streaming, data transmission, and remote control in underwater call for high speed (Gbps) communication link with a long channel length (∼10 meters). We present a compact and low power consumption underwater wireless optical communication (UWOC) system utilizing a 450-nm laser diode (LD) and a Si avalanche photodetector. With the LD operating at a driving current of 80 mA with an optical power of 51.3 mW, we demonstrated a high-speed UWOC link offering a data rate up to 2 Gbps over a 12-meter-long, and 1.5 Gbps over a record 20-meter-long underwater channel. The measured bit-error rate (BER) are 2.8 × 10-5, and 3.0 × 10-3, respectively, which pass well the forward error correction (FEC) criterion. © 2016 Optical Society of America.

Status on underwater plasma arc cutting in KHI, 3

International Nuclear Information System (INIS)

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

1983-01-01

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

Simulations of Converging Shock Collisions for Shock Ignition

Science.gov (United States)

Sauppe, Joshua; Dodd, Evan; Loomis, Eric

2016-10-01

Shock ignition (SI) has been proposed as an alternative to achieving high gain in inertial confinement fusion (ICF) targets. A central hot spot below the ignition threshold is created by an initial compression pulse, and a second laser pulse drives a strong converging shock into the fuel. The collision between the rebounding shock from the compression pulse and the converging shock results in amplification of the converging shock and increases the hot spot pressure above the ignition threshold. We investigate shock collision in SI drive schemes for cylindrical targets with a polystyrene foam interior using radiation-hydrodynamics simulations with the RAGE code. The configuration is similar to previous targets fielded on the Omega laser. The CH interior results in a lower convergence ratio and the cylindrical geometry facilitates visualization of the shock transit using an axial X-ray backlighter, both of which are important for comparison to potential experimental measurements. One-dimensional simulations are used to determine shock timing, and the effects of low mode asymmetries in 2D computations are also quantified. LA-UR-16-24773.

Dispersive shock waves in Bose-Einstein condensates and nonlinear nano-oscillators in ferromagnetic thin films

Science.gov (United States)

Hoefer, Mark A.

This thesis examines nonlinear wave phenomena, in two physical systems: a Bose-Einstein condensate (BEC) and thin film ferromagnets where the magnetization dynamics are excited by the spin momentum transfer (SMT) effect. In the first system, shock waves generated by steep gradients in the BEC wavefunction are shown to be of the disperse type. Asymptotic and averaging methods are used to determine shock speeds and structure in one spatial dimension. These results are compared with multidimensional numerical simulations and experiment showing good, qualitative agreement. In the second system, a model of magnetization dynamics due to SMT is presented. Using this model, nonlinear oscillating modes---nano-oscillators---are found numerically and analytically using perturbative methods. These results compare well with experiment. A Bose-Einstein condensate (BEC) is a quantum fluid that gives rise to interesting shock wave nonlinear dynamics. Experiments depict a BEC that exhibits behavior similar to that of a shock wave in a compressible gas, e.g. traveling fronts with steep gradients. However, the governing Gross-Pitaevskii (GP) equation that describes the mean field of a BEC admits no dissipation hence classical dissipative shock solutions do not explain the phenomena. Instead, wave dynamics with small dispersion is considered and it is shown that this provides a mechanism for the generation of a dispersive shock wave (DSW). Computations with the GP equation are compared to experiment with excellent agreement. A comparison between a canonical 1D dissipative and dispersive shock problem shows significant differences in shock structure and shock front speed. Numerical results associated with laboratory experiments show that three and two-dimensional approximations are in excellent agreement and one dimensional approximations are in qualitative agreement. The interaction of two DSWs is investigated analytically and numerically. Using one dimensional DSW theory it is argued

In-air versus underwater comparison of 3D reconstruction accuracy using action sport cameras.

Science.gov (United States)

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

2017-01-25

Action sport cameras (ASC) have achieved a large consensus for recreational purposes due to ongoing cost decrease, image resolution and frame rate increase, along with plug-and-play usability. Consequently, they have been recently considered for sport gesture studies and quantitative athletic performance evaluation. In this paper, we evaluated the potential of two ASCs (GoPro Hero3+) for in-air (laboratory) and underwater (swimming pool) three-dimensional (3D) motion analysis as a function of different camera setups involving the acquisition frequency, image resolution and field of view. This is motivated by the fact that in swimming, movement cycles are characterized by underwater and in-air phases what imposes the technical challenge of having a split volume configuration: an underwater measurement volume observed by underwater cameras and an in-air measurement volume observed by in-air cameras. The reconstruction of whole swimming cycles requires thus merging of simultaneous measurements acquired in both volumes. Characterizing and optimizing the instrumental errors of such a configuration makes mandatory the assessment of the instrumental errors of both volumes. In order to calibrate the camera stereo pair, black spherical markers placed on two calibration tools, used both in-air and underwater, and a two-step nonlinear optimization were exploited. The 3D reconstruction accuracy of testing markers and the repeatability of the estimated camera parameters accounted for system performance. For both environments, statistical tests were focused on the comparison of the different camera configurations. Then, each camera configuration was compared across the two environments. In all assessed resolutions, and in both environments, the reconstruction error (true distance between the two testing markers) was less than 3mm and the error related to the working volume diagonal was in the range of 1:2000 (3×1.3×1.5m 3 ) to 1:7000 (4.5×2.2×1.5m 3 ) in agreement with the

Detonative propagation and accelerative expansion of the Crab Nebula shock front.

Science.gov (United States)

Gao, Yang; Law, Chung K

2011-10-21

The accelerative expansion of the Crab Nebula's outer envelope is a mystery in dynamics, as a conventional expanding blast wave decelerates when bumping into the surrounding interstellar medium. Here we show that the strong relativistic pulsar wind bumping into its surrounding nebula induces energy-generating processes and initiates a detonation wave that propagates outward to form the current outer edge, namely, the shock front, of the nebula. The resulting detonation wave, with a reactive downstream, then provides the needed power to maintain propagation of the shock front. Furthermore, relaxation of the curvature-induced reduction of the propagation velocity from the initial state of formation to the asymptotic, planar state of Chapman-Jouguet propagation explains the observed accelerative expansion. Potential richness in incorporating reactive fronts in the description of various astronomical phenomena is expected. © 2011 American Physical Society

Geographical positioning using laser optical instrument for near-shore underwater archaeological explorations

Digital Repository Service at National Institute of Oceanography (India)

Ganesan, P.

carefully identified comers of the underwater artifacts) is found to be more accurate, faster, and reliable. This method can be effectively used only for shallow water near shore underwater archaeo- GLIMPSES OF MARINE ARCHAEOLOGY IN INDIA logical... Trak (placed over selected ground controi station) and a multi-prism (placed over carefully identified comers of the artifact). The standard survey procedures prescribed in the Laser Trak operation manual (Make III model) were used to carry out...

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...

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

International Nuclear Information System (INIS)

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

2011-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2011-01-21

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

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

International Nuclear Information System (INIS)

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

2009-01-01

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

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

DEFF Research Database (Denmark)

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

2012-01-01

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

Latest Trends in the Monitoring of Ships’s Hull Underwater Part and Analysis of Its Effectiveness

OpenAIRE

Urbahs, A; Carjova, K; Vulans, P; Straume, R

2012-01-01

Ship operation is not possible without regular maintenance, inspection and certification, established by international and domestic law, where one of the main goals is an effective operation of a ship. To achieve this, it is important to reduce time and costs involved in carrying out the surveys. This paper explores the law under which it’s required for ship to have inspection of underwater part; identifies problems of ship’s hull underwater part; analyze latest trends in ship's hull underwat...

Accuracy Assessment of Underwater Photogrammetric Three Dimensional Modelling for Coral Reefs

Science.gov (United States)

Guo, T.; Capra, A.; Troyer, M.; Gruen, A.; Brooks, A. J.; Hench, J. L.; Schmitt, R. J.; Holbrook, S. J.; Dubbini, M.

2016-06-01

Recent advances in automation of photogrammetric 3D modelling software packages have stimulated interest in reconstructing highly accurate 3D object geometry in unconventional environments such as underwater utilizing simple and low-cost camera systems. The accuracy of underwater 3D modelling is affected by more parameters than in single media cases. This study is part of a larger project on 3D measurements of temporal change of coral cover in tropical waters. It compares the accuracies of 3D point clouds generated by using images acquired from a system camera mounted in an underwater housing and the popular GoPro cameras respectively. A precisely measured calibration frame was placed in the target scene in order to provide accurate control information and also quantify the errors of the modelling procedure. In addition, several objects (cinder blocks) with various shapes were arranged in the air and underwater and 3D point clouds were generated by automated image matching. These were further used to examine the relative accuracy of the point cloud generation by comparing the point clouds of the individual objects with the objects measured by the system camera in air (the best possible values). Given a working distance of about 1.5 m, the GoPro camera can achieve a relative accuracy of 1.3 mm in air and 2.0 mm in water. The system camera achieved an accuracy of 1.8 mm in water, which meets our requirements for coral measurement in this system.

Underwater target positioning with a single acoustic sensor

Digital Repository Service at National Institute of Oceanography (India)

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

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

Underwater microwave ignition of hydrophobic thermite powder enabled by the bubble-marble effect

International Nuclear Information System (INIS)

Meir, Yehuda; Jerby, Eli

2015-01-01

Highly energetic thermite reactions could be useful for a variety of combustion and material-processing applications, but their usability is yet limited by their hard ignition conditions. Furthermore, in virtue of their zero-oxygen balance, exothermic thermite reactions may also occur underwater. However, this feature is also hard to utilize because of the hydrophobic properties of the thermite powder, and its tendency to agglomerate on the water surface rather than to sink into the water. The recently discovered bubble-marble (BM) effect enables the insertion and confinement of a thermite-powder batch into water by a magnetic field. Here, we present a phenomenon of underwater ignition of a thermite-BM by localized microwaves. The thermite combustion underwater is observed in-situ, and its microwave absorption and optical spectral emission are detected. The vapour pressure generated by the thermite reaction is measured and compared to theory. The combustion products are examined ex-situ by X-ray photo-electron spectroscopy which verifies the thermite reaction. Potential applications of this underwater combustion effect are considered, e.g., for detonation, wet welding, thermal drilling, material processing, thrust generation, and composite-material production, also for other oxygen-free environments

Underwater microwave ignition of hydrophobic thermite powder enabled by the bubble-marble effect

Energy Technology Data Exchange (ETDEWEB)

Meir, Yehuda; Jerby, Eli, E-mail: jerby@eng.tau.ac.il [Faculty of Engineering, Tel Aviv University, Ramat Aviv 6997801 (Israel)

2015-08-03

Highly energetic thermite reactions could be useful for a variety of combustion and material-processing applications, but their usability is yet limited by their hard ignition conditions. Furthermore, in virtue of their zero-oxygen balance, exothermic thermite reactions may also occur underwater. However, this feature is also hard to utilize because of the hydrophobic properties of the thermite powder, and its tendency to agglomerate on the water surface rather than to sink into the water. The recently discovered bubble-marble (BM) effect enables the insertion and confinement of a thermite-powder batch into water by a magnetic field. Here, we present a phenomenon of underwater ignition of a thermite-BM by localized microwaves. The thermite combustion underwater is observed in-situ, and its microwave absorption and optical spectral emission are detected. The vapour pressure generated by the thermite reaction is measured and compared to theory. The combustion products are examined ex-situ by X-ray photo-electron spectroscopy which verifies the thermite reaction. Potential applications of this underwater combustion effect are considered, e.g., for detonation, wet welding, thermal drilling, material processing, thrust generation, and composite-material production, also for other oxygen-free environments.

Shocked materials at the intersection of experiment and simulation

Energy Technology Data Exchange (ETDEWEB)

Lorenzana, H. E.; Belak, J. F.; Bradley, K. S.; Bringa, E. M.; Budil, K. S.; Cazamias, J. U.; El-Dasher, B.; Hawreliak, J. A.; Hessler, J.; Kadau, K.; Kalantar, D. H.; McNaney, J. M.; Milathianaki, D.; Rosolankova, K.; Swift, D. C.; Taravillo, M.; Van Buuren, T. W.; Wark, J. S.; de la Rubia, T. Diaz

2008-04-01

Understanding the dynamic lattice response of solids under the extreme conditions of pressure, temperature and strain rate is a scientific quest that spans nearly a century. Critical to developing this understanding is the ability to probe and model the spatial and temporal evolution of the material microstructure and properties at the scale of the relevant physical phenomena-nanometers to micrometers and picoseconds to nanoseconds. While experimental investigations over this range of spatial and temporal scales were unimaginable just a decade ago, new technologies and facilities currently under development and on the horizon have brought these goals within reach for the first time. The equivalent advancements in simulation capabilities now mean that we can conduct simulations and experiments at overlapping temporal and spatial scales. In this article, we describe some of our studies which exploit existing and new generation ultrabright, ultrafast x-ray sources and large scale molecular dynamics simulations to investigate the real-time physical phenomena that control the dynamic response of shocked materials.

Shocked materials at the intersection of experiment and simulation

Energy Technology Data Exchange (ETDEWEB)

Kadau, Kai [Los Alamos National Laboratory

2008-01-01

Understanding the dynamic lattice response of solids under the extreme conditions of pressure, temperature and strain rate is a scientific quest that spans nearly a century. Critical to developing this understanding is the ability to probe and model the spatial and temporal evolution of the material microstructure and properties at the scale of the relevant physical phenomena -- nanometers to micrometers and picoseconds to nanoseconds. While experimental investigations over this range of spatial and temporal scales were unimaginable just a decade ago, new technologies and facilities currently under development and on the horizon have brought these goals within reach for the first time. The equivalent advancements in simulation capabilities now mean that we can conduct simulations and experiments at overlapping temporal and spatial scales. In this article, we describe some of our studies which exploit existing and new generation ultrabright, ultrafast x-ray sources and large scale molecular dynamics simulations to investigate the real-time physical phenomena that control the dynamic response of shocked materials.

Shock Dynamics in Stellar Outbursts. I. Shock Formation

Energy Technology Data Exchange (ETDEWEB)

Ro, Stephen; Matzner, Christopher D., E-mail: ro@astro.utoronto.ca [Department of Astronomy and Astrophysics, University of Toronto, 50 St. George Street, Toronto, ON M5S 3H4 (Canada)

2017-05-20

Wave-driven outflows and non-disruptive explosions have been implicated in pre-supernova outbursts, supernova impostors, luminous blue variable eruptions, and some narrow-line and superluminous supernovae. To model these events, we investigate the dynamics of stars set in motion by strong acoustic pulses and wave trains, focusing on nonlinear wave propagation, shock formation, and an early phase of the development of a weak shock. We identify the shock formation radius, showing that a heuristic estimate based on crossing characteristics matches an exact expansion around the wave front and verifying both with numerical experiments. Our general analytical condition for shock formation applies to one-dimensional motions within any static environment, including both eruptions and implosions. We also consider the early phase of shock energy dissipation. We find that waves of super-Eddington acoustic luminosity always create shocks, rather than damping by radiative diffusion. Therefore, shock formation is integral to super-Eddington outbursts.

Survey and Recording Technologies in Italian Underwater Cultural Heritage: Research and Public Access Within the Framework of the 2001 UNESCO Convention

Science.gov (United States)

Secci, Massimiliano

2017-08-01

The 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage is slowly but peremptorily becoming a standard reference tool for underwater archaeology and underwater cultural heritage management. The many provisions included within the Convention touch on many aspects that are key to an effective protection and promotion of the underwater cultural heritage. Within the web of these provisions many aspects are gaining consideration and driving research in underwater archaeology worldwide. These provisions, when seen within a wider frame of social, economical and technological dynamics, pinpoint many aspects requiring further scrutiny from the disciplinary circle. In the framework of the 2001 UNESCO Convention, this article will analyze the path traveled in technological acquisition in the practice of Italian underwater archaeology and how this has affected the approach to underwater cultural heritage management, particularly highlighting how this process has been further influenced by the adoption in 2001 of the Convention and Italy's ratification of it in 2010.

Particle Filter for Fault Diagnosis and Robust Navigation of Underwater Robot

DEFF Research Database (Denmark)

Zhao, Bo; Skjetne, Roger; Blanke, Mogens

2014-01-01

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

The vortex mechanism of suppression of tsunami waves by underwater obstacles

Science.gov (United States)

Boshenyatov, B. V.

2017-12-01

A theoretical model explaining the effect of anomalous suppression of the energy (up to 70%) of tsunami-type waves by thin (compared to the wavelength) underwater obstacles is developed based on the integral laws of conservation of mass and energy fluxes. It is shown that the analytical dependences for the coefficients of reflection and transmission of waves across an underwater obstacle that have been obtained using the theoretical model proposed by the author agree with the results of the experiments and numerical simulation based on the complete Navier-Stokes equations.

Transient Interaction of a Spherical Shell with an Underwater Explosion Shock Wave and Subsequent Pulsating Bubble

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