Optimizing MFT dewatering by controlling polymer mixing

Energy Technology Data Exchange (ETDEWEB)

Demoz, A.; Munoz, V.; Mikula, R. [Natural Resources Canada, Devon, AB (Canada). CANMET Western Research Centre

2010-07-01

A method of controlling polymer mixing for the dewatering of mature fine tailings (MFT) was presented. The method was developed to accelerate water release from MFT and to recover more water for re-use. Dewatering rates are dependent upon hydrodynamic conditions as well as various physical mixing variables. The effect of mixing energy on the rate and amount of released water flocculated MFT was investigated using different impellers in order to determine the release water amount and capillary suction time. The mixing energy effect on the structure of the flocculated MFT was analyzed using rheology and stereo microscopy techniques. Batch mixing tests were conducted to determine dewatering characteristics. Flow was described using the Herschel-Bulkley model. Results of the study demonstrated a clear peak in the amount of water released with the mixing time. The effect was applicable to rim-ditch thin-lift, and dewatering by centrifugation. tabs., figs.

DEVELOPMENT OF DEWATERING AIDS FOR MINERALS AND COAL FINES

Energy Technology Data Exchange (ETDEWEB)

Roe-Hoam Yoon; Ramazan Asmatulu; Ismail Yildirim; William Jansen; Jinmig Zhang; Brad Atkinson; Jeff Havens

2004-07-01

MCT has developed a suite of novel dewatering chemicals (or aids) that are designed to cause a decrease in the capillary pressures of the water trapped in a filter cake by (1) decreasing the surface tension of water, (2) increasing the contact angles of the particles to be dewatered, and (3) causing the particles to coagulate, all at the same time. The decrease in capillary pressure in turn causes an increase in the rate filtration, an increase in throughput, and a decrease in pressure drop requirement for filtration. The reagents are used frequently as blends of different chemicals in order to bring about the changes in all of the process variables noted above. The minerals and coal samples tested in the present work included copper sulfide, lead sulfide, zinc sulfide, kaolin clay, talc, and silica. The laboratory-scale test work included studies of reagent types, drying cycle times, cake thickness, slurry temperature, conditioning intensity and time, solid content, and reagent dosages. To better understand the mechanisms involved, fundamental studies were also conducted. These included the measurements of the contact angles of the particles to be dewatered (which are the measures of particle hydrophobicity) and the surface tensions of the filtrates produced from dewatering tests. The results of the laboratory-scale filtration experiments showed that the use of the novel dewatering aids can reduce the moistures of the filter cake by 30 to 50% over what can be achieved using no dewatering aids. In many cases, such high levels of moisture reductions are sufficient to obviate the needs for thermal drying, which is costly and energy intensive. Furthermore, the use of the novel dewatering aids cause a substantial increase in the kinetics of dewatering, which in turn results in increased throughput. As a result of these technological advantages, the novel dewatering aids have been licensed to Nalco, which is one of the largest mining chemicals companies of the world. At

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.)

POC-scale testing of an advanced fine coal dewatering equipment/technique

Energy Technology Data Exchange (ETDEWEB)

Groppo, J.G.; Parekh, B.K. [Univ. of Kentucky, Lexington, KY (United States); Rawls, P. [Department of Energy, Pittsburgh, PA (United States)

1995-11-01

Froth flotation technique is an effective and efficient process for recovering of ultra-fine (minus 74 {mu}m) clean coal. Economical dewatering of an ultra-fine clean coal product to a 20 percent level moisture will be an important step in successful implementation of the advanced cleaning processes. This project is a step in the Department of Energy`s program to show that ultra-clean coal could be effectively dewatered to 20 percent or lower moisture using either conventional or advanced dewatering techniques. As the contract title suggests, the main focus of the program is on proof-of-concept testing of a dewatering technique for a fine clean coal product. The coal industry is reluctant to use the advanced fine coal recovery technology due to the non-availability of an economical dewatering process. in fact, in a recent survey conducted by U.S. DOE and Battelle, dewatering of fine clean coal was identified as the number one priority for the coal industry. This project will attempt to demonstrate an efficient and economic fine clean coal slurry dewatering process.

Maximizing the benefits of a dewatering system

International Nuclear Information System (INIS)

Matthews, P.; Iverson, T.S.

1999-01-01

The use of dewatering systems in the mining, industrial sludge and sewage waste treatment industries is discussed, also describing some of the problems that have been encountered while using drilling fluid dewatering technology. The technology is an acceptable drilling waste handling alternative but it has had problems associated with recycled fluid incompatibility, high chemical costs and system inefficiencies. This paper discussed the following five action areas that can maximize the benefits and help reduce costs of a dewatering project: (1) co-ordinate all services, (2) choose equipment that fits the drilling program, (3) match the chemical treatment with the drilling fluid types, (4) determine recycled fluid compatibility requirements, and (5) determine the disposal requirements before project start-up. 2 refs., 5 figs

An environmental isotope study of a major dewatering operation at Sishen mine, northern Cape Province

International Nuclear Information System (INIS)

Verhagen, B.T.; Smith, P.E.; Dziembowski, Z.; Oosthuizen, J.H.

1978-01-01

Geohydrological studies using environmental isotopes of the Sishen iron ore mine were started after major rainfalls in 1973/74 produced flooding of the open cast workings. The mine is underlain by dolomite which has been extensively karstified and geohydrologically compartmentalized by several dykes. Major dewatering takes place in a pit called Hill 2 by pumping an array of large diameter boreholes at a combined rate of 2000 m 3 h -1 . The probable recharge areas (dolomites, superficial Kalahari Beds) were isotopically surveyed to assess their relative importance to the dewatering problem. Several major pumping outlets at the mine were regularly sampled for isotopic and chemical analysis and from the data a preliminary mixing model is proposed. The data also show that with the total pumped volume up to March 1978, no very recent (i.e. post bomb) water has reached the dewatering points. On this basis a minimum storage of 0.75 x 10 8 m 3 is derived compared to a classical calculation of 10 8 m 3 for the compartment. Isotopic composition and response differ for waters on either side of a dyke crossing the mining area, corroborating classical evidence suggesting that the dyke acts as an aquiclude. (orig.) [de

An environmental isotope study of a major dewatering operation at Sishen mine, northern Cape Province

International Nuclear Information System (INIS)

Verhagen, B.Th.; Smith, P.E.; Oosthuizen, J.H.

1979-01-01

Geohydrological studies using environmental isotopes of the Sishen iron ore mine were started after major rainfalls in 1973/74 produced flooding of the open cast workings. The mine is underlain by dolomite which has been extensively karstified and geohydrologically compartmentalized by several dykes. Major dewatering takes place in a pit called Hill 2 by pumping an array of large-diameter boreholes at a combined rate of 2000m 3 h -1 . The probable recharge areas (dolomites, superficial Kalahari Beds) were isotopically surveyed to assess their relative importance to the dewatering problem. Several major pumping outlets at the mine were regularly sampled for isotopic and chemical analysis and from the data a preliminary mixing model is proposed. The data also show that, with the total pumped volume up to March 1978, no very recent (i.e. post-bomb) water has reached the dewatering points. On this basis a minimum storage of 0.75x10 8 m 3 is derived compared with a classical calculation of 10 8 m 3 for the compartment. Isotopic composition and response differ for waters on either side of a dyke crossing the mining area, corroborating classical evidence suggesting that the dyke acts as an aquiclude. (author)

The utilization of forward osmosis for coal tailings dewatering

Science.gov (United States)

The feasibility of dewatering coal tailings slurry by forward osmosis (FO) membrane process was investigated in this research. A prototype cell was designed and used for the dewatering tests. A cellulosic FO membrane (Hydration Technology Innovations, LLC, Albany, OR) was used fo...

Techno-economic evaluation of microalgae harvesting and dewatering systems

NARCIS (Netherlands)

Fasaei, F.; Bitter, J.H.; Slegers, P.M.; Boxtel, van A.J.B.

2018-01-01

Microalgal biomass is processed into products by two main process steps: 1) harvesting and dewatering; and 2) extraction, fractionation and conversion. The performance of unit operations for harvesting and dewatering is often expressed in qualitative terms, like “high energy consumption” and “low in

Dewatering blastholes cuts explosives costs

Energy Technology Data Exchange (ETDEWEB)

Pilshaw, S.R.

1987-11-01

Large mining operations often require a combination of presplitting and dewatering with blasthole pumps. Increasing the percentage of bulk ANFO in any blast will reduce cost and should increase profitability.

Dewatering and Treatment of Septage Using Vertical Flow Constructed Wetlands

Directory of Open Access Journals (Sweden)

Yee Yong Tan

2017-10-01

Full Text Available The vertical flow constructed wetland (VFCW has become an attractive decentralised technology for septage treatment. One of the main purposes of the septage treatment is to reduce the volume of raw septage through dewatering, where the solids content is retained in the wetland bed and the water content is released. The retention of solids forms a layer of sludge deposit at the wetland surface, and the drained water, the so-called leachate, typically contains a lower solids content. This article reports the performance of dewatering and filtration of a pilot-scale VFCW designed for septage treatment. A comparison between two feeding strategies, hydraulic loading rate (HLR and solids loading rate (SLR, is presented. The dewatering efficiency through drainage was found to be dependent on the solids load. The removal of total solids (TS and chemical oxygen demand (COD were excellent as the quality of leachate showed that more than 90% of TS and COD were retained in the system. This study reveals that the feeding based on SLR delivered a more sustainable performance for dewatering and solids removal. The build-up of sludge deposit significantly deteriorated the dewatering efficiency through drainage, but it tended to improve the filtration capacity.

Microalgae dewatering based on forward osmosis employing proton exchange membrane.

Science.gov (United States)

Son, Jieun; Sung, Mina; Ryu, Hoyoung; Oh, You-Kwan; Han, Jong-In

2017-11-01

In this study, electrically-facilitated forward osmosis (FO) employing proton exchange membrane (PEM) was established for the purpose of microalgae dewatering. An increase in water flux was observed when an external voltage was applied to the FO equipped with the PEM; as expected, the trend became more dramatic with both concentration of draw solution and applied voltage raised. With this FO used for microalgae dewatering, 247% of increase in flux and 86% in final biomass concentration were observed. In addition to the effect on flux improvement, the electrically-facilitated FO exhibited the ability to remove chlorophyll from the dewatered biomass, down to 0.021±0015mg/g cell. All these suggest that the newly suggested electrically-facilitated FO, one particularly employed PEM, can indeed offer a workable way of dewatering of microalgae; it appeared to be so because it can also remove the ever-problematic chlorophyll from extracted lipids in a simultaneous fashion. Copyright © 2017 Elsevier Ltd. All rights reserved.

Macroinvertebrate community responses to a dewatering disturbance gradient in a restored stream

Directory of Open Access Journals (Sweden)

J. D. Muehlbauer

2011-06-01

Full Text Available Dewatering disturbances are common in aquatic systems and represent a relatively untapped field of disturbance ecology, yet studying dewatering events along gradients in non-dichotomous (i.e. wet/dry terms is often difficult. Because many stream restorations can essentially be perceived as planned hydrologic manipulations, such systems can make ideal test-cases for understanding processes of hydrological disturbance. In this study we used an experimental drawdown in a 440 ha stream/wetland restoration site to assess aquatic macroinvertebrate community responses to dewatering and subsequent rewetting. The geomorphic nature of the site and the design of the restoration allowed dewatering to occur predictably along a gradient and decoupled the hydrologic response from any geomorphic (i.e. habitat heterogeneity effects. In the absence of such heterogeneous habitat refugia, reach-scale wetted perimeter and depth conditions exerted a strong control on community structure. The community exhibited an incremental response to dewatering severity over the course of this disturbance, which was made manifest not as a change in community means but as an increase in community variability, or dispersion, at each site. The dewatering also affected inter-species abundance and distributional patterns, as dewatering and rewetting promoted alternate species groups with divergent habitat tolerances. Finally, our results indicate that rapid rewetting – analogous to a hurricane breaking a summer drought – may represent a recovery process rather than an additional disturbance and that such processes, even in newly restored systems, may be rapid.

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

Electrical field: a historical review of its application and contributions in wastewater sludge dewatering.

Science.gov (United States)

Mahmoud, Akrama; Olivier, Jérémy; Vaxelaire, Jean; Hoadley, Andrew F A

2010-04-01

Electric field-assisted dewatering, also called electro-dewatering, is a technology in which a conventional dewatering mechanism such a pressure dewatering is combined with electrokinetic effects to realize an improved liquid/solids separation, to increase the final dry solids content and to accelerate the dewatering process with low energy consumption compared to thermal drying. Electro-dewatering is not a new idea, but the practical industrial applications have been limited to niche areas in soil mechanics, civil engineering, and the ceramics industry. Recently, it has received great attention, specially, in the fields of fine-particle sludge, gelatinous sludge, sewage sludge, pharmaceutical industries, food waste and bull kelp, which could not be successfully dewatered with conventional mechanical methods. This review focuses on the scientific and practical aspects of the application of an electrical field in laboratory/industrial dewatering, and discusses this in relation to conventional dewatering techniques. A comprehensive bibliography of research in the electro-dewatering of wastewater sludges is included. As the fine-particle suspensions possess a surface charge, usually negative, they are surrounded by a layer with a higher density of positive charges, the electric double layer. When an electric field is applied, the usually negative charged particles move towards the electrode of the opposite charge. The water, commonly with cations, is driven towards the negative electrode. Electro-dewatering thus involves the well-known phenomena of electrophoresis, electro-osmosis, and electromigration. Following a detailed outline of the role of the electric double layer and electrokinetic phenomena, an analysis of the components of applied voltage and their significance is presented from an electrochemical viewpoint. The aim of this elementary analysis is to provide a fundamental understanding of the different process variables and configurations in order to

Fuel performance in water storage

International Nuclear Information System (INIS)

Hoskins, A.P.; Scott, J.G.; Shelton-Davis, C.V.; McDannel, G.E.

1993-11-01

Westinghouse Idaho Nuclear Company operates the Idaho Chemical Processing Plant (ICPP) at the Idaho National Engineering Laboratory (INEL) for the Department of Energy (DOE). A variety of different types of fuels have been stored there since the 1950's prior to reprocessing for uranium recovery. In April of 1992, the DOE decided to end fuel reprocessing, changing the mission at ICPP. Fuel integrity in storage is now viewed as long term until final disposition is defined and implemented. Thus, the condition of fuel and storage equipment is being closely monitored and evaluated to ensure continued safe storage. There are four main areas of fuel storage at ICPP: an original underwater storage facility (CPP-603), a modern underwater storage facility (CPP-666), and two dry fuel storage facilities. The fuels in storage are from the US Navy, DOE (and its predecessors the Energy Research and Development Administration and the Atomic Energy Commission), and other research programs. Fuel matrices include uranium oxide, hydride, carbide, metal, and alloy fuels. In the underwater storage basins, fuels are clad with stainless steel, zirconium, and aluminum. Also included in the basin inventory is canned scrap material. The dry fuel storage contains primarily graphite and aluminum type fuels. A total of 55 different fuel types are currently stored at the Idaho Chemical Processing Plant. The corrosion resistance of the barrier material is of primary concern in evaluating the integrity of the fuel in long term water storage. The barrier material is either the fuel cladding (if not canned) or the can material

Determination of Juice Removal Difficulty from Mash Cake in Cassava Mash Dewatering Operation

Directory of Open Access Journals (Sweden)

Oladele Peter KOLAWOLE

2012-08-01

Full Text Available Cassava processing equipment operators have limited knowledge; this militates against the success recorded in the research so far in cassava mash dewatering. New dewatering schemes to make food processing economical to handle are in progress. Common dewatering processes use a variety of mechanical means such as screw presses and belt presses. Experiments were conducted using three samples of TMS 4(2 1425 variety while evaluating the difficulty of separating juice from mash cake. Average specific cake resistance (a of 5×1011 m/kg was obtained confirming that it is moderately easy to dewatering.

Enhanced Brine Dewatering System, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — The purpose of the Enhanced Brine Dewatering System (EBDS) is to provide an easily scalable means of completely recovering usable water from byproducts created by...

Enhanced Brine Dewatering System, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — The purpose of the Enhanced Brine Dewatering System (EBDS) is to provide a scalable means of completely recovering usable water from byproducts created by reverse...

Electric dewatering and drying of fine-grained products; Elektrisk afvanding og toerring af finkornede produkter

Energy Technology Data Exchange (ETDEWEB)

Hansen, H.K.; Villumsen, A.

2001-07-01

The aim of the project was to elucidate four aspects related to using electric direct current to find an energy saving alternative to existing methods within dewatering of fine-grained products. The four aspects were a) electrophoresis forced sedimentation of chalk slurry, b) electro osmotic dewatering of chalk slurry, c) electro osmotic dewatering of agricultural chalk and d) electro osmotic dewatering of liquid organic wastes. (EHS)

Electro-dewatering of wastewater sludge: influence of the operating conditions and their interactions effects.

Science.gov (United States)

Mahmoud, Akrama; Olivier, Jérémy; Vaxelaire, Jean; Hoadley, Andrew F A

2011-04-01

Electric field-assisted dewatering, also called electro-dewatering (EDW), is a technology in which a conventional dewatering mechanism such a pressure dewatering is combined with electrokinetic effects to realize an improved liquid/solids separation, to increase the final dry solids content and to accelerate the dewatering process with low energy consumption compared to thermal drying. The application of these additional fields can be applied to either or both dewatering stages (filtration and/or compression), or as a pre-or post-treatment of the dewatering process. In this study, the performance of the EDW on wastewater sludge was investigated. Experiments were carried out on a laboratory filtration/compression cell, provided with electrodes, in order to apply an electrical field. The chosen operating conditions pressure (200-1200 kPa) and voltage (10-50 V) are sufficient to remove a significant proportion of the water that cannot be removed using mechanical dewatering technologies alone. A response surface methodology (RSM) was used to evaluate the effects of the processing parameters of EDW on (i) the final dry solids content, which is a fundamental dewatering parameter and an excellent indicator of the extent of EDW and (ii) the energy consumption calculated for each additional mass of water removed. A two-factor central composite design was used to establish the optimum conditions for the EDW of wastewater sludge. Experiments showed that the use of an electric field combined with mechanical compression requires less than 10 and 25% of the theoretical thermal drying energy for the low and moderate voltages cases, respectively. Crown Copyright © 2011. Published by Elsevier Ltd. All rights reserved.

Flotation: A promising microalgae harvesting and dewatering technology for biofuels production.

Science.gov (United States)

Ndikubwimana, Theoneste; Chang, Jingyu; Xiao, Zongyuan; Shao, Wenyao; Zeng, Xianhai; Ng, I-Son; Lu, Yinghua

2016-03-01

Microalgal biomass as renewable energy source is believed to be of great potential for reliable and sustainable biofuels production. However, microalgal biomass production is pinned by harvesting and dewatering stage thus hindering the developing and growing microalgae biotechnology industries. Flotation technology applied in mineral industry could be potentially applied in microalgae harvesting and dewatering, however substantial knowledge on different flotation units is essential. This paper presents an overview on different flotation units as promising cost-effective technologies for microalgae harvesting thus bestowing for further research in development and commercialization of microalgae based biofuels. Dispersed air flotation was found to be less energy consuming. Moreover, Jameson cell flotation and dispersed ozone flotation are believed to be energy efficient microalgae flotation approaches. Microalgae harvesting and dewatering by flotation is still at embryonic stage, therefore extended studies with the focus on life cycle assessment, sustainability of the flotation unit, optimization of the operating parameters using different algal species is imperative. Though there are a number of challenges in microalgae harvesting and dewatering, with well designed and developed cultivation, harvesting/dewatering, extraction and conversion technologies, progressively, microalgae technology will be of great potential for biological carbon sequestration, biofuels and biochemicals production. Copyright © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Thermal conductivity characteristics of dewatered sewage sludge by thermal hydrolysis reaction.

Science.gov (United States)

Song, Hyoung Woon; Park, Keum Joo; Han, Seong Kuk; Jung, Hee Suk

2014-12-01

The purpose of this study is to quantify the thermal conductivity of sewage sludge related to reaction temperature for the optimal design of a thermal hydrolysis reactor. We continuously quantified the thermal conductivity of dewatered sludge related to the reaction temperature. As the reaction temperature increased, the dewatered sludge is thermally liquefied under high temperature and pressure by the thermal hydrolysis reaction. Therefore, the bound water in the sludge cells comes out as free water, which changes the dewatered sludge from a solid phase to slurry in a liquid phase. As a result, the thermal conductivity of the sludge was more than 2.64 times lower than that of the water at 20. However, above 200, it became 0.704 W/m* degrees C, which is about 4% higher than that of water. As a result, the change in physical properties due to thermal hydrolysis appears to be an important factor for heat transfer efficiency. Implications: The thermal conductivity of dewatered sludge is an important factor the optimal design of a thermal hydrolysis reactor. The dewatered sludge is thermally liquefied under high temperature and pressure by the thermal hydrolysis reaction. The liquid phase slurry has a higher thermal conductivity than pure water.

Mechanical dewatering of silage; Mechanische Entwaesserung von Silage

Energy Technology Data Exchange (ETDEWEB)

Scholz, Volkhard; Daries, Werner [Leibniz-Institut fuer Agrartechnik Potsdam-Bornim e.V. (ATB), Potsdam (Germany). Abteilung Technik der Aufbereitung, Lagerung und Konservierung; Rinder, Ralf [Anhydro GmbH, Kassel (Germany)

2009-07-01

The use of screw presses for dewatering of silage is energetically more efficient than thermal drying. Tests with two types of screw presses show that on dry matter flow rates of more than 1.0 tDM/h the specific energy consumption is less than 30 kWh/tDM. The water content of the silage is decreased by 5 to 20 % and the share of undesired ingredients by 2 to 30 %. Besides press design and plant species, in particular moisture content, chip size and density of silage are essentially for the dewatering success. (orig.)

Pervaporation applied for dewatering of reaction mixture during esterification

OpenAIRE

Krasiński Andrzej; Wierzba Patrycja; Grudzień Agata; Hajmowicz Halina; Zawada Krzysztof; Synoradzki Ludwik

2016-01-01

In this work the esterification of diethyl tartrate was studied. The research was focused on the enhancement of reversible reaction yield, which is accomplished by dewatering of the reaction mixture. The removal of water shifts the equilibrium towards the main product. Pervaporation was applied for this purpose, and results were compared to distillation. The advantages and limitations of both processes are discussed. The experimental part consists of dewatering of mixture after the reaction h...

Laboratory and field experience with rim ditch dewatering of MFT

Energy Technology Data Exchange (ETDEWEB)

Demoz, A.; Mikula, R. [Natural Resources Canada, Devon, AB (Canada). CANMET Western Research Centre; Lahaie, R. [Syncrude Canada Ltd., Edmonton, AB (Canada)

2010-07-01

This PowerPoint presentation described a rim ditch method of dewatering mature fine tailings (MFT). Polymer additions were used to strengthen the MFT and to decrease the capillary suction time (CST). Laboratory and field-scale studies were conducted to demonstrate the dewatering method. The flocculants were added in a Komax inline mixer. Polymers were then injected into the tailings. The mixing processes were optimized in a series of laboratory studies and then demonstrated in the field tests. The tests showed that CST and high dewatering rates were consistently maintained using the method. MFT feeds were also consistent. Release water quality was improved using the method. The large-scale test site is now being monitored for compliance with Directive 74. tabs., figs.

Osmotic Effects in Sludge Dewatering

DEFF Research Database (Denmark)

Keiding, Kristian; Rasmussen, Michael R.

2003-01-01

A model of filtration dewatering is presented. The model is based on the d’Arcy flow equation in which the resistance to filtration is described by the Corzeny–Carman equation and the driving force is the difference between the external pressure and the osmotic pressure of the filter cake. It has...

Localization of Energy Harvesting Empowered Underwater Optical Wireless Sensor Networks

KAUST Repository

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

2017-01-01

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

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

Co-conditioning and dewatering of chemical sludge and waste activated sludge.

Science.gov (United States)

Chang, G R; Liu, J C; Lee, D J

2001-03-01

The conditioning and dewatering behaviors of chemical and waste activated sludges from a tannery were studied. Capillary suction time (CST), specific resistance to filtration (SRF), and bound water content were used to evaluate the sludge dewatering behaviors. Zeta potentials were also measured. Experiments were conducted on each sludge conditioned and dewatered separately, and on the sludge mixed at various ratios. Results indicate that the chemical sludge was relatively difficult to be dewatered, even in the presence of polyelectrolyte. When the waste activated sludge was mixed with the chemical sludge at ratios of 1:1 and 2:1, respectively, the dewaterability of chemical sludge improved remarkably while the relatively better dewaterability of the waste activated sludge deteriorated only to a limited extent. As the mixing ratios became 4:1 and 8:1, the dewaterability of the mixed sludge was equal to that of the waste activated sludge. The optimal polyelectrolyte dosage for the mixed sludge was equal to or less than that of the waste activated sludge. It is proposed that the chemical sludges act as skeleton builders that reduce the compressibility of the mixed sludge whose dewaterability is enhanced. Bound water contents of sludge decreased at low polyelectrolyte dosage and were not significantly affected as polyelectrolyte dosage increased. Advantages and disadvantages of co-conditioning and dewatering chemical sludge and waste activated sludge were discussed.

46 CFR 28.255 - Bilge pumps, bilge piping, and dewatering systems.

Science.gov (United States)

2010-10-01

... 46 Shipping 1 2010-10-01 2010-10-01 false Bilge pumps, bilge piping, and dewatering systems. 28... the Aleutian Trade § 28.255 Bilge pumps, bilge piping, and dewatering systems. (a) Each vessel must be equipped with a bilge pump and bilge piping capable of draining any watertight compartment, other than...

Summary engineering description of underwater fuel storage facility for foreign research reactor spent nuclear fuel

Energy Technology Data Exchange (ETDEWEB)

Dahlke, H.J.; Johnson, D.A.; Rawlins, J.K.; Searle, D.K.; Wachs, G.W.

1994-10-01

This document is a summary description for an Underwater Fuel Storage Facility (UFSF) for foreign research reactor (FRR) spent nuclear fuel (SNF). A FRR SNF environmental Impact Statement (EIS) is being prepared and will include both wet and dry storage facilities as storage alternatives. For the UFSF presented in this document, a specific site is not chosen. This facility can be sited at any one of the five locations under consideration in the EIS. These locations are the Idaho National Engineering Laboratory, Savannah River Site, Hanford, Oak Ridge National Laboratory, and Nevada Test Site. Generic facility environmental impacts and emissions are provided in this report. A baseline fuel element is defined in Section 2.2, and the results of a fission product analysis are presented. Requirements for a storage facility have been researched and are summarized in Section 3. Section 4 describes three facility options: (1) the Centralized-UFSF, which would store the entire fuel element quantity in a single facility at a single location, (2) the Regionalized Large-UFSF, which would store 75% of the fuel element quantity in some region of the country, and (3) the Regionalized Small-UFSF, which would store 25% of the fuel element quantity, with the possibility of a number of these facilities in various regions throughout the country. The operational philosophy is presented in Section 5, and Section 6 contains a description of the equipment. Section 7 defines the utilities required for the facility. Cost estimates are discussed in Section 8, and detailed cost estimates are included. Impacts to worker safety, public safety, and the environment are discussed in Section 9. Accidental releases are presented in Section 10. Standard Environmental Impact Forms are included in Section 11.

Synthesis, characterization, and secondary sludge dewatering performance of a novel combined silicon–aluminum–iron–starch flocculant

Energy Technology Data Exchange (ETDEWEB)

Lin, Qintie, E-mail: qintlin@163.com; Peng, Huanlong; Zhong, Songxiong; Xiang, Jiangxin

2015-03-21

Highlights: • Silicon, aluminum, and iron were grafted onto starch chains to synthesize CSiAFS. • The sludge dewatering performance of CSiAFS was superior to PAC, PAM, and FeCl{sub 3}. • CSiAFS exhibited a good dewatering efficiency over a wide range of pH (3.0–11.0). • CSiAFS had a discontinuous surface with channels which helped to sludge dewatering. - Abstract: Flocculation is one of the most widely used cost-effective pretreatment method for sludge dewatering, and a novel environmentally friendly and efficient flocculant is highly desired in the sludge dewatering field. In this study, a novel combined silicon–aluminum–ferric–starch was synthesized by grafting silicon, aluminum, and iron onto a starch backbone. The synthesized starch flocculant was characterized using Fourier-transform infrared spectroscopy (FTIR), scanning electron microscopy, X-ray powder diffraction, and thermogravimetric analysis. The dewatering performance of secondary sludge was evaluated according to the capillary suction time, settling volume percentage, and specific resistance to filtration. The results indicated that the copolymer exhibited: (1) a good dewatering efficiency over a wide pH range of 3.0–11.0, (2) superior sludge dewatering performance compared to those of polyaluminum chloride (PACl), polyacrylamide (PAM), ferric chloride, and (3) a discontinuous surface with many channels or voids that helps to mobilize the impermeable thin layer of secondary sludge during filter pressing. Such a novel copolymer is a promising green flocculant for secondary sludge dewatering applications.

Atomistic Structure of Mineral Nano-aggregates from Simulated Compaction and Dewatering.

Science.gov (United States)

Ho, Tuan Anh; Greathouse, Jeffery A; Wang, Yifeng; Criscenti, Louise J

2017-11-10

The porosity of clay aggregates is an important property governing chemical reactions and fluid flow in low-permeability geologic formations and clay-based engineered barrier systems. Pore spaces in clays include interlayer and interparticle pores. Under compaction and dewatering, the size and geometry of such pore spaces may vary significantly (sub-nanometer to microns) depending on ambient physical and chemical conditions. Here we report a molecular dynamics simulation method to construct a complex and realistic clay-like nanoparticle aggregate with interparticle pores and grain boundaries. The model structure is then used to investigate the effect of dewatering and water content on micro-porosity of the aggregates. The results suggest that slow dewatering would create more compact aggregates compared to fast dewatering. Furthermore, the amount of water present in the aggregates strongly affects the particle-particle interactions and hence the aggregate structure. Detailed analyses of particle-particle and water-particle interactions provide a molecular-scale view of porosity and texture development of the aggregates. The simulation method developed here may also aid in modeling the synthesis of nanostructured materials through self-assembly of nanoparticles.

Effect of hydrothermal dewatering on the slurryability of brown coals

International Nuclear Information System (INIS)

Yu Yujie; Liu Jianzhong; Wang Ruikun; Zhou Junhu; Cen Kefa

2012-01-01

Highlights: ► Brown coals are upgraded by hydrothermal dewatering. ► The moisture content and oxygen functional groups decrease during the process. ► The point of zero charge and the contact angle rise as the temperature increases. ► The products were highly hydrophobic. ► The improvement on slurryability of solid products were examined. - Abstract: Two brown coals from China were dewatered under hydrothermal dewatering (HTD) conditions at 250–320 °C for 1 h in a 2 L autoclave. The hydrothermally dewatered products were used to prepare coal water slurry (CWS) with a lower viscosity than brown raw coal slurry. Moreover, the coal rank and heat value of the brown coal increased as the inherent moisture and oxygen content decreased during the HTD process. The maximum solid concentration of CWS prepared from XiMeng coal increased from 45.7% to 59.3%, whereas that of CWS prepared from BaoTou coal increased from 53.7% to 62.1%, after being dewatered at 320 °C. The improvement in the slurryability of brown coal significantly depended on the final temperature of the HTD process, the mechanism of which can be explained by the chemical analysis of oxygen functional groups, zeta potential, and the contact angle of the surface between coal and water. The oxygen functional groups, the oxygen/carbon ratio and hydrogen/carbon ratio in brown coal decreased, indicating that the coal rank was upgraded during the HTD process. As a result, both the point of zero charge and the contact angle increased, implying that the HTD products were highly hydrophobic.

Dewatering of planned Key Lake open pits in northern Saskatchewan

International Nuclear Information System (INIS)

Unland, W.; Holl, N.

1980-01-01

The engineering design and experience gained so far with a dewatering system for an open-pit uranium mine planned at Key Lake in Northern Saskatchewan are presented. An extensive unconfined overburden aquifer is hydraulically connected with the underlying Athabasca Formation and basement rocks, both of relatively low hydraulic conductivity. The overburden aquifer is embedded in a bedrock trough, with the deepest depression between the planned pits. Hydrogeological data were used in a numerical dewatering model simulating groundwater flow at different stages of the pit development. Based on the model results, the enginering design had to provide for different pumping rates, varying between 1.0 and 0.21 m 3 /sec. This problem was solved by using a double line pressure system. The design concept for the complete peripheral discharge system and the well design used for 26 dewatering wells are discussed. (auth)

Centrifuge - dewatering of oil sand fluid tailings: phase 2 field-scale test

Energy Technology Data Exchange (ETDEWEB)

Seto, Jack T.C. [BGC Engineering Inc (Canada); O' Kane, Mike [O' Kane Consultants Inc (Canada); Donahue, Robert [Applied Geochemical Solutions Engineering (Canada); Lahaie, Rick [Syncrude Canada Ltd (Canada)

2011-07-01

In order to reduce the accumulation of oil sand fluid fine tailings (FFT) and to create trafficable surfaces for reclamation, Syncrude Canada Ltd. has been studying several tailings technologies. Centrifuge-dewatering is one such technology. This paper discusses the phase 2 field-scale tests for centrifuge-dewatering of oil sand FFT. In centrifuge-dewatering, FFT is diluted and treated with flocculant, then processed through a centrifuge plant and the high-density underflow is transported to a tailings deposit. This technology has evolved since 2005 from laboratory bench scale tests. More than 10,000 cubic meters of centrifuge cake was treated, produced and transported to ten different deposits over a 12-week period from August to October 2010. The amount of solids in FFT was increased from 30% to 50% by centrifuging. Sampled deposits were tested and instrumented for in situ strength. It can be concluded that the deposits can be strengthened and densified by natural dewatering processes like freeze-thaw action and evaporative drying.

Field performance of de-watered fluid fine tailings for oil sands reclamation

Energy Technology Data Exchange (ETDEWEB)

Ward Wilson, G.; Kabwe, Louis [University of Alberta (Canada); Donahue, Robert [Applied Geochemical Engineering Inc. (Canada); Lahaie, Rick [Syncrude Canada Ltd (Canada)

2011-07-01

This document presents research carried out by Syncrude Canada Ltd and its partners to evaluate several methods of de-watering fluid fine tailings to increase the solids content and at the same time produce a tailings profile which will permit final reclamation. Several de-watering methods are discussed in this paper, particularly in-line flocculation and centrifuged fluid fine tailings. First, in-line flocculation with organic polymers is discussed followed by thin left deposition, then the flocculation and centrifugation process to produce a paste- like material that is deposited in a thicker layer is presented. This document details the preliminary performance of both discussed methods; extensive instrumentation was used to measure de-watering rates due to consolidation, atmospheric drying, downward drainage to the foundation materials, and freeze/thaw consolidation. Finally, a summary of the measured results of de-watering rates and numerical model results obtained from the SoilCover model are presented and discussed.

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.       

METODE PELAKSANAAN DEWATERING YANG RAMAH LINGKUNGAN PADA PROYEK THE NEST CONDOTEL

Directory of Open Access Journals (Sweden)

I Wayan Intara

2016-03-01

Full Text Available Proyek Pembangunan The Nest Condotel merupakan salah satu upaya untuk memenuhi sarana dan prasarana pariwisata khusunya daerah Nusa Dua-Bali. Proyek ini dibangun di tengah-tengah pemukiman penduduk dan berdekatan dengan Pengolahan Limbah BTDC. Setelah dilaksanakan survei lapangan ada permasalahan yang dihadapi pada pembangunan proyek ini yaitu pada pengerjaan struktur basement. Kondisi muka air tanah lebih tinggi daripada rencana pemukaan galian lantai basement yang akan dibuat. Di samping itu, kondisi tanah yang kurang baik dengan kondisi tanah yang berpasir. Berdasarkan permasalahan di atas perlu adanya pemilihan perencanaan metode penanganan muka air tanah yang paling tepat dalam pekerjaan  galian basement. Dewatering adalah proses penurunan muka air tanah pada suatu area tertentu dengan cara pemompaan dari sebuah sumur ataupun saluran. Tujuannya adalah untuk menjaga area galian tetap kering dalam proses konstruksi dan menjaga kestabilan lereng galian. Pemompaan dilakukan melalui sumur-sumur dewatering (dewatering well atau well point atau saluran-saluran (sump dengan menggunakan pompa submersible (submersible pump. Dengan demikian penggalian basement bisa dikerjakan dengan baik. Penelitian ini adalah menentukan metode pelaksanaan pekerjaan dewatering yang paling tepat dari metode-metode pelaksanaan yang mungkin untuk dilaksankan berdasarkan biaya, waktu, dan dampak terhadap lingkungan. Metodelogi yang digunakan untuk analisis data adalah menganalisis metode-metode pelaksanaan yang ada dan dari hasil analisis akan ditetapkan metode pelaksanaan terbaik. Hasil analisis dari beberapa metode pelaksanaan yang ada untuk pekerjaan dewatering digunakan adalah predrainage dan open pumping, metode yang terpilih yaitu open pumping adalah metode terbaik untuk dilaksanakan pada proyek tersebut dengan biaya yang terendah, waktu pelaksanaan yang lebih cepat, dan dampak lingkungan yang dapat diminimalisir

Dewatering of Yoghurt Using Permeable Membrane and Acrylic Superabsorbent Hydrogel

Directory of Open Access Journals (Sweden)

A. Ahmadpour

2008-02-01

Full Text Available Conventional processes of food dewatering, such as thermal, have undesirable and destruction effects on vitamins, aromatic compounds and pigments. In addition, they are accompanied with some technological complications and energy consumption. Thus, food concentration processes are directed to non-thermal techniques or methods with reduced heat effects. Superabsorbents are highly hydrophilic polymer networks which can absorb water and aqueous solutions some hundred times of their weights and retain them. These materials are subgroups of hydrogel family that are transformed into gels after absorbing water. In the present research, the possibilities of yoghurt dewatering using superabsorbents have been investigated for the first time in Iran and some remarkable results are obtained for this vital product. In the experiments carried out to investigate the effect of these absorbents on normal method of yoghurt concentration (use of permeable membrane, type of bed (wide and vertical and time are also studied. The percentage of total soluble solids and dry solids of dewatered samples were measured in different time intervals up to 180 min. The results showed that superabsorbent on a wide bed would reduce the concentration time to one third. In other words, in a certain time interval, more than 70% increase in yoghurt dry solids was observed compared to normal method. These results show that acrylic superabsorbent hydrogel can be applied as highly hydrophilic material in non-thermal food dewatering methods.

Pressurised electro-osmotic dewatering of activated and anaerobically digested sludges: electrical variables analysis.

Science.gov (United States)

Citeau, M; Olivier, J; Mahmoud, A; Vaxelaire, J; Larue, O; Vorobiev, E

2012-09-15

Pressurised electro-osmotic dewatering (PEOD) of two sewage sludges (activated and anaerobically digested) was studied under constant electric current (C.C.) and constant voltage (C.V.) with a laboratory chamber simulating closely an industrial filter. The influence of sludge characteristics, process parameters, and electrode/filter cloth position was investigated. The next parameters were tested: 40 and 80 A/m², 20, 30, and 50 V-for digested sludge dewatering; and 20, 40 and 80 A/m², 20, 30, and 50 V-for activated sludge dewatering. Effects of filter cloth electric resistance and initial cake thickness were also investigated. The application of PEOD provides a gain of 12 points of dry solids content for the digested sludge (47.0% w/w) and for the activated sludge (31.7% w/w). In PEOD processed at C.C. or at C.V., the dewatering flow rate was similar for the same electric field intensity. In C.C. mode, both the electric resistance of cake and voltage increase, causing a temperature rise by ohmic effect. In C.V. mode, a current intensity peak was observed in the earlier dewatering period. Applying at first a constant current and later on a constant voltage, permitted to have better control of ohmic heating effect. The dewatering rate was not significantly affected by the presence of filter cloth on electrodes, but the use of a thin filter cloth reduced remarkably the energy consumption compared to a thicker one: 69% of reduction energy input at 45% w/w of dry solids content. The reduction of the initial cake thickness is advantageous to increase the final dry solids content. Copyright © 2012 Elsevier Ltd. All rights reserved.

CPP-603 Underwater Fuel Storage Facility Site Integrated Stabilization Management Plan (SISMP), Volume I

International Nuclear Information System (INIS)

Denney, R.D.

1995-10-01

The CPP-603 Underwater Fuel Storage Facility (UFSF) Site Integrated Stabilization Management Plan (SISMP) has been constructed to describe the activities required for the relocation of spent nuclear fuel (SNF) from the CPP-603 facility. These activities are the only Idaho National Engineering Laboratory (INEL) actions identified in the Implementation Plan developed to meet the requirements of the Defense Nuclear Facilities Safety Board (DNFSB) Recommendation 94-1 to the Secretary of Energy regarding an improved schedule for remediation in the Defense Nuclear Facilities Complex. As described in the DNFSB Recommendation 94-1 Implementation Plan, issued February 28, 1995, an INEL Spent Nuclear Fuel Management Plan is currently under development to direct the placement of SNF currently in existing INEL facilities into interim storage, and to address the coordination of intrasite SNF movements with new receipts and intersite transfers that were identified in the DOE SNF Programmatic and INEL Environmental Restoration and Waste Management Environmental Impact Statement Record, of Decision. This SISMP will be a subset of the INEL Spent Nuclear Fuel Management Plan and the activities described are being coordinated with other INEL SNF management activities. The CPP-603 relocation activities have been assigned a high priority so that established milestones will be meet, but there will be some cases where other activities will take precedence in utilization of available resources. The Draft INEL Site Integrated Stabilization Management Plan (SISMP), INEL-94/0279, Draft Rev. 2, dated March 10, 1995, is being superseded by the INEL Spent Nuclear Fuel Management Plan and this CPP-603 specific SISMP

Fuel performance of DOE fuels in water storage

International Nuclear Information System (INIS)

Hoskins, A.P.; Scott, J.G.; Shelton-Davis, C.V.; McDannel, G.E.

1993-01-01

Westinghouse Idaho Nuclear Company operates the Idaho Chemical Processing Plant (ICPP) at the Idaho National Engineering Laboratory. In April of 1992, the U.S. Department of Energy (DOE) decided to end the fuel reprocessing mission at ICPP. Fuel performance in storage received increased emphasis as the fuel now needs to be stored until final dispositioning is defined and implemented. Fuels are stored in four main areas: an original underwater storage facility, a modern underwater storage facility, and two dry fuel storage facilities. As a result of the reactor research mission of the DOE and predecessor agencies, the Energy Research and Development Administration and the Atomic Energy Commission, many types of nuclear fuel have been developed, used, and assigned to storage at the ICPP. Fuel clad with stainless steel, zirconium, aluminum, and graphite are represented. Fuel matrices include uranium oxide, hydride, carbide, metal, and alloy fuels, resulting in 55 different fuel types in storage. Also included in the fuel storage inventory is canned scrap material

Influence of nanoparticles on the polymer-conditioned dewatering of wastewater sludges.

Science.gov (United States)

Boyle, N J; Evans, G M

2013-01-01

The effect of using small-scale, high surface area, nanoparticles to supplement polymer-conditioned wastewater sludge dewatering was investigated. Aerobically digested sludge and waste activated sludge sourced from the Hunter Valley, NSW, Australia, were tested with titanium dioxide nanoparticles. The sludge samples were dosed with the nanoparticles in an attempt to adsorb a component of the charged biopolymer surfactants present naturally in sludge. The sludge was conditioned with a cationic polymer. The dewatering characteristics were assessed by measuring the specific resistance to filtration through a modified time-to-filter testing apparatus. The solids content of the dosed samples was determined by a mass balance and compared to the original solids content in the activated sludge. Test results indicated that nanoparticle addition modified the structure of the sludge and provided benefits in terms of the dewatering rate. The samples dosed with nanoparticles exhibited faster water removal, indicating a more permeable filter cake and hence more permeable sludge. A concentration of 2-4% nanoparticles was required to achieve a noticeable benefit. As a comparison, the sludge samples were also tested with a larger particle size, powdered activated carbon (PAC). It was found that the PAC did provide some minor benefits to sludge dewatering but was outperformed by the nanoparticles. The solids content of the final sludge was increased by a maximum of up to 0.6%. The impact of the order sequence of particles and polymer was also investigated. It was found that nanoparticles added before polymer addition provided the best dewatering performance. This outcome was consistent with current theories and previous research through the literature. An economic analysis was undertaken to confirm the viability of the technology for implementation at a full-scale plant. It was found that, currently, this technology is unlikely to be favourable unless the nanoparticles can be

Application of a thermally assisted mechanical dewatering process to biomass

Energy Technology Data Exchange (ETDEWEB)

Mahmoud, A.; Arlabosse, P. [Universite de Toulouse, Mines Albi, CNRS, Campus Jarlard, F-81013 Albi cedex 09 (France); Ecole des Mines Albi, Centre RAPSODEE, Campus Jarlard, F-81013 Albi (France); Fernandez, A. [Universite de Toulouse, INSA, UPS, INP, LISBP, 135 Avenue de Rangueil, F-31400 Toulouse (France); INRA, UMR792 Ingenierie des Systemes Biologiques et des Procedes, CNRS, UMR5504, F-31400 Toulouse (France)

2011-01-15

Thermally assisted mechanical dewatering (TAMD) is a new process for energy-efficient liquid/solids separation which enhances conventional-device efficiency. The main idea of this process is to supply a flow of heat in mechanical dewatering processes to favour the reduction of the liquid content. This is not a new idea but the proposed combination, especially the chosen operating conditions (T < 100 C and P < 3000 kPa) constitutes an original approach and a significant energy saving since the liquid is kept in liquid state. Response surface methodology was used to evaluate the effects of the processing parameters of TAMD on the final dry solids content, which is a fundamental dewatering parameter and an excellent indicator of the extent of TAMD. In this study, a two-factor central composite design was used to establish the optimum conditions for the TAMD of alfalfa biomass. Experiments were carried out on a laboratory compression cell. Experiments showed that the dewatering enhancement results only from thermal effects. With a moderate heat supply (T{sub piston} = 80 C), the dry solid content of the press cake can reach 66%, compared to 36% at ambient temperature. A significant regression model, describing changes on final dry solids content with respect to independent variables, was established with determination coefficient, R{sup 2}, greater than 88%. With an energy consumption of less than 150 kWh/m{sup 3}, the use of the TAMD process before a thermal drying process leads to an energy saving of at least 30% on the overall separation chain. (author)

Electroosmotically enhanced dewatering/deliquoring of fine-particle coal: Final report, January 1--December 31, 1988

Energy Technology Data Exchange (ETDEWEB)

Sami, Sedat [Department of Civil Engineering and Mechanics, Southern Illinois Univ., Carbondale, IL (United States); Davis, Philip K. [Department of Civil Engineering and Mechanics, Southern Illinois Univ., Carbondale, IL (United States); Smith, James G. [Department of Electrical Engineering, Southern Illinois Univ., Carbondale, IL (United States)

1989-03-01

This research is an investigation of the use of electroosmosis to dewater/deliquor ultrafine coal. Post-beneficiation dewatering/deliquoring methods for ultrafine coal are inadequate and generally require subsequent thermal drying. Thermal drying is not only expensive and time consuming, it also does not recover liquids for reuse in beneficiation processes. The degree of difficulty associated with dewatering increases as surface forces become more important than gravimetric forces. Electroosmotic flow has advantages for dewatering because it is much less sensitive to pore size than hydraulic gradient flow for the 1 to 75 ..mu..m ultrafine size range. The first year of this project focused upon preparation of ultrafine coal samples, development of test equipment and test cells, identification of variables affecting electroosmosis, and trial runs. Techniques and procedures not previously used by researchers of electroosmotic dewatering have revealed important information about the dynamics of the electroosmosis process. The identification of the first few millimeters of the cathode region of the cell as the sink for most of the energy input into the process provides the potential for improving efficiency by concentrating the second year effort on intervention in that region. Information gathered about differences in FTIR spectra as a function of location in the dewatering cell will be investigated. Changes in pH with temperature and by the application of electroosmotic current flow will receive attention, as well. 178 refs., 16 figs.

Modelling dewatering behaviour through an understanding of solids formation processes. Part II--solids separation considerations.

Science.gov (United States)

Dustan, A C; Cohen, B; Petrie, J G

2005-05-30

An understanding of the mechanisms which control solids formation can provide information on the characteristics of the solids which are formed. The nature of the solids formed in turn impacts on dewatering behaviour. The 'upstream' solids formation determines a set of suspension characteristics: solids concentration, particle size distribution, solution ionic strength and electrostatic surface potential. These characteristics together define the suspension's rheological properties. However, the complicated interdependence of these has precluded the prediction of suspension rheology from such a fundamental description of suspension characteristics. Recent shear yield stress models, applied in this study to compressive yield, significantly reduce the empiricism required for the description of compressive rheology. Suspension compressibility and permeability uniquely define the dewatering behaviour, described in terms of settling, filtration and mechanical expression. These modes of dewatering may be described in terms of the same fundamental suspension mechanics model. In this way, it is possible to link dynamically the processes of solids formation and dewatering of the resultant suspension. This, ultimately, opens the door to improved operability of these processes. In part I of this paper we introduced an integrated system model for solids formation and dewatering. This model was demonstrated for the upstream processes using experimental data. In this current paper models of colloidal interactions and dewatering are presented and compared to experimental results from batch filtration tests. A novel approach to predicting suspension compressibility and permeability using a single test configuration is presented and tested.

The use of geotextile tube containers for dewatering the Restigouche open pit zinc mine and settling pond basin in New Brunswick, Canada

Energy Technology Data Exchange (ETDEWEB)

Douheret [Terratube, Saint-Romuald, PQ (Canada)

2010-07-01

This PowerPoint presentation discussed the use of geotextile tube containers for the dewatering of an open pit zinc mine and settling pond in New Brunswick (NB). The zinc and lead mine closed in 1996 and will be re-opened in 2007. Remediation of the site has been challenged by severe discharge criteria for treated water, as well as by the different types of wastewater produced at the site, which is located in a mountainous area with no impermeable soil. The remediation projects include an open pit cleaning procedure where water is removed and the mine is then desludged. A wastewater treatment plant will then be installed. More than 32,000 m{sup 3} of sludge has accumulated at the bottom of the pit. The zinc content of the sludge was estimated at 2.5 ppm. The water management phase of the project will include batch treatments and the addition of 140 metric tonnes of lime to raise the pH and to precipitate metal ions. The sludge management program included the use of mechanical dewatering, the construction of a storage area, and the use of geocontainers for dewatering and temporary containment. Seventeen geotextile containers were used to reduce the zinc content of the water to less than the 250 ppb authorized by environmental agencies. The containers were changed once every 2 months. tabs., figs.

Ultra scale-down device to predict dewatering levels of solids recovered in a continuous scroll decanter centrifuge.

Science.gov (United States)

Lopes, A G; Keshavarz-Moore, E

2013-01-01

During centrifugation operation, the major challenge in the recovery of extracellular proteins is the removal of the maximum liquid entrapped within the spaces between the settled solids-dewatering level. The ability of the scroll decanter centrifuge (SDC) to process continuously large amounts of feed material with high concentration of solids without the need for resuspension of feeds, and also to achieve relatively high dewatering, could be of great benefit for future use in the biopharmaceutical industry. However, for reliable prediction of dewatering in such a centrifuge, tests using the same kind of equipment at pilot-scale are required, which are time consuming and costly. To alleviate the need of pilot-scale trials, a novel USD device, with reduced amounts of feed (2 mL) and to be used in the laboratory, was developed to predict the dewatering levels of a SDC. To verify USD device, dewatering levels achieved were plotted against equivalent compression (Gtcomp ) and decanting (Gtdec ) times, obtained from scroll rates and feed flow rates operated at pilot-scale, respectively. The USD device was able to successfully match dewatering trends of the pilot-scale as a function of both Gtcomp and Gtdec , particularly for high cell density feeds, hence accounting for all key variables that influenced dewatering in a SDC. In addition, it accurately mimicked the maximum dewatering performance of the pilot-scale equipment. Therefore the USD device has the potential to be a useful tool at early stages of process development to gather performance data in the laboratory thus minimizing lengthy and costly runs with pilot-scale SDC. © 2013 American Institute of Chemical Engineers.

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

Directory of Open Access Journals (Sweden)

Xin Liu

2018-01-01

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

Influence of process operating parameters on dryness level and energy saving during wastewater sludge electro-dewatering.

Science.gov (United States)

Mahmoud, Akrama; Hoadley, Andrew F A; Conrardy, Jean-Baptiste; Olivier, Jérémy; Vaxelaire, Jean

2016-10-15

Electrically assisted mechanical dewatering, known as electro-dewatering (EDW), is an alternative emerging technology for energy-efficient liquid/solids separation in the dewatering of wastewater sludge. In this study, the performance of the electro-dewatering (EDW) process for activated wastewater sludge was investigated. The influence of the operating modes; being the timing of voltage (U-EDW) or current (I-EDW) application to either or both the filtration and compression stages, and the influence of the applied pressure (in successive 30 min pressure steps) were studied. The results showed that by delaying the application of the electric field to the filter cake compression stage, there was a potential saving in power consumption of around 10-12% in the case of U-EDW and about 30-46% in the case of I-EDW. The increase of the applied pressure from 0.5 to 12 bar during the filter cake compression stage leads to an increase in electro-dewatering kinetics. The results also reveal that at a low electric field level the increase of the processing pressure has a relatively pronounced effect on the dewatering process. At high levels of the electric field, a minimum processing pressure (4-6 bar) is required to improve the electrical contact between the electrode and the sludge and thus lower the energy consumption. Copyright © 2016 Elsevier Ltd. All rights reserved.

Dewatering behaviour of ultrafine hard coal particles

Energy Technology Data Exchange (ETDEWEB)

Fischer, D.; Alizadeh, A.; Simonis, W.

1986-03-01

With decreasing particle diameter distribution the dewatering behaviour of coal gets increasingly complicated. A correlation between final moisture and content of particles below 25..mu..m in the course of centrifuging can be verified. This behaviour of the particles below 25..mu..m can be explained by the great specific surface, on the one hand, and by the distribution of the surface charge density, on the other hand. The charge density depends on the type of coal, on the minerals content and their make-up, as well as on the characteristics of the surrounding medium. The surface charge can be measured indirectly. Varying electrophoretic mobilities of the particles are observed in dependence on the type of raw material. In the neutral pH-range, minerals have a negative surface charge, while coal has a positive one. By way of adding reagents it is possible to invert the negative charges with complicated dewatering characteristics into positive charges. A similar influence will be exerted by changing the pH-value. 6 references.

Reconstitution of dewatered food processing residuals with manure to increase energy production from anaerobic digestion

International Nuclear Information System (INIS)

Wall, David M.; Wu-Haan, Wei; Safferman, Steven I.

2012-01-01

Solid residuals generated from dewatering food processing wastewater contain organic carbon that can potentially be reclaimed for energy through anaerobic digestion. This results in the diversion of waste from a landfill and uses it for a beneficial purpose. Dewatering the waste concentrates the carbon, reducing transportation costs to a farm digester where it can be blended with manure to increase biogas yield. Polymers are often used in the dewatering of the food waste but little is known regarding their impact on biogas production. Four 2 dm 3 working volume, semi-continuous reactors, were used at a mesophilic temperature and a solids retention time (SRT) of 15 days. Reactors were fed daily with a blended feedstock containing a food processing sludge waste (FPSW)/manure ratio of 2.2:1 (by weight) as this produced the optimized carbon to nitrogen ratio. Results demonstrated that reconstitution of dewatered FPSW with dairy manure produced approximately 2 times more methane than animal manure alone for the same volume. However, only approximately 30% of volatile solids (VS) were consumed indicating energy potential still remained. Further, the efficiency of the conversion of VS to methane for the blended FPSW/manure was substantially less than for manure only. However, the overall result is an increase in energy production for a given tank volume, which can decrease life cycle costs. Because all FPSW is unique and the determination of dewatering additives is customized based on laboratory testing and field adjustment, generalizations are difficult and specific testing is required. -- Highlights: ► Energy production in anaerobic digestion can increase by co-blending food waste. ► Energy for transporting food waste to blend with manure is less when dewatered. ► Dewatered food waste in manure produced twice as much methane than manure. ► Efficiency of carbon to methane was low because of ammonium bicarbonate production. ► Carbon destruction was 30%, more

An experimental investigation of microalgal dewatering efficiency of belt filter system

Directory of Open Access Journals (Sweden)

Anjali Sandip

2015-11-01

Full Text Available The objective of this study was to investigate the microalgal dewatering efficiency of a belt filter system for feed concentrations below 10 g dry wt./L. A prototype belt filtration system designed for 50 g dry wt./L microalgal feed concentration was used for this investigation. The highest concentration of microalgal suspension available for testing on the prototype belt filtration system was 6 g dry wt./L obtained from biomass settling tanks at the Lawrence, Kansas domestic wastewater treatment plant. For preparation of feed suspension with concentrations below 10 g dry wt./L, microalgal cultivation was followed by flocculation. A mixed laboratory culture of freshwater species dominated by three eukaryotic green microalgae (Chlorella vulgaris, Scenedesmus sp., and Kirchneriella sp. was cultivated in wastewater effluent. This was followed by flocculation which resulted in a microalgal feed suspension concentration of 4 g dry wt./L. Belt dewatering tests were conducted on microalgal suspensions with feed concentrations of 4 g dry wt./L and 6 g dry wt./L. The maximum microalgal recovery with the belt dewatering system was 46% from the 4 g dry wt./L, and 84% from the 6 g dry wt./L suspensions respectively. The results of this study indicate that microalgal suspension concentrations as low as 6 g dry wt./L can be recovered with a belt filter system improving the overall dewatering efficiency of the system.

Multi-objective optimization of an underwater compressed air energy storage system using genetic algorithm

International Nuclear Information System (INIS)

Cheung, Brian C.; Carriveau, Rupp; Ting, David S.K.

2014-01-01

This paper presents the findings from a multi-objective genetic algorithm optimization study on the design parameters of an underwater compressed air energy storage system (UWCAES). A 4 MWh UWCAES system was numerically simulated and its energy, exergy, and exergoeconomics were analysed. Optimal system configurations were determined that maximized the UWCAES system round-trip efficiency and operating profit, and minimized the cost rate of exergy destruction and capital expenditures. The optimal solutions obtained from the multi-objective optimization model formed a Pareto-optimal front, and a single preferred solution was selected using the pseudo-weight vector multi-criteria decision making approach. A sensitivity analysis was performed on interest rates to gauge its impact on preferred system designs. Results showed similar preferred system designs for all interest rates in the studied range. The round-trip efficiency and operating profit of the preferred system designs were approximately 68.5% and $53.5/cycle, respectively. The cost rate of the system increased with interest rates. - Highlights: • UWCAES system configurations were developed using multi-objective optimization. • System was optimized for energy efficiency, exergy, and exergoeconomics • Pareto-optimal solution surfaces were developed at different interest rates. • Similar preferred system configurations were found at all interest rates studied

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

Tectonic controlled submarine slidings and dewatering structures

Science.gov (United States)

Yamamoto, Y.; Hirono, T.; Takahashi, M.

2003-04-01

Geologic structures associated with mass movements processes such as slumping, sliding, and creeping can be the key to understanding the tectonic or geologic constraints in the time they were formed. Because they are sensitively reflected by the paleo-topography which must be associated with active tectonics. It must be very useful if the direction of paleo-slope instability is known easily in a wide area. We paid attentions to convolute lamination and flame structure which might be associated with dewatering and loading, respectively. Some recent researches report the possibility that well regulated flame structures might be formed in relation to paleo-slope instability. However, there is an alternative idea that they were reflection of heterogeneous loading associated with ripple marks on the sandy layers. This controversy has not been settled. Accordingly, to evaluate the reliability of the relationship between formation of such structures with well regulated arrays and paleo-slope instability, the Pliocene Chikura Group in the southern part of the Boso Peninsula, central Japan, was studied. The Chikura Group overlying the Miura Group, Miocene accretionary prism, is composed of trench-fill sediments in the lowermost and of trench-slope basin sediments in the upper. The Chikura Group was deposited on an east-west extended sedimentary basin during east-west trending folds and faults development. These indicate the direction of paleo-slope in the Chikura Group due north or south. Flame structures and convolute laminations were recognized over 60 sites in the Chikura Group. They have well-regulated planar arrays which extend almost east west, perpendicular to the direction of paleo-slope instability. Some examples of such structures and slump deposit were observed in the same outcrop. Vergence of these slump deposits were toward north or south, and ridges of flame structures and convolute laminations extend east-west. Experimental study of direct imaging of

Perry Nuclear Plant's Plans for on-site storage

International Nuclear Information System (INIS)

Ratchen, J.T.

1993-01-01

Because of current radwaste disposal legislation and the eventual denial of access to the Barnwell, Richland, and Beatty burial sites, it was imperative for the Perry nuclear power plant to develop alternative means for handling its generated radioactive waste. The previous radwaste facilities at Perry were developed for processing, packaging, short-term storage, and shipment for burial. In order to meet the changing needs, new facilities have been constructed to handle the processing, packaging, and 5-yr interim storage of both dry active waste (DAW) and dewatered or solidified resin, filter media, etc

Field Evaluation/Demonstration of a Multisegmented Dewatering System for Accreting Beach Sand in a High-Wave-Energy Environment

National Research Council Canada - National Science Library

Curtis, William

1998-01-01

This study documents the use of beach dewatering systems to accrete beach sand and minimize erosion, and to develop quantitative guidance for constructing and operating beach dewatering installations...

Magnox waste storage complex

International Nuclear Information System (INIS)

Anon.

1990-01-01

This article looks at the design and construction of British Nuclear Fuel Limited's (BNFL) Magnox waste storage complex by Costain Engineering Limited. Magnox swarf from fuel decanning is stored underwater in specially designed silos. Gas processing capabilities from Costain Engineering Limited and the experience of BNFL combined in this project to provide the necessary problem-solving skills necessary for this waste storage upgrading and extension project. A retrofitted inerting facility was fitted to an existing building and a new storage extension was fitted, both without interrupting reprocessing operations at Sellafield. (UK)

Experimental assessment of factors influencing dewatering properties of thermophilically digested biosolids

Energy Technology Data Exchange (ETDEWEB)

Zhou, Jianpeng; Mavinic, Donald S.; Kelly, Harlan G.; Ramey, William D.

2003-07-01

Beneficial land application of processed wastewater sludges (biosolids) is a cost-effective, and environmentally sustainable option for the final disposal of sludges, because nutrients and organic matters in the sludge are recovered and reused as a resource. Thermophilic sludge digestion produces Class A biosolids, which can be reused without restrictions. Recent experience from full-scale thermophilic sludge digestion facilities in North America revealed that, dewatering thermophilically digested biosolids required more polymers to condition than mesophilically digested biosolids. This paper reports a laboratory study that investigated factors having significant impacts on dewatering properties of digested biosolids, and assessed the relationship among digestion, dewatering properties, and characteristics of thermophilically digested biosolids. The experimental work used batch-operated, bench-scale aerobic sludge digesters. Dewaterability was measured as Capillary Suction Time (CST). The study found that feed sludge composition significantly affected dewaterability of digested sludge. Higher percentage of the secondary sludge in the feed sludge corresponded to more significant deterioration in dewaterability. The effect of thermophilic digestion temperatures on dewaterabilty was rapid, occurred within 3-hour of digestion, indicting a heat shock effect, rather than a microbiological effect. When a high shear was applied to the sludge in digesters, it resulted In a significant deterioration in dewaterability in the digested sludge. It appears there was a strong correlation between dewaterability and extracellular biopolymers. Enzymes (protease) treatment confirmed that role of extracellular proteins in affecting the dewatering properties of thermophilic biosolids, also revealed the complex nature of biopolymers' effect on dewaterability. Such effects might be due to protein-polysaccharides interactions, hydrogen bonding, or hydrophilic and hydrophobic

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

Dewatering cuts drilling mud and disposal costs

International Nuclear Information System (INIS)

West, G.; Pharis, B.

1991-01-01

This paper reports on rig site dewatering of drilling fluids with recycling of processed water that can help an operator to comply with environmental rules by reducing volumes of waste and reducing long term liabilities. It can also reduce disposal costs and provide a cleaner drill site overall. Rig site dewatering is the process of injecting coagulants or flocculating chemicals into the mud entering a large clarifying centrifuge. This coagulates the fine, drilled particles allowing them to be separated from the fluid which can then be handled separately. Most of the environmental concerns during the 1980s involved hazardous materials and toxic wastes. Drilling fluids, many of which are chemically benign, have escaped many of the difficult-to-comply-with rules and regulations. During the 1990s, however, operators may be required to submit a written plan for liquid waste reduction for even nonhazardous materials. Many states and local agencies may institute total bans on oil field wastes. Drilling rigs typically produce about 1 bbl of liquid waste for every 1 ft of hole drilled. Thus, a typical drilling operation can produce a large quantity of waste

Waste water from dewatering of peat

International Nuclear Information System (INIS)

Ringqvist, L.; Bergner, K.; Olsson, Tommy; Bystroem, P.

1991-01-01

The influence of waste water from mechanical dewatering of peat was tested on two species of stream invertebrates. We compared the effects of waste water from peat without any chemical treatment, and waste water from peat where one of the following treatments of the peat had preceded dewatering; a: acidification combined with addition of the cationic polymer Zetag 78 FS40, b: addition of aluminium in combination with the anionic polymer Magnafloc E10, c: polymerisation of the peat by acidification and addition of ferrous chloride and hydrogen peroxide. Waste water from Al/Magnafloc and from the polymerisation treatments had a higher content of suspended matter and a higher oxygen demand than those of other treatments. Total metal content of the water from all treatments was higher than in water from non-treated peat. Survival and growth of nymphs of the mayfly Heptagenia fuscogrisa and the stonefly Nemoura cinerea were compared in waste water from the different treatments. In all tests, the waste water was diluted to 5% (volume) with unchlorinated tapwater and pH was between 7.0-8.0 in all treatments during the experiment. The nymphs were fed with birch leaves that had been incubated in natural stream water for one month. Under these conditions, we did not find any significant effect of waste water on either survival or growth of these two species

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.

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)

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

Synergetic pretreatment of waste activated sludge by hydrodynamic cavitation combined with Fenton reaction for enhanced dewatering.

Science.gov (United States)

Cai, Meiqiang; Hu, Jianqiang; Lian, Guanghu; Xiao, Ruiyang; Song, Zhijun; Jin, Micong; Dong, Chunying; Wang, Quanyuan; Luo, Dewen; Wei, Zongsu

2018-04-01

The dewatering of waste activated sludge by integrated hydrodynamic cavitation (HC) and Fenton reaction was explored in this study. We first investigated the effects of initial pH, sludge concentration, flow rate, and H 2 O 2 concentration on the sludge dewaterability represented by water content, capillary suction time and specific resistance to filtration. The results of dewatering tests showed that acidic pH and low sludge concentration were favorable to improve dewatering performance in the HC/Fenton system, whereas optimal flow rate and H 2 O 2 concentration applied depended on the system operation. To reveal the synergism of HC/Fenton treatment, a suite of analysis were implemented: three-dimensional excitation emission matrix (3-DEEM) spectra of extracellular polymeric substances (EPS) such as proteins and polysaccharides, zeta potential and particle size of sludge flocs, and SEM/TEM imaging of sludge morphology. The characterization results indicate a three-step mechanism, namely HC fracture of different EPS in sludge flocs, Fenton oxidation of the released EPS, and Fe(III) re-flocculation, that is responsible for the synergistically enhanced sludge dewatering. Results of current study provide a basis to improve our understanding on the sludge dewatering performance by HC/Fenton treatment and possible scale-up of the technology for use in wastewater treatment plants. Copyright © 2017 Elsevier B.V. All rights reserved.

Ecotoxicological assessment of dewatered drinking water treatment residue for environmental recycling.

Science.gov (United States)

Yuan, Nannan; Wang, Changhui; Wendling, Laura A; Pei, Yuansheng

2017-09-01

The beneficial recycle of drinking water treatment residue (DWTR) in environmental remediation has been demonstrated in many reports. However, the lack of information concerning the potential toxicity of dewatered DWTR hinders its widespread use. The present study examined the ecotoxicity of dewatered aluminum (Al) and iron (Fe) DWTR leachates to a green alga, Chlorella vulgaris. Data from the variations of cell density and chlorophyll a content suggested that algal growth in DWTR leachates was inhibited. The algal cellular oxidation stress was initially induced but completely eliminated within 72 h by antioxidant enzymes. The expression of three photosynthesis-related algae genes (psaB, psbC, and rbcL) also temporarily decreased (within 72 h). Moreover, the algal cells showed intact cytomembranes after exposure to DWTR leachates. Further investigation confirmed that inhibition of algal growth was due to DWTR-induced phosphorus (P) deficiency in growth medium, rather than potentially toxic contaminants (e.g. copper and Al) contained in DWTR. Interestingly, the leachates could potentially promote algal growth via increasing the supply of new components (e.g. calcium, kalium, magnesium, and ammonia nitrogen) from DWTR. In summary, based on the algae toxicity test, the dewatered Fe/Al DWTR was nontoxic and its environment recycling does not represent an ecotoxicological risk to algae.

Environmental Assessment -- Test Area North pool stabilization project update

International Nuclear Information System (INIS)

1997-08-01

The purpose of this Environmental Assessment (EA) is to update the ''Test Area North Pool Stabilization Project'' EA (DOE/EA-1050) and finding of no significant impact (FONSI) issued May 6, 1996. This update analyzes the environmental and health impacts of a drying process for the Three Mile Island (TMI) nuclear reactor core debris canisters now stored underwater in a facility on the Idaho National Engineering and Environmental Laboratory (INEEL). A drying process was analyzed in the predecision versions of the EA released in 1995 but that particular process was determined to be ineffective and dropped from the EA/FONSI issued May 6, 1996. A new drying process was subsequently developed and is analyzed in Section 2.1.2 of this document. As did the 1996 EA, this update analyzes the environmental and health impacts of removing various radioactive materials from underwater storage, dewatering these materials, constructing a new interim dry storage facility, and transporting and placing the materials into the new facility. Also, as did the 1996 EA, this EA analyzes the removal, treatment and disposal of water from the pool, and placement of the facility into a safe, standby condition. The entire action would take place within the boundaries of the INEEL. The materials are currently stored underwater in the Test Area North (TAN) building 607 pool, the new interim dry storage facility would be constructed at the Idaho Chemical Processing Plant (ICPP) which is about 25 miles south of TAN

Pervaporation applied for dewatering of reaction mixture during esterification

Directory of Open Access Journals (Sweden)

Krasiński Andrzej

2016-03-01

Full Text Available In this work the esterification of diethyl tartrate was studied. The research was focused on the enhancement of reversible reaction yield, which is accomplished by dewatering of the reaction mixture. The removal of water shifts the equilibrium towards the main product. Pervaporation was applied for this purpose, and results were compared to distillation. The advantages and limitations of both processes are discussed. The experimental part consists of dewatering of mixture after the reaction had reached the equilibrium, and was subsequently fed to the test rig equipped with a single zeolite membrane purchased from Pervatech B.V. Results show a significant conversion increase as a result of water removal by pervaporation. Compared to distillation no addition of organics is necessary to efficiently remove water above the azeotrope. Nevertheless, some limitations and issues which call for optimisation are pointed out. A simple numerical model is proposed to support design and sizing of the pervaporation system. Various modes of integrated system operation are also briefly discussed.

Centrifugal dewatering of acid casein curd: effect of casein manufacturing and centrifugation variables on curd compression in a laboratory centrifuge.

Science.gov (United States)

Munro, P A; Van Til, H J

1988-10-20

Data relevant to curd compression in a horizontal, solid bowl decanter centrifuge have been obtained by studying the dewatering of acid casein curd in a batch laboratory centrifuge. Analysis of curd compression under centrifugal force predicts a moisture content gradient in the dewatered curd from a maximum at the curd-liquid interface to a minimum at the centrifuge bowl wall. This moisture content gradient was also measured experimentally, and its practical implications are discussed. Increases in centrifugal force, centrifugation time, and centrifugation temperature all caused a marked de crease in dewatered curd moisture content, whereas in creases in precipitation pH and maximum washing temperature caused a smaller decrease in dewatered curd moisture content.

Dewatering of ultrafine coal: Final report, August 1984-December 1986

Energy Technology Data Exchange (ETDEWEB)

Chiang, Shiao-Hung; Klinzing, G.E.; Morsi, B.I.; Tierney, J.W.; Badgujar, M.; Binkley, T.; Cheng, Yisun; Huang, Suxuan; Qamar, I.; Venkatadri, R.

1986-12-01

The surfactant, Aerosol-OT, was used to wash distilled water cakes. In previous studies, cakes were washed with Triton X-114. The dewatering performance and influence on cake structure of the two reagents are compared. Also, filter cakes were analyzed using an image analysis system and micrographic analysis of coal particles was initiated. In the area of theoretical modelling, the concept of bond-flow correlation greatly improved the network model predicting the experimental desaturation curves. Predicted results for treated cakes suggested that the effect of the presence of surface-active agents was adequately accounted for. The effects of the various operating conditions on the filtration/dewatering characteristics of the 10 ..mu..m coal particles were assessed and comparisons with the -32 mesh coal were made as to its trends in response to changes in the operating conditions. 20 refs., 75 figs., 17 tabs.

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…

Dewatering tailings impoundments : interior drains

International Nuclear Information System (INIS)

Charlie, W.A.; Doehring, D.O.; Durnford, D.S.

1984-01-01

For the design of a new uranium tailings impoundment in the western United States, it was proposed that an interior drainage system be considered to economically and reliably minimize potential short- and long-term environmental impacts. The objectives were to decrease the effective hydraulic head on the clay liner, to dewater and stabilize the tailings, and to increase the amount of water recycled to the mill. In addition, desaturation of the impoundment would induce capillary pressure (negative porewater pressure), further reducing the potential movement of dissolved pollutants. This paper presents saturated and unsaturated seepage principles and reviews the concept, criteria and design of the various interior drainage systems considered

Locally produced natural conditioners for dewatering of faecal sludge.

Science.gov (United States)

Gold, Moritz; Dayer, Pauline; Faye, Marie Christine Amie Sene; Clair, Guillaume; Seck, Alsane; Niang, Seydou; Morgenroth, Eberhard; Strande, Linda

2016-11-01

In urban areas of low-income countries, treatment of faecal sludge (FS) is insufficient or non-existent. This results in large amounts of FS being dumped into the environment. Existing treatment technologies for FS, such as settling-thickening tanks and drying beds, are land intensive which is limiting in urban areas. Enhanced settling and dewatering by conditioning was evaluated in order to reduce the treatment footprint (or increase treatment capacity). Conventional wastewater conditioners, such as commercially available lime and polymers, are expensive, and commonly rely on complex supply chains for use in low-income countries. Therefore, the treatment performance of five conditioners which could be produced locally was evaluated: Moringa oleifera seeds and press cake, Jatropha curcas seeds, Jatropha Calotropis leaves and chitosan. M. oleifera seeds and press cake, and chitosan improved settling and dewatering and had a similar performance compared to lime and polymers. Optimal dosages were 400-500 kg M. oleifera/t TS, 300-800 kg lime/t TS and 25-50 kg polymer solution/t TS. In comparison, chitosan required 1.5-3.75 kg/t TS. These dosages are comparable to those recommended for wastewater (sludge). The results indicate that conditioning of FS can reduce total suspended solids (TSS) in the effluent of settling-thickening tanks by 22-81% and reduce dewatering time with drying beds by 59-97%. This means that the area of drying beds could be reduced by 59-97% with end-use as soil conditioner, or 9-26% as solid fuel. Least expensive options and availability will depend on the local context. In Dakar, Senegal, chitosan produced from shrimp waste appears to be most promising.

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…

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

Effects of different sludge disintegration methods on sludge moisture distribution and dewatering performance.

Science.gov (United States)

Jin, Lingyun; Zhang, Guangming; Zheng, Xiang

2015-02-01

A key step in sludge treatment is sludge dewatering. However, activated sludge is generally very difficult to be dewatered. Sludge dewatering performance is largely affected by the sludge moisture distribution. Sludge disintegration can destroy the sludge structure and cell wall, so as change the sludge floc structure and moisture distribution, thus affecting the dewatering performance of sludge. In this article, the disintegration methods were ultrasound treatment, K2FeO4 oxidation and KMnO4 oxidation. The degree of disintegration (DDCOD), sludge moisture distribution and the final water content of sludge cake after centrifuging were measured. Results showed that three disintegration methods were all effective, and K2FeO4 oxidation was more efficient than KMnO4 oxidation. The content of free water increased obviously with K2FeO4 and KMnO4 oxidations, while it decreased with ultrasound treatment. The changes of free water and interstitial water were in the opposite trend. The content of bounding water decreased with K2FeO4 oxidation, and increased slightly with KMnO4 oxidation, while it increased obviously with ultrasound treatment. The water content of sludge cake after centrifuging decreased with K2FeO4 oxidation, and did not changed with KMnO4 oxidation, but increased obviously with ultrasound treatment. In summary, ultrasound treatment deteriorated the sludge dewaterability, while K2FeO4 and KMnO4 oxidation improved the sludge dewaterability. Copyright © 2014. Published by Elsevier B.V.

[Magnetic Fe₃O₄Microparticles Conditioning-Pressure Electro-osmotic Dewatering (MPEOD) of Sewage Sludge].

Science.gov (United States)

Qian, Xu; Wang, Yi-li; Zhao, Li

2016-05-15

For magnetic Fe₃O₄ microparticles conditioning--pressure electro-osmotic dewatering (MPEOD) process of activated sludge (AS), the effects of operating parameters (optimal dosage of Fe₃O₄, electric field duration, mechanical pressure and voltage) on the dewatering efficiency and energy consumption were investigated, and the optimal conditions were determined. Moreover, the properties of supernatant and sludge along MPEOD process were studied as well as the interaction force between the sludge biosolids. Taking the energy consumption into consideration, the results showed that the optimal dewatering effect for AS could be achieved with a magnetic Fe₃O₄ microparticles dosage of 0.15 g · g⁻¹, an electric field duration of 2 h, a mechanical pressure of 400-600 kPa and a voltage of 30-50 V. When MPEOD was conducted at 400 kPa and 50 V for 2 h, the sludge reduction rate reached 98.30%, the percentage of water removal was 99.34% and the moisture content of AS decreased from 99.18% to 44.46%. The corresponding consumption of energy was 0.013 3 kW · h · kg⁻¹. The coagulation mechanism played a slight role in the AS conditioning with magnetic Fe₃O₄ micro-particles. In fact, magnetic Fe₃O₄micro-particles could greatly decrease the acid-base interaction (WA) between AS biosolids, cause floc growth and enlarge pores in AS aggregates, which will be beneficial to AS dewatering. Compared to DLVO theory, the extended DLVO theory could accurately describe the aggregation and dispersion behavior of sludge particles.

Localization of Energy Harvesting Empowered Underwater Optical Wireless Sensor Networks

KAUST Repository

Saeed, Nasir

2017-12-20

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

Full-scale performance of selected starch-based biodegradable polymers in sludge dewatering and recommendation for applications.

Science.gov (United States)

Zhou, Kuangxin; Stüber, Johan; Schubert, Rabea-Luisa; Kabbe, Christian; Barjenbruch, Matthias

2018-01-01

Agricultural reuse of dewatered sludge is a valid route for sludge valorization for small and mid-size wastewater treatment plants (WWTPs) due to the direct utilization of nutrients. A more stringent of German fertilizer ordinance requires the degradation of 20% of the synthetic additives like polymeric substance within two years, which came into force on 1 January 2017. This study assessed the use of starch-based polymers for full-scale dewatering of municipal sewage sludge. The laboratory-scale and pilot-scale trials paved the way for full-scale trials at three WWTPs in Germany. The general feasibility of applying starch-based 'green' polymers in full-scale centrifugation was demonstrated. Depending on the sludge type and the process used, the substitution potential was up to 70%. Substitution of 20-30% of the polyacrylamide (PAM)-based polymer was shown to achieve similar total solids (TS) of the dewatered sludge. Optimization of operational parameters as well as machinery set up in WWTPs is recommended in order to improve the shear stability force of sludge flocs and to achieve higher substitution potential. This study suggests that starch-based biodegradable polymers have great potential as alternatives to synthetic polymers in sludge dewatering.

Electroosmotic dewatering of chalk sludge, iron hydroxide sludge, wet fly ash and biomass sludge

DEFF Research Database (Denmark)

Hansen, H.K.; Christensen, Iben Vernegren; Ottosen, Lisbeth M.

2003-01-01

. Casagrande's coefficients were determined for the four materials at different water contents. The experiments in this work showed that chalk could be dewatered from 40% to 79% DM (dry matter), fly ash from 75 to 82% DM, iron hydroxide sludge from 2.7 to 19% DM and biomass from 3 to 33% DM by electroosmosis....... The process was not optimised indicating that higher dry matter contents could be achieved by electroosmosis. It was possible to relate Casagrande's coefficient directly to the electroosmotic coefficient obtained by dewatering experiments....

Model test on partial expansion in stratified subsidence during foundation pit dewatering

Science.gov (United States)

Wang, Jianxiu; Deng, Yansheng; Ma, Ruiqiang; Liu, Xiaotian; Guo, Qingfeng; Liu, Shaoli; Shao, Yule; Wu, Linbo; Zhou, Jie; Yang, Tianliang; Wang, Hanmei; Huang, Xinlei

2018-02-01

Partial expansion was observed in stratified subsidence during foundation pit dewatering. However, the phenomenon was suspected to be an error because the compression of layers is known to occur when subsidence occurs. A slice of the subsidence cone induced by drawdown was selected as the prototype. Model tests were performed to investigate the phenomenon. The underlying confined aquifer was generated as a movable rigid plate with a hinge at one end. The overlying layers were simulated with remolded materials collected from a construction site. Model tests performed under the conceptual model indicated that partial expansion occurred in stratified settlements under coordination deformation and consolidation conditions. During foundation pit dewatering, rapid drawdown resulted in rapid subsidence in the dewatered confined aquifer. The rapidly subsiding confined aquifer top was the bottom deformation boundary of the overlying layers. Non-coordination deformation was observed at the top and bottom of the subsiding overlying layers. The subsidence of overlying layers was larger at the bottom than at the top. The layers expanded and became thicker. The phenomenon was verified using numerical simulation method based on finite difference method. Compared with numerical simulation results, the boundary effect of the physical tests was obvious in the observation point close to the movable endpoint. The tensile stress of the overlying soil layers induced by the underlying settlement of dewatered confined aquifer contributed to the expansion phenomenon. The partial expansion of overlying soil layers was defined as inversed rebound. The inversed rebound was induced by inversed coordination deformation. Compression was induced by the consolidation in the overlying soil layers because of drainage. Partial expansion occurred when the expansion exceeded the compression. Considering the inversed rebound, traditional layer-wise summation method for calculating subsidence should be

Inspection and Analysis of Aluminum Storage Racks in Spent Fuel Storage Basins

International Nuclear Information System (INIS)

Howell, J.P.; Nelson, D.Z.

1998-07-01

Aluminum-clad spent nuclear fuel is stored in water filled basins at the Savannah River Site awaiting processing or other disposition. After more than 35 years of service underwater, the aluminum storage racks that position the fuel bundles in the basin were replaced. During the removal of the racks from the basin, a failure occurred in one of the racks and the Savannah River Technology Center was asked to investigate. This paper presents results of the failure analysis and provides a discussion of the effects of corrosion on the structural integrity of the storage racks

Fundamental study for improvement of dewatering of fine coal/refuse. Final report, August 1981-December 1984

Energy Technology Data Exchange (ETDEWEB)

Chiang, S.H.; Klinzing, G.E.; Morsi, B.I.; Tierney, J.W.; Binkley, T.; Chi, S.M.; Huang, S.; Qamar, I.; Venkatadri, R.

1984-12-01

Fine coal in slurry form must be dewatered to minimize handling and transportation problems and be reduced to a desirable level for subsequent preparation of coal/water mixtures as a substitute utility fuel. The current practice is inadequate for the dewatering of fine coal, particularly for coal particles with sizes smaller than 400 mesh. Therefore, it is most desirable to develop improved mechanical methods for reducing the moisture content of fine coal. In the light of this, a fundamental study of the dewatering of fine coal/refuse was initiated in June 1979 and continued through 1984. The overall objective of the study is to seek improved methods of dewatering through a better understanding of the filtration and post-filtration processes. As a first step, efforts have been focused on the mechanism of dewatering in terms of the basic properties of coal (and refuse) particles and the microstructures of filter cakes, and their relations to filtration rate and final moisture content. Pittsburgh seam-Bruceton Mine coal was used as a base coal. During the past year, filter cakes from coals with widely varying size ranges were micrographically characterized. The effects of a number of surface active agents and of entrapped air bubbles on the filter cake properties were also studied. Modules of the network model for calculating single phase and two phase permeabilities were formulated and tested. The report is divided into four parts: summary and deliverables; work forecast for 1984-1985; detailed description of technical progress; and appendices. 21 refs., 55 figs., 17 tabs.

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.

Cleaning and dewatering fine coal

Science.gov (United States)

Yoon, Roe-Hoan; Eraydin, Mert K.; Freeland, Chad

2017-10-17

Fine coal is cleaned of its mineral matter impurities and dewatered by mixing the aqueous slurry containing both with a hydrophobic liquid, subjecting the mixture to a phase separation. The resulting hydrophobic liquid phase contains coal particles free of surface moisture and droplets of water stabilized by coal particles, while the aqueous phase contains the mineral matter. By separating the entrained water droplets from the coal particles mechanically, a clean coal product of substantially reduced mineral matter and moisture contents is obtained. The spent hydrophobic liquid is separated from the clean coal product and recycled. The process can also be used to separate one type of hydrophilic particles from another by selectively hydrophobizing one.

Laboratory Evaluation of Underwater Grouting of CPP-603 Basins

International Nuclear Information System (INIS)

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

2002-01-01

A project is underway to deactivate a Fuel Storage Basin. The project specifies the requirements and identifies the tasks that will be performed for deactivation of the CPP- 603 building at the Idaho Nuclear Technology and Engineering Center of the Idaho National Engineering and Environmental Laboratory. The Fuel Receiving and Storage Building (CPP- 603) was originally used to receive and store spent nuclear fuel from various facilities. The area to undergo deactivation includes the three spent nuclear fuel storage basins and a transfer canal (1.5 million gallons of water storage). Deactivation operations at the task site include management of the hot storage boxes and generic fuel objects, removal of the fuel storage racks, basin sludge, water evaporation and basin grouting, and interior equipment, tanks, and associated components. This includes a study to develop a grout formulation and placement process for this deactivation project. Water will be allowed to passively evaporate to r educe the spread of contamination from the walls of the basin. The basins will be filled with grout, underwater, as the water evaporates to maintain the basin water at a safe level. The objective of the deactivation project is to eliminate potential exposure to hazardous and radioactive materials and eliminate potential safety hazards associated with the CPP-603 building

Characteristics of water obtained by dewatering cyanobacteria-containing sludge formed during drinking water treatment, including C-, N-disinfection byproduct formation.

Science.gov (United States)

Xu, Hangzhou; Pei, Haiyan; Jin, Yan; Xiao, Hongdi; Ma, Chunxia; Sun, Jiongming; Li, Hongmin

2017-03-15

This is the first study to systematically investigate the characteristics of the water obtained by dewatering cyanobacteria-containing sludge generated in the drinking water treatment plant, including formation of C- and N-disinfection by-products (DBPs). Results showed that this 'dewatering water' (DW) had different properties when the sludge was stored at different times. The content of dissolved organic matter (DOM) and microcystins (MCs) in the DW were low when the sludge was treated or disposed of within 4 days; correspondingly, the C-, N-DBP production was also low. However, due to the damage of algal cells to some extent, the DOM and MC levels increased significantly for storage time longer than 4 days; the production of C-, N-DBPs also increased. There were also obvious differences in the characteristics of the DW from sludges generated with different coagulant species. Due to the better protective effect of FeCl 3 and polymeric aluminium ferric chloride (PAFC) flocs, the DOM and MC levels and the production of C-, N-DBPs in the DW with FeCl 3 and PAFC coagulation were lower than those with AlCl 3 coagulation, even though the sludges were stored for the same amount of time. Furthermore, because of the formation of Al and Fe hydroxides, precipitated onto the surface of flocs, the soluble Al and Fe in the DW decreased with increased storage time, especially in the first four days. Overall, this study revealed the trends in variation of DW quality for cyanobacteria-containing sludges formed with different coagulants, then FeCl 3 and PAFC coagulants are recommended and sludge should be treated or disposed of within 4 days. Copyright © 2017 Elsevier Ltd. All rights reserved.

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.

Acceleration of organic removal and electricity generation from dewatered oily sludge in a bioelectrochemical system by rhamnolipid addition.

Science.gov (United States)

Zhang, Yunshu; Zhao, Qingliang; Jiang, Junqiu; Wang, Kun; Wei, Liangliang; Ding, Jing; Yu, Hang

2017-11-01

Conversion of biomass energy of dewatered oily sludge to electricity is the rate-limiting process in bioelectrochemical system (BES). In this study, 2mgg -1 rhamnolipids were added to dewatered oily sludge, resulting in a significant enhancement in maximum power density from 3.84±0.37 to 8.63±0.81Wm -3 , together with an increase in total organic carbon (TOC) and total petroleum hydrocarbon (TPH) removal from 24.52±4.30 to 36.15±2.79mgg -1 and 29.51±3.30 to 39.80±2.47mgg -1 , respectively. Rhamnolipids can also enhance the solubilization and promote the hydrolysis of dewatered oily sludge with increases in SOCD from 14.93±2.44 to 18.40±0.08mgg -1 and VFAs from 1.02±0.07 to 1.39±0.12mgg -1 . Furthermore, bacteria related to substrate degradation were predominant in dewatered oily sludge, and bacteria related to the sulfate/sulfide cycle were significantly enriched by rhamnolipid addition. Copyright © 2017 Elsevier Ltd. All rights reserved.

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.

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.)

Efficient Calculation of Dewatered and Entrapped Areas Using Hydrodynamic Modeling and GIS

International Nuclear Information System (INIS)

Richmond, Marshall C.; Perkins, William A.

2009-01-01

River waters downstream of a hydroelectric project are often subject to rapidly changing discharge. Abrupt decreases in discharge can quickly dewater and expose some areas and isolate other areas from the main river channel, potentially stranding or entrapping fish, which often results in mortality. A methodology is described to estimate the areas dewatered or entrapped by a specific reduction in upstream discharge. A one-dimensional hydrodynamic model was used to simulate steady flows. Using flow simulation results from the model and a geographic information system (GIS), estimates of dewatered and entrapped areas were made for a wide discharge range. The methodology was applied to the Hanford Reach of the Columbia River in central Washington State. Results showed that a 280 m 3 /s discharge reduction affected the most area at discharges less than 3400 m 3 /s. At flows above 3400 m 3 /s, the affected area by a 280 m 3 /s discharge reduction (about 25 ha) was relatively constant. A 280 m 3 /s discharge reduction at lower flows affected about twice as much area. The methodology and resulting area estimates were, at the time of writing, being used to identify discharge regimes, and associated water surface elevations, that might be expected to minimize adverse impacts on juvenile fall chinook salmon (Oncorhynchus tshawytscha) that rear in the shallow near-shore areas in the Hanford Reach

Draft environmental assessment -- Test Area North pool stabilization project update

International Nuclear Information System (INIS)

1997-06-01

The purpose of this Environmental Assessment (EA) is to update the ''Test Area North Pool Stabilization Project'' EA (DOE/EA-1050) and finding of no significant impact (FONSI) issued May 6, 1996. This update analyzes the environmental and health impacts of a drying process for the Three Mile Island (TMI) nuclear reactor core debris canisters now stored underwater in a facility on the Idaho National Engineering and Environmental Laboratory (INEEL). A drying process was analyzed in the predecision versions of the EA released in 1995 but that particular process was determined to be ineffective and dropped form the Ea/FONSI issued May 6, 1996. The origin and nature of the TMI core debris and the proposed drying process are described and analyzed in detail in this EA. As did the 1996 EA, this update analyzes the environmental and health impacts of removing various radioactive materials from underwater storage, dewatering these materials, constructing a new interim dry storage facility, and transporting and placing the materials into the new facility. Also, as did the 1996 EA, this EA analyzes the removal, treatment and disposal of water from the pool, and placement of the facility into a safe, standby condition. The entire action would take place within the boundaries of the INEEL. The materials are currently stored underwater in the Test Area North (TAN) building 607 pool, the new interim dry storage facility would be constructed at the Idaho Chemical Processing Plant (ICPP) which is about 25 miles south of TAN

Monitoring and troubleshooting of non-filamentous settling and dewatering problems in an industrial activated sludge treatment plant

DEFF Research Database (Denmark)

Kjellerup, B. V.; Keiding, Kristian; Nielsen, Per Halkjær

2001-01-01

dewaterability. The monitoring program revealed that a deterioration of the floc strength and the settling properties in the process tanks was closely connected to downstream dewatering problems and poor effluent quality. Particularly severe problems were observed a few weeks after the production at the factory......A large industrial activated sludge wastewater treatment plant had temporary problems with settling and dewatering of the sludge. Microscopical investigations revealed that the poor settling properties were not due to presence of filamentous bacteria, but poor floc properties. In order...... to characterise the changes in floc properties that led to settling and dewatering problems and to find reasons for this taking place, a comprehensive monitoring program was conducted during more than one year. The monitoring program included various measurements of floc settleability, floc strength and sludge...

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.

A Case Study on Stratified Settlement and Rebound Characteristics due to Dewatering in Shanghai Subway Station

OpenAIRE

Wang, Jianxiu; Huang, Tianrong; Sui, Dongchang

2013-01-01

Based on the Yishan Metro Station Project of Shanghai Metro Line number 9, a centrifugal model test was conducted to investigate the behavior of stratified settlement and rebound (SSR) of Shanghai soft clay caused by dewatering in deep subway station pit. The soil model was composed of three layers, and the dewatering process was simulated by self-invention of decompressing devise. The results indicate that SSR occurs when the decompression was carried out, and only negative rebound was found...

Electroosmotic dewatering of chalk sludge, iron hydroxide sludge, wet fly ash and biomass

Energy Technology Data Exchange (ETDEWEB)

Hansen, H.K.; Kristensen, I.V.; Ottosen, L.M.; Villumsen, A. [Dept. of Geology and Geotechnical Engineering, The Technical Univ. of Denmark, Lyngby (Denmark)

2001-07-01

Electroosmotic dewatering has been tested in laboratory cells for 4 different porous materials: chalk sludge, iron hydroxide sludge, wet fly ash and biomass sludge from enzyme production. In all cases it was possible to remove water when passing electric DC current through the material. Casagrande's coefficients for the three materials where determined at different water contents. In the electroosmotic experiments shown in this work chalk can be dewatered from 40% to 79% DM (dry matter), fly ash from 75 to 82% DM, iron hydroxide sludge from 2.7 to 19% DM and biomass from 3 to 33% DM. The process was not optimised indicating that higher dry matter contents could be achieved. (orig.)

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...

Monitoring and optimizing the co-composting of dewatered sludge: a mixture experimental design approach.

Science.gov (United States)

Komilis, Dimitrios; Evangelou, Alexandros; Voudrias, Evangelos

2011-09-01

The management of dewatered wastewater sludge is a major issue worldwide. Sludge disposal to landfills is not sustainable and thus alternative treatment techniques are being sought. The objective of this work was to determine optimal mixing ratios of dewatered sludge with other organic amendments in order to maximize the degradability of the mixtures during composting. This objective was achieved using mixture experimental design principles. An additional objective was to study the impact of the initial C/N ratio and moisture contents on the co-composting process of dewatered sludge. The composting process was monitored through measurements of O(2) uptake rates, CO(2) evolution, temperature profile and solids reduction. Eight (8) runs were performed in 100 L insulated air-tight bioreactors under a dynamic air flow regime. The initial mixtures were prepared using dewatered wastewater sludge, mixed paper wastes, food wastes, tree branches and sawdust at various initial C/N ratios and moisture contents. According to empirical modeling, mixtures of sludge and food waste mixtures at 1:1 ratio (ww, wet weight) maximize degradability. Structural amendments should be maintained below 30% to reach thermophilic temperatures. The initial C/N ratio and initial moisture content of the mixture were not found to influence the decomposition process. The bio C/bio N ratio started from around 10, for all runs, decreased during the middle of the process and increased to up to 20 at the end of the process. The solid carbon reduction of the mixtures without the branches ranged from 28% to 62%, whilst solid N reductions ranged from 30% to 63%. Respiratory quotients had a decreasing trend throughout the composting process. Copyright © 2011 Elsevier Ltd. All rights reserved.

Prediction and verification of centrifugal dewatering of P. pastoris fermentation cultures using an ultra scale-down approach.

Science.gov (United States)

Lopes, A G; Keshavarz-Moore, E

2012-08-01

Recent years have seen a dramatic rise in fermentation broth cell densities and a shift to extracellular product expression in microbial cells. As a result, dewatering characteristics during cell separation is of importance, as any liquor trapped in the sediment results in loss of product, and thus a decrease in product recovery. In this study, an ultra scale-down (USD) approach was developed to enable the rapid assessment of dewatering performance of pilot-scale centrifuges with intermittent solids discharge. The results were then verified at scale for two types of pilot-scale centrifuges: a tubular bowl equipment and a disk-stack centrifuge. Initial experiments showed that employing a laboratory-scale centrifugal mimic based on using a comparable feed concentration to that of the pilot-scale centrifuge, does not successfully predict the dewatering performance at scale (P-value centrifuge. Initial experiments used Baker's yeast feed suspensions followed by fresh Pichia pastoris fermentation cultures. This work presents a simple and novel USD approach to predict dewatering levels in two types of pilot-scale centrifuges using small quantities of feedstock (centrifuge needs to be operated, reducing the need for repeated pilot-scale runs during early stages of process development. Copyright © 2012 Wiley Periodicals, Inc.

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.

HYDROLASING OF CONTAMINATED UNDERWATER BASIN SURFACES AT THE HANFORD K AREA

International Nuclear Information System (INIS)

CHRONISTER, G.B.

2005-01-01

This paper discusses selecting and implementing hydrolasing technology to reduce radioactive contamination in preparing to dispose of the K Basins; two highly contaminated concrete basins at the Hanford Site. A large collection of spent nuclear fuel stored for many years underwater at the K Basins has been removed to stable, dry, safe storage. Remediation activities have begun for the remaining highly contaminated water. sludge, and concrete basin structures. Hydrolasing will be used to decontaminate and prepare the basin structures for disposal

Sludge dewatering on filters aiming the utilization as fuel; Desaguamento de lodos em filtro visando aproveitamento como combustivel

Energy Technology Data Exchange (ETDEWEB)

Paschoalim, Luis Gustavo; Neves, Jose Mangolini

1993-12-31

This work presents modern methodologies for sludge dewatering and alternatives for environmental disposal of the so obtained cakes. Among the possible alternatives, special emphasis is given to the characterization and study of the variables which determine the behaviour of dewatering operation of sludges form pulp and paper industries. Results are presents for bench scale tests and pilot plant tests 28 refs., 9 figs., 7 tabs.

Sludge dewatering on filters aiming the utilization as fuel; Desaguamento de lodos em filtro visando aproveitamento como combustivel

Energy Technology Data Exchange (ETDEWEB)

Paschoalim, Luis Gustavo; Neves, Jose Mangolini

1992-12-31

This work presents modern methodologies for sludge dewatering and alternatives for environmental disposal of the so obtained cakes. Among the possible alternatives, special emphasis is given to the characterization and study of the variables which determine the behaviour of dewatering operation of sludges form pulp and paper industries. Results are presents for bench scale tests and pilot plant tests 28 refs., 9 figs., 7 tabs.

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

Dewatering and low-temperature pyrolysis of oily sludge in the presence of various agricultural biomasses.

Science.gov (United States)

Zhao, Song; Zhou, Xiehong; Wang, Chuanyi; Jia, Hanzhong

2017-08-24

Pyrolysis is potentially an effective treatment of waste oil residues for recovery of petroleum hydrocarbons, and the addition of biomass is expected to improve its dewatering and pyrolysis behavior. In this study, the dewatering and low-temperature co-pyrolysis of oil-containing sludge in the presence of various agricultural biomasses, such as rice husk, walnut shell, sawdust, and apricot shell, were explored. As a result, the water content gradually decreases with the increase of biomass addition within 0-1.0 wt % in original oily sludge. Comparatively, the dewatering efficiency of sludge in the presence of four types of biomasses follows the order of apricot shell > walnut shell > rice husk > sawdust. On the other hand, rice husk and sawdust are relatively more efficient in the recovery of petroleum hydrocarbons compared with walnut shell and apricot shell. The recovery efficiency generally increased with the increase in the biomass content in the range of 0-0.2 wt %, then exhibited a gradually decreasing trend with the increase in the biomass content from 0.2 to 1.0 wt %. The results suggest that optimum amount of biomass plays an important role in the recovery efficiency. In addition, the addition of biomass (such as rice husk) also promotes the formation of C x H y and CO, increasing the calorific value of pyrolysis residue, and controlled the pollution components of the exhaust gas discharged from residue incineration. The present work implies that biomass as addictive holds great potential in the industrial dewatering and pyrolysis of oil-containing sludge.

Optimal dewatering schemes in the foundation design of an electronuclear plant

International Nuclear Information System (INIS)

Galeati, G.; Gambolati, G.

1988-01-01

A three-dimensional finite element model combined with an optimization approach based on linear mixed integer programming is developed and applied to assist in the design of the dewatering system for the electronuclear plant to be built by the Italian Electric Agency (ENEL) in Trino Vercellese, northwestern Italy. The foundations site is encompassed by a 25- to 35-m deep plastic wall with the purpose of protecting the unconfined aquifer from the significant water table lowering required by the construction project. To reduce further the propagation of the depression cone a large amount of the water pumped out is reinjected through ad hoc recharge ditches. The finite element optimization model includes both the natural and the artificial constraints and provides several optimal withdrawal strategies for the dewatering system design concerning the distribution of the abstraction wells and the corresponding pumping rates. Physical and economical objective functions are explored and the related solutions are discussed

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

Vibrating membrane filtration as improved technology for microalgae dewatering

OpenAIRE

Nurra, C.; Clavero, E.; Salvadó, J.; Torras, C.

2014-01-01

10.1016/j.biortech.2014.01.115 The effect of shear-enhanced filtration by vibratory process in microalgae dewatering is presented in this paper. The aim of this research was to investigate the technical performance and improvement of vibrating membrane filtration compared with conventional tangential cross-flow filtration in microalgae concentration. An industrial-scale available commercial set-up was used. Several membrane materials as polyethersulfone, polyacrylonitrile, etc., and mean ...

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

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.

46 CFR 28.815 - Bilge pumps, bilge piping, and dewatering systems.

Science.gov (United States)

2010-10-01

... 46 Shipping 1 2010-10-01 2010-10-01 false Bilge pumps, bilge piping, and dewatering systems. 28... REQUIREMENTS FOR COMMERCIAL FISHING INDUSTRY VESSELS Aleutian Trade Act Vessels § 28.815 Bilge pumps, bilge... fixed, self priming, powered, bilge pump, having a minimum capacity rating of 50 gallons per minute...

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...

Physical, chemical and dewatering characteristics of Ba/RaSO4 sludges from uranium milling

International Nuclear Information System (INIS)

Skeaff, J.M.; Campbell, H.W.

1980-01-01

There is concern that long-term environmental pollution caused by radionuclide-bearing acid drainage could occur upon the abandonment of uranium tailings areas. One source of dissolved radionuclides could be the Ba/RaSO 4 sludges formed in most tailings ponds. Prior to discharge to open watercourses, uranium tailings decants are usually treated with barium chloride to coprecipitate dissolved radium. The resulting sludge is allowed to settle in ponds, the size and retention time of which will depend on the mine site. It may be necessary for environmental reasons to remove these sludges for permanent disposal. CANMET has awarded a contract to Kilborn Ltd. of Toronto to study methods for the recovery and dewatering of these sludges. To provide data for the Kilborn contract on the physical, chemical and dewatering of Ba/RaSO 4 sludges presently being produced at uranium mine/mill sites, samples were taken from the operational settling ponds at Rio Algom Mines Ltd., Elliot Lake. Dewatering characterization has also been conducted on two pilot plant facility sludges, one produced at the Wastewater Technology Centre's pilot plant at Rio Algom Mines, and the other from the pilot scale settling ponds designed by James F. MacLaren Ltd. for Rio Algom. The chemical and radionuclide analyses for the CANMET sludge are also reported

Demonstration of FBRM as process analytical technology tool for dewatering processes via CST correlation.

Science.gov (United States)

Cobbledick, Jeffrey; Nguyen, Alexander; Latulippe, David R

2014-07-01

The current challenges associated with the design and operation of net-energy positive wastewater treatment plants demand sophisticated approaches for the monitoring of polymer-induced flocculation. In anaerobic digestion (AD) processes, the dewaterability of the sludge is typically assessed from off-line lab-bench tests - the capillary suction time (CST) test is one of the most common. Focused beam reflectance measurement (FBRM) is a promising technique for real-time monitoring of critical performance attributes in large scale processes and is ideally suited for dewatering applications. The flocculation performance of twenty-four cationic polymers, that spanned a range of polymer size and charge properties, was measured using both the FBRM and CST tests. Analysis of the data revealed a decreasing monotonic trend; the samples that had the highest percent removal of particles less than 50 microns in size as determined by FBRM had the lowest CST values. A subset of the best performing polymers was used to evaluate the effects of dosage amount and digestate sources on dewatering performance. The results from this work show that FBRM is a powerful tool that can be used for optimization and on-line monitoring of dewatering processes. Copyright © 2014 Elsevier Ltd. All rights reserved.

Dewatering behavior of fine oil sands tailings : A summary of laboratory results

NARCIS (Netherlands)

Yao, Y.; van Tol, A.F.; van Paassen, L.A.; Vardon, P.J.; Sego, D.C.; Wilson, G.W.; Beier, N.A.

2016-01-01

To evaluate the disposal technology for fine oil sands tailings, the appropriate engineering properties of the tailings should be ascertained. A laboratory study was conducted by Delft University of Technology (the Netherlands) on the geotechnical properties and dewatering behavior of the fine oil

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

BisQue: cloud-based system for management, annotation, visualization, analysis and data mining of underwater and remote sensing imagery

Science.gov (United States)

Fedorov, D.; Miller, R. J.; Kvilekval, K. G.; Doheny, B.; Sampson, S.; Manjunath, B. S.

2016-02-01

Logistical and financial limitations of underwater operations are inherent in marine science, including biodiversity observation. Imagery is a promising way to address these challenges, but the diversity of organisms thwarts simple automated analysis. Recent developments in computer vision methods, such as convolutional neural networks (CNN), are promising for automated classification and detection tasks but are typically very computationally expensive and require extensive training on large datasets. Therefore, managing and connecting distributed computation, large storage and human annotations of diverse marine datasets is crucial for effective application of these methods. BisQue is a cloud-based system for management, annotation, visualization, analysis and data mining of underwater and remote sensing imagery and associated data. Designed to hide the complexity of distributed storage, large computational clusters, diversity of data formats and inhomogeneous computational environments behind a user friendly web-based interface, BisQue is built around an idea of flexible and hierarchical annotations defined by the user. Such textual and graphical annotations can describe captured attributes and the relationships between data elements. Annotations are powerful enough to describe cells in fluorescent 4D images, fish species in underwater videos and kelp beds in aerial imagery. Presently we are developing BisQue-based analysis modules for automated identification of benthic marine organisms. Recent experiments with drop-out and CNN based classification of several thousand annotated underwater images demonstrated an overall accuracy above 70% for the 15 best performing species and above 85% for the top 5 species. Based on these promising results, we have extended bisque with a CNN-based classification system allowing continuous training on user-provided data.

Fundamental study for improvement of dewatering of fine coal/refuse. Annual report, August 1982-August 1983

Energy Technology Data Exchange (ETDEWEB)

Chiang, S.H.; Klinzing, G.E.; Morsi, B.J.; Tierney, J.W.; Adams, J.; Bhat, N.; Binkley, T.; Chi, S.M.; Kakwani, R.; Qamar, I.

1983-09-01

The overall objective of the study is to seek improved methods of dewatering through a better understanding of the filtration and post-filtration processes. As a first step, efforts have been focused on the mechanism of dewatering in terms of basic properties of coal (and refuse) particles and microstructures of filter cakes, and their relations to filtration rate and final moisture content. Pittsburgh seam-Bruceton Mine coal was used as a base coal with experiments also being conducted with Upper Freeport and Illinois No. 6 coals. During the past year, filter cakes from the above coals with widely varied size ranges were micrographically characterized. The effects of a number of surface active agents and of entrapped air bubbles on the filter cake properties were also studied. A module of the network model for calculating single phase permeabilities was completed and tested. The report is divided into four parts: summary and deliverables; work forecast for the 1983-84; detailed descriptions of technical progress for particle/filter cake characterization; theoretical modeling, and enhanced dewatering methods; and appendices. 11 references, 35 figures, 11 tables.

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.

Isolation and Characterization of Polyacrylamide-Degrading Bacteria from Dewatered Sludge

Directory of Open Access Journals (Sweden)

Feng Yu

2015-04-01

Full Text Available Polyacrylamide (PAM is a water-soluble polymer that is widely used as a flocculant in sewage treatment. The accumulation of PAM affects the formation of dewatered sludge and potentially produces hazardous monomers. In the present study, the bacterial strain HI47 was isolated from dewatered sludge. This strain could metabolize PAM as its sole nutrient source and was subsequently identified as Pseudomonas putida. The efficiency of PAM degradation was 31.1% in 7 days and exceeded 45% under optimum culture condition (pH 7.2, 39 °C and 100 rpm. The addition of yeast extract and glucose improved the bacterial growth and PAM degradation. The degraded PAM samples were analyzed by gel-filtration chromatography, Fourier transform infrared and high-performance liquid chromatography. The results showed that high-molecular-weight PAM was partly cleaved to small molecular oligomer derivatives and part of the amide groups of PAM had been converted to carboxyl groups. The biodegradation did not accumulate acrylamide monomers. Based on the SDS-PAGE and N-terminal sequencing results, the PAM amide groups were converted into carboxyl groups by a PAM-induced extracellular enzyme from the aliphatic amidase family.

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.

Permanganate/bisulfite (PM/BS) conditioning-horizontal electro-dewatering (HED) of activated sludge: Effect of reactive Mn(III) species.

Science.gov (United States)

Guo, Xinxin; Wang, Yili; Wang, Dongsheng

2017-11-01

A novel activated sludge (AS) conditioning method through permanganate/bisulfate (PM/BS) process was proposed. The method involved a new conditioner of reactive Mn(III) intermediate. Moreover, a Mn(III) conditioning-horizontal electro-dewatering (Mn(III) C-HED) process was established to improve AS dewatering performance. Underlying mechanisms were unraveled by investigating changes in physicochemical characteristics, scanning electron microscope (SEM) morphology, and transformation of water and organic matters. The optimum dewatering conditions for Mn(III) C-HED process with the final water content of 86.94% were determined as the combination of KMnO 4 0.01 mol/L AS and NaHSO 3 0.05 mol/L AS at 20 V for 120 min. Results showed that Mn(III) C-HED process effectively reduced free water and bound water with the corresponding removal ratios of 51.68% and 87.62% at the anode-side as well as 36.55% and 85.08% at the cathode-side, respectively. During the PM/BS process, the produced Mn(III), Mn 2+ , and MnO 2 exerted chemical and physical effects on AS conditioning and dewatering. Mn(III) disintegrated extracellular polymeric substances (EPS) fractions and cells in AS, as well as induced partial bound water release. Additionally, flocculation effect induced by Mn 2+ and MnO 2 skeleton building also benefited AS dewatering. AS cells were further disrupted under the effect of a horizontal electric field. Accordingly, EPS within the AS matrix was solubilized, tightly bound (TB)-EPS or loosely bound (LB)-EPS was converted to their corresponding outer EPS fractions, and AS dewaterability improved. Additionally, changes in pH and temperature at HED stage damaged the AS cells and changed the floc properties, thereby leading to easy separation of liquid and AS particles. Copyright © 2017 Elsevier Ltd. All rights reserved.

A novel acrylamide-free flocculant and its application for sludge dewatering.

Science.gov (United States)

Lu, Lianghua; Pan, Zhida; Hao, Nan; Peng, Wenqing

2014-06-15

In the present research, copolymers of methyl acrylate (MA) with anionic or cationic monomers were synthesized via emulsion polymerization, and used as sludge dewatering aids in wastewater treatment. The copolymerization of different stoichiometry of two monomers afforded a variety of water soluble copolymers with charge densities ranging from 40% to 80%, which align with the charge density of current flocculant products. These copolymers resemble current commercial products, but provide a greener solution by eliminating acrylamide monomer, which is a suspected carcinogen. High molecular weight copolymers were achieved by applying powder-like synthesis process with intrinsic viscosity of final products as high as 12.98 dl/g for anionic flocculant and 10.74 dl/g for cationic flocculant. The copolymers of methyl acrylate and [2-(Acryloyloxy)ethyl]trimethylammonium chloride (AETAC) with 55% charge density exhibited comparable performance in clay settling test, real water jar test, and sludge dewatering, when compared to AM-based commercial product in the real wastewater treatment application. Copyright © 2014 Elsevier Ltd. All rights reserved.

Special repairs to the eroded joints of concrete slabs of Stilling Basin-3 and strengthening of splitter pier of Tunnel No. 3, Tarbela Dam Project

Energy Technology Data Exchange (ETDEWEB)

Khan, B.A. [WAPDA Tarbela DAM Project (Pakistan)

1999-07-01

Repair alternatives to correct erosion damage to the right side of the central longitudinal joint just downstream of the chute of Stilling Basin-3 are discussed. Three alternatives were considered: (1) provide a coffer dam around the plunge pool area and dewater the stilling basin prior to undertaking any repair work; (2) use Tremie concrete , or (3) use Hydrocrete, a regular concrete with some special additives to hold the aggregate, cement and water together in under-water repairs. Because of its erosion resistance in the plastic state, and its self-compacting and leveling properties, the Hydrocrete method was chosen. While repairing the erosion damage, Hilty anchors were also installed in the damaged slab portion, and the splitter pier was also strengthened by inserting mechanical anchors. The entire operation was monitored by a CCTV camera and surface to under-water communication. By choosing this method, the repairs have been completed without dewatering the stilling basin, thus achieving substantial savings. Subsequent under-water inspection by divers and video film proved the repairs to have been fully satisfactory.

Dewatering properties of differently treated sewage sludge

International Nuclear Information System (INIS)

Zehnder, H.J.

1977-01-01

A study on dewatering properties of radiosterilized sewage sludge of different type and origin was carried out. For comparison, also heat-treated (pasteurized) sludge was investigated. The specific filtration resistance of irradiated sewage sludge was lowered in all types of sludge examined. In general, pasteurization increased this parameter. The settling properties of irradiated digested sewage sludge was slightly improved, mainly in the first hours after treatment. Microbial effects may mask the real sedimentation relations especcially in aerobically stabilized sludges. A pasteurization treatment of sewage sludge caused an increased content of soluble substances and suspended particles in the supernatant water. The supernatant water from irradiated sludge showed a smaller increase

Autonomous Planning and Replanning for Mine-Sweeping Unmanned Underwater Vehicles

Science.gov (United States)

Gaines, Daniel M.

2010-01-01

This software generates high-quality plans for carrying out mine-sweeping activities under resource constraints. The autonomous planning and replanning system for unmanned underwater vehicles (UUVs) takes as input a set of prioritized mine-sweep regions, and a specification of available UUV resources including available battery energy, data storage, and time available for accomplishing the mission. Mine-sweep areas vary in location, size of area to be swept, and importance of the region. The planner also works with a model of the UUV, as well as a model of the power consumption of the vehicle when idle and when moving.

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.

EXPERIMENTAL MEASUREMENTS OF TAILING UNDERWATER SEDIMENTS AND LIQUID INDUSTRIAL WASTES IN STORAGE TANK ON THE BASIS OF ECHOLOCATION AND GPS-SYSTEMS AT JSC “BELARUSKALI”

Directory of Open Access Journals (Sweden)

V. I. Mikhailov

2016-01-01

Full Text Available The paper presents a new approach to calculate volume of tailing underwater sediments and liquid industrial wastes on the basis of innovative technologies. Two theodolites which are set at various points and a boat with a load for measuring water depth have been traditionally used for topographic survey of slime storage bottom. Horizontal directions have been simultaneously measured on the boat marker while using theodolites. Water depth has been determined while using  a 2-kg circular load which was descended into brine solution with the help of rope. In addition to rather large time and labour costs such technology has required synchronization in actions on three participants involved in the work: operators of two theodolites and boat team in every depth measuring point. Methodology has been proposed for more efficient solution of the problem. It presupposes the use of echolocation together with space localization systems (GPS-systems which can be set on a boat with the purpose to measure depth of a storage tank bed. An echolocation transducer has been installed under the boat bottom at the depth of 10 cm from the brine solution level in the slime storage.  An aerial of GPS-receiver has been fixed over the echo-sounder transducer. Horizontal positioning of bottom depth measuring points have been carried out in the local coordinate system. Formation of digital model for slime storage bottom has been executed after data input of the coordinate positioning that corresponded to corrected depths in the software package LISCAD Plus SEE. The formation has been made on the basis of a strict triangulation method.  Creation of the digital model makes it rather easy to calculate a volume between a storage bottom and a selected level (height of filling material. In this context it is possible to determine a volume and an area not only above but also lower of the datum surface. For this purpose it is recommended to use digital models which are developed

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 ...

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.

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

Energy Technology Data Exchange (ETDEWEB)

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

1999-12-01

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

Design of the Nonlinear Pin Rubber Forming Equipment Integrating the Functions of Extruding, Dewatering, Drying & Expanding

Directory of Open Access Journals (Sweden)

Yuefeng Yuan

2014-12-01

Full Text Available The top priority of car-tire suppliers is to improve wetland grip force of the using tires, reduce the rolling resistance and the rolling noise of tires. It is urgent for the tire industry to research and develop high-performance tires to solve the above problems. They must use the high- performance synthetic rubber and auxiliary rubber to develop the most advanced manufacturing technologies and equipment. Silica, a kind of important tire auxiliary rubber, can significantly reduce the rolling resistance of tires, improve the grip force and properties resistant to ice, wetness or slippery of tires. In this paper, based on the conventional tire rubber forming technologies of extrusion, dewatering, drying and expanding, a study is made on the conical screw, the dewatering barrel, the drying barrel, the pin layout scheme, the expanding die head, cutter and the control system. The nonlinear pin rubber forming equipment integrating the functions of extrusion, dewatering, drying and expanding is designed and applied to tire auxiliary rubber forming. The experiment shows that the forming device can realize the one-step forming, with high forming efficiency, low cost and less labor.

Underwater cleaning techniqued used for removal of zebra mussels at the FitzPatrick Nuclear Power Plant

International Nuclear Information System (INIS)

Hobbs, B.; Kahabka, J.

1995-01-01

This paper discusses the use of a mechanical brush cleaning technology recently used to remove biofouling from the Circulating Water (CW) System at New York Power Authority's James A. FitzPatrick Nuclear Power Plant. The FitzPatrick plant had previously used chemical molluscicide to treat zebra mussels in the CW system. Full system treatment was performed in 1992 with limited forebay/screenwell treatment in 1993. The New York Power Authority (NYPA) decided to conduct a mechanical cleaning of the intake system in 1994. Specific project objectives included: (1) Achieve a level of surface cleaniness greater than 98%; (2) Remove 100% of debris, both existing sediment and debris generated as a result of cleaning; (3) Inspect all surfaces and components, identifying any problem areas; (4) Complete the task in a time frame within the 1994-95 refueling outage schedule window, and; (5) Determine if underwater mechanical cleaning is a cost-effective zebra mussel control method suitable for future application at FitzPatrick. A pre-cleaning inspection, including underwater video photography, was conducted of each area. Cleaning was accomplished using diver-controlled, multi-brush equipment included the electro-hydraulic powered Submersible Cleaning and Maintenance Platform (SCAMP), and several designs of hand-held machines. The brushes swept all zebra mussels off surfaces, restoring concrete and metal substrates to their original condition. Sensitive areas including pump housings, standpipes, sensor piping and chlorine injection tubing, were cleaned without degradation. Submersible vortex vacuum pumps were used to remove debris from the cavity. More than 46,000 ft 2 of surface area was cleaned and over 460 cubic yards of dewatered debris were removed. As each area was completed, a post-clean inspection with photos and video was performed

Underwater Coatings Testing for INEEL Fuel Basin Applications

International Nuclear Information System (INIS)

Julia L. Tripp

2004-01-01

The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature

Underwater Coatings Testing for INEEL Fuel Basin Applications

Energy Technology Data Exchange (ETDEWEB)

Julia L. Tripp

2004-01-01

The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature.

Device for dewatering of raw biomass. Anordning foer avvattning och uppluckring av raa biomassa

Energy Technology Data Exchange (ETDEWEB)

Kubat, J; Aabom, J J.V.; Klason, T C.F.; Bultzingsloewen, F von

1993-09-27

This invention concerns a device for loosening of raw biomass through roll dewatering. It is primarily applicable for comminuted and milled raw wood. The invention is of special interest for the production of pulverized wood fuel

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.

A comparison of the economic benefits of centralized and distributed model predictive control strategies for optimal and sub-optimal mine dewatering system designs

International Nuclear Information System (INIS)

Romero, Alberto; Millar, Dean; Carvalho, Monica; Maestre, José M.; Camacho, Eduardo F.

2015-01-01

Mine dewatering can represent up to 5% of the total energy demand of a mine, and is one of the mine systems that aim to guarantee safe operating conditions. As mines go deeper, dewatering pumping heads become bigger, potentially involving several lift stages. Greater depth does not only mean greater dewatering cost, but more complex systems that require more sophisticated control systems, especially if mine operators wish to gain benefits from demand response incentives that are becoming a routine part of electricity tariffs. This work explores a two stage economic optimization procedure of an underground mine dewatering system, comprising two lifting stages, each one including a pump station and a water reservoir. First, the system design is optimized considering hourly characteristic dewatering demands for twelve days, one day representing each month of the year to account for seasonal dewatering demand variations. This design optimization minimizes the annualized cost of the system, and therefore includes the investment costs in underground reservoirs. Reservoir size, as well as an hourly pumping operation plan are calculated for specific operating environments, defined by characteristic hourly electricity prices and water inflows (seepage and water use from production activities), at best known through historical observations for the previous year. There is no guarantee that the system design will remain optimal when it faces the water inflows and market determined electricity prices of the year ahead, or subsequent years ahead, because these remain unknown at design time. Consequently, the dewatering optimized system design is adopted subsequently as part of a Model Predictive Control (MPC) strategy that adaptively maintains optimality during the operations phase. Centralized, distributed and non-centralized MPC strategies are explored. Results show that the system can be reliably controlled using any of these control strategies proposed. Under the operating

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.

Effect of TiO2 nanoparticles on UASB biomass activity and dewatered sludge.

Science.gov (United States)

Yadav, Tushar; Mungray, Alka A; Mungray, Arvind K

2017-02-01

The accumulation of the nanowastes in the wastewater treatment plants has raised several concerns; therefore, it is an utmost priority to study the nanoparticle (NP) toxicity in such systems. In this work, the effect of TiO 2 NPs on up-flow anaerobic sludge blanket (UASB) microflora and their photocatalytic effect on dewatered sludge were studied. We observed 99.98% removal of TiO 2 NPs by sludge biomass within 24 h, though negligible toxicity was found up to 100 mg/L TiO 2 concentration on extracellular polymeric substances (EPS), volatile fatty acid and biogas generation. The low toxicity corresponds to the agglomeration of TiO 2 NPs in UASB sludge. Alterations in dewatered sludge biochemical composition and increase in cell damage were observed upon exposure to sunlight as evidenced by FTIR and fluorescent microscopy, respectively. Results suggest the negligible toxicity of TiO 2 NPs on UASB biomass activity; however, once exposed to open environment and sunlight, they may exert detrimental effects.

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.

Environmental control of drilling mud discharge through dewatering in cold weather climates: effect of ambient temperature

Energy Technology Data Exchange (ETDEWEB)

Wojtanowicz, A. K. [Louisiana State Univ., Baton Rouge, LA (United States); Ye, Y. [Jianghan Petroleum Institute, Beijing, (China)

1998-05-01

Results of an experimental study of the effects of drilling mud temperature upon dewatering performance at various temperatures were presented. Three temperature ranges (from flowline temperature to room temperature, from room temperature to freezing point, and freeze/thaw, i.e. from -20 degrees C to 12 degrees C) were considered. Both unweighted and weighted fresh water muds and weighted salt water mud were tested using a sealed laboratory batch reactor, to prevent rapid vaporization of separated water at temperatures above 60 degrees C. Deep freezing was achieved by using ice or ice-salt baths. Net water removal was measured with a bench-top plate press under constant expression pressure of 270 kPa. Results showed that the freeze/thaw treatment process proved to be very effective, enhancing water removal by 34 to 39 per cent, and reducing waste mud volume by 64 to 72 per cent. No advantage to dewatering hot drilling mud from active systems was observed at temperatures above 21 degrees C. It was suggested that at temperatures under 21 degrees C, the waste drilling mud diverted from an active system should be dewatered when its temperature is still over 40 degrees C. to reduce the amount of chemicals needed for separation enhancement. 14 refs., 4 tabs., 4 figs.

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.

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.

Hydrothermal treatment coupled with mechanical expression at increased temperature for excess sludge dewatering: the dewatering performance and the characteristics of products.

Science.gov (United States)

Wang, Liping; Li, Aimin

2015-01-01

Hydrothermal treatment coupled with mechanical expression at increased temperature in two separate cells respectively is effective for the dewatering of excess sludge with low energy consumption. The objectives of this study were to evaluate the dewatering performance and the characteristics of obtained products (hydrothermal sludge, hydrochar and filtrate). The results showed that harsher hydrothermal treatment (temperature from 120 to 210 °C and residence time from 10 to 90 min) led to greater water removal (from 7.44 to 96.64% reduction of total water) and mechanical pressure became less significant as it increased. The whole expression stage was completely described by the modified Terzaghi-Voigt rheological model. The role of tertiary consolidation stage in the water removal was reduced with hydrothermal treatment being stronger. The hydrothermal treatment is mainly a devolatilization process. The observed changes in H/C and O/C for hydrothermal sludge suggested dehydration was the major reaction mechanism and decarboxylation only occurred significantly at higher temperature. The higher heating value correlated well with carbon content of sludge, which was increased by 4.8% for hydrothermal sludge at 210 °C for 60 min and significantly decreased by 15.4% for hydrochar after 6.0 MPa for 20 min. The solubilization and decomposition of proteins, polysaccharides and DNA were determined to be temperature and residence time dependent. The improvement of dewaterability was closely correlated to the variation of these biopolymers. The filtrates collected above 150 °C were found to be acidic. The increase of humic substances and the melanoidins formed by Maillard reaction were largely responsible for the filtrate color.

Chitosan use in chemical conditioning for dewatering municipal-activated sludge.

Science.gov (United States)

Zemmouri, H; Mameri, N; Lounici, H

2015-01-01

This work aims to evaluate the potential use of chitosan as an eco-friendly flocculant in chemical conditioning of municipal-activated sludge. Chitosan effectiveness was compared with synthetic cationic polyelectrolyte Sedipur CF802 (Sed CF802) and ferric chloride (FeCl₃). In this context, raw sludge samples from Beni-Messous wastewater treatment plant (WWTP) were tested. The classic jar test method was used to condition sludge samples. Capillary suction time (CST), specific resistance to filtration (SRF), cakes dry solid content and filtrate turbidity were analyzed to determine filterability, dewatering capacity of conditioned sludge and the optimum dose of each conditioner. Data exhibit that chitosan, FeCl₃and Sed CF802 improve sludge dewatering. Optimum dosages of chitosan, Sed CF802 and FeCl₃allowing CST values of 6, 5 and 9 s, were found, respectively, between 2-3, 1.5-3 and 6 kg/t ds. Both polymers have shown faster water removal with more permeable sludge. SRF values were 0.634 × 10¹², 0.932 × 10¹² and 2 × 10¹² m/kg for Sed CF802, chitosan and FeCl₃respectively. A reduction of 94.68 and 87.85% of the filtrate turbidity was obtained with optimal dosage of chitosan and Sed CF802, respectively. In contrast, 54.18% of turbidity abatement has been obtained using optimal dosage of FeCl₃.

Network model for fine coal dewatering. Part I. The model

Energy Technology Data Exchange (ETDEWEB)

Qamar, I.; Tierney, J.W.; Chiang, S.H.

1985-08-01

There is a body of well established research in filtration and related subjects, but much of it has been empirical - based on correlations from experimental data. This approach has the disadvantage that it lacks generality, and it is difficult to predict the behavior of new or different systems. A more general method for studying dewatering is needed-one which will include the microscopic characteristics of the filter cake, which, like other porous media, contains a complicated network of interconnected pores through which the fluid must flow. These pores play an important role in dewatering because they give rise to capillary forces when one fluid is displacing another. In this report, we describe a network model which we believe satisfies these requirements. In the main body of this report, the model is described in detail. Background information is given where appropriate, and a brief description is given of the experimental work being done in our laboratories to verify the model. A detailed description of the experimental procedures and results is given in other DOE reports. The computer programs which are needed to solve the model are described in detail in the Appendices and are accompanied by flow charts, sample problems, and sample outputs. Sufficient detail is given in order to use the model programs on other computer systems. 32 refs., 7 figs., 5 tabs.

Procedure of dewatering by pressing of biomass pulp, especially a peat cake. Saett att genom pressning avvattna en kaka av biomassa, foeretraedesvis en torvkaka

Energy Technology Data Exchange (ETDEWEB)

Eriksson, S

1988-05-24

The pulp is dewatered by pressing above 90 degrees C, the pulp water being displaced by warmer water under successively increased pressure. A device designed like a closed washing press is used. The pulp is subjected to dewatering, washing or displacement by warmer water and thus heating, and calendering. (O.S.).

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.

Influence of the hydrothermal dewatering on the combustion characteristics of Chinese low-rank coals

International Nuclear Information System (INIS)

Ge, Lichao; Zhang, Yanwei; Xu, Chang; Wang, Zhihua; Zhou, Junhu; Cen, Kefa

2015-01-01

This study investigates the influence of hydrothermal dewatering performed at different temperatures on the combustion characteristics of Chinese low-rank coals with different coalification maturities. It was found that the upgrading process significantly decreased the inherent moisture and oxygen content, increased the calorific value and fixed carbon content, and promoted the damage of the hydrophilic oxygen functional groups. The results of oxygen/carbon atomic ratio indicated that the upgrading process converted the low-rank coals near to high-rank coals which can also be gained using the Fourier transform infrared spectroscopy. The thermogravimetric analysis showed that the combustion processes of upgraded coals were delayed toward the high temperature region, and the upgraded coals had higher ignition and burnout temperature. On the other hand, based on the higher average combustion rate and comprehensive combustion parameter, the upgraded coals performed better compared with raw brown coals and the Da Tong bituminous coal. In ignition segment, the activation energy increased after treatment but decreased in the combustion stage. The changes in coal compositions, microstructure, rank, and combustion characteristics were more notable as the temperature in hydrothermal dewatering increased from 250 to 300 °C or coals of lower ranks were used. - Highlights: • Typical Chinese lignites with various ranks are upgraded by hydrothermal dewatering. • Upgraded coals exhibit chemical compositions comparable with that of bituminous coal. • FTIR show the change of microstructure and improvement in coal rank after upgrading. • Upgraded coals exhibit difficulty in ignition but combust easily. • More evident effects are obtained for raw brown coal with relative lower rank.

Development of the electroacoustic dewatering (EAD) process for fine/ultrafine coal: Second quarterly progress report period ending 31 March 1989

Energy Technology Data Exchange (ETDEWEB)

None

1989-04-18

Battelle, in cooperation with the Electric Power Research Institute (EPRI), Ashbrook-Simon-Hartley (ASH), Kaiser Engineers (KE), Lewis Corporation, and Prof. S.H. Chiang of the University of Pittsburgh, is developing an advanced process for the dewatering of fine and ultrafine coals. The advanced process, called Electroacoustic Dewatering (EAD), capitalizes on the adaptation of synergistic effects of electric and acoustic fields to a commercial belt filter press design that is used in many other applications. The EAD equipment is described. 2 figs.

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....

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

Ground movement and deformation due to dewatering and open pit excavation

International Nuclear Information System (INIS)

Liu, B.; Yang, J.; Zhang, J.

1996-01-01

In the application of stochastic medium theory, it is assumed that ground movement process has the property of Markov Process. Based on superposition principle and rock consolidation principle, the ground movement and deformation due to dewatering and open pit excavation can be calculated. The comparison between the field measurements in Morwell Open Pit, Latrobe Valley (Victoria, Australia) and the calculated results shows the validity of the method in this paper. 5 refs

Effect of dewatering on seismic performance of multi-anchor wall due to high ground water level

Science.gov (United States)

Kobayashi, Makoto; Miura, Kinya; Konami, Takeharu; Hayashi, Taketo; Sato, Hiroki

2017-10-01

Previous research reported that the ground water in the backfill of reinforced soil wall made it deteriorate. According to the damage investigation of Great East Earthquake 2011, the reinforced soil structure due to high ground water level by seismic wave were deformed remarkably. Some of them classified ultimate limit state or restorability limit state. However, more than 90% of reinforced soil structure, which suffered from this earthquake, were classified into no damage condition. Therefore, it is necessary that the seismic behaviors of multi-anchor wall due to seepage flow should be clarified in order to adopt the performance-based design in such reinforced soil structure. In this study, a series of centrifugal shaking table tests were conducted to investigate the seismic behavior of multi-anchor wall due to high ground water level. The reinforced drainage pipes were installed into the backfill in order to verify the dewatering effect and additional reinforcement. Furthermore, to check only the dewatering effect, the model tests was carried out with several ground water table that was modeled the case reinforced drainage pipes installed. The test results show unique behavior of reinforced region that moved integrally. This implies that the reinforced region has been behaved as if it became one mass, and this behavior make this structure increase seismic performance. Thus, the effectiveness of dewatering was observed remarkably because of decreasing the inertial force during earthquake.

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

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.

Improvements in or relating to dewatering of materials

International Nuclear Information System (INIS)

Lane, E.S.; Lyon, C.E.; Simpson, M.P.; Wace, P.F.

1980-01-01

A process is described for the dewatering of a gel precipitated gel body having an open porous network comprising contacting the gel body containing water with an organic liquid capable of extracting water from the gel body thereby to extract water from the gel body, the organic liquid and conditions under which the contacting is effected being chosen such that organic liquid permeates the gel body so as to maintain an open porous network as water is extracted and such that an open porous network remains after removal of organic liquid. Examples are given of the use of the process in the preparation of spherical particles of (U,Th)O 2 and (U,Pu)O 2 . (author)

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.

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.

Effects of gamma-radiation at pilot plant level as compared to effects of pasteurization on the dewatering of sewage sludges

International Nuclear Information System (INIS)

Groneman, A.F.

1975-01-01

Dewatering and disposal of sludge are costly and time consuming processes. At a pilot plant near Munich efforts were made to estimate the effects of ionizing radiation on dewatering characteristics of different sludges, used for recycling in agriculture. The ease with which sludge drains on drying beds and in mechanical devices is reflected in the value of the specific resistance to filtration. A dose of 300 krad, delivered at an average dose rate of 62 krad per hour in the irradiation plant, was effective for disinfection and reduced the specific resistance to filtration in sludges from the waste water works at Geiselbullach and Starnberg from 24.2 x 10 9 sec 2 /g and 18.0 x 10 9 sec 2 /g to 9.7 x 10 9 sec 2 /g and 5.6 x 10 9 sec 2 /g, respectively. These improved dewatering properties were associated with a clear increase of the compressibility of the anaerobically digested sludges. Pasteurization at 70 0 C during 30 minutes drastically deteriorated the dewatering properties, raising the specific resistance to values approximately 4 times as high as the specific resistance in irradiated sludges. Information obtained from filterability tests was confirmed by plant operators who noticed that irradiated sludges dewatered much better than untreated sludges in drying beds. Experimental evidence indicated that the conditioning effect of gamma irradiation persisted for more than 20 days suggesting that permanent changes were induced in the physical-chemical properties of the domestic, anaerobically digested sludges. Measurements of electrophoretic mobilities showed that the negative electrostatic charges of colloidal particles in sludges were reduced by gamma irradiation whereas pasteurization increased this negative electrostatic charge. Evidence indicated that the specific resistance was considerably increased by effects of the recirculating pumping. This pumping is done to obtain a homogeneous irradiation dose for disinfection. Alternative designs for irradiation

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

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.

Textural evidence for jamming and dewatering of a sub-surface, fluid-saturated granular flow

Science.gov (United States)

Sherry, T. J.; Rowe, C. D.; Kirkpatrick, J. D.; Brodsky, E. E.

2011-12-01

Sand injectites are spectacular examples of large-scale granular flows involving migration of hundreds of cubic meters of sand slurry over hundreds of meters to kilometers in the sub-surface. By studying the macro- and microstructural textures of a kilometer-scale sand injectite, we interpret the fluid flow regimes during emplacement and define the timing of formation of specific textures in the injected material. Fluidized sand sourced from the Santa Margarita Fm., was injected upward into the Santa Cruz Mudstone, Santa Cruz County, California. The sand injectite exposed at Yellow Bank Beach records emplacement of both hydrocarbon and aqueous sand slurries. Elongate, angular mudstone clasts were ripped from the wall rock during sand migration, providing evidence for high velocity, turbid flow. However, clast long axis orientations are consistently sub-horizontal suggesting the slurry transitioned to a laminar flow as the flow velocity decreased in the sill-like intrusion. Millimeter to centimeter scale laminations are ubiquitous throughout the sand body and are locally parallel to the mudstone clast long axes. The laminations are distinct in exposure because alternating layers are preferentially cemented with limonite sourced from later groundwater infiltration. Quantitative microstructural analyses show that the laminations are defined by subtle oscillations in grain alignment between limonite and non-limonite stained layers. Grain packing, size and shape distributions do not vary. The presence of limonite in alternating layers results from differential infiltration of groundwater, indicating permeability changes between the layers despite minimal grain scale differences. Convolute dewatering structures deform the laminations. Dolomite-cemented sand, a signature of hydrocarbon saturation, forms irregular bodies that cross-cut the laminations and dewatering structures. Laminations are not formed in the dolomite-cemented sand. The relative viscosity difference

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

Decide, design, and dewater de waste: A blueprint from Fitzpatrick

International Nuclear Information System (INIS)

Robert, D.E.

1994-01-01

Using a different process to clean concentrated waste tanks at the James A. FitzPatrick nuclear power plant in New York saved nearly half million dollars. The plan essentially allowed processing concentrator bottoms as waste sludge (solidification versus dewatering) that could still meet burial ground requirements. The process reduced the volume from 802.2 to 55 cubic feet. This resin throwaway system eliminated chemicals in the radwaste systems and was designed to ease pressure on the pradwaste processing system, reduce waste and improve plant chemistry. This article discusses general aspects of the process

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.

Insight into effects of electro-dewatering pretreatment on nitrous oxide emission involved in related functional genes in sewage sludge composting.

Science.gov (United States)

Wang, Ke; Wu, Yiqi; Wang, Zhe; Wang, Wei; Ren, Nanqi

2018-05-26

Electro-dewatering (ED) pretreatment could improve sludge dewatering performance and remove heavy metal, but the effect of ED pretreatment on nitrous oxide (N 2 O) emission and related functional genes in sludge composting process is still unknown, which was firstly investigated in this study. The results revealed that ED pretreatment changed the physicochemical characteristics of sludge and impacted N 2 O related functional genes, resulting in the reduction of cumulative N 2 O emission by 77.04% during 60 days composting. The higher pH and NH 4 + -N, but lower moisture, ORP and NO 2 - -N emerged in the composting of ED sludge compared to mechanical dewatering (MD) sludge. Furthermore, ED pretreatment reduced amoA, hao, narG, nirK and nosZ in ED sludge on Day-10 and Day-60 of composting. It was found that nirK reduction was the major factor impacting N 2 O generation in the initial composting of ED sludge, and the decline of amoA restricted N 2 O production in the curing period. Copyright © 2018 Elsevier Ltd. All rights reserved.

Control of corrosion in an aqueous nuclear fuel storage basin

International Nuclear Information System (INIS)

Zimmerman, C.A.

1981-01-01

Observations made during thirty years of experience in operating a nuclear fuel storage basin, used for storing a wide variety of spent nuclear fuels underwater have identified several forms of corrosion such as galvanic, pitting and crevice attack. Examples of some of the forms of corrosion observed and their causes are discussed, along with the measures taken to mitigate the corrosive attack. The paper also describes the procedure used to reduce corrosion by: surveillance of design, selection of materials for application in the basin, and inspection of items in the storage basin

Dewatering of sludge using the hydrosoft high-pressure process; Entwaessern von Schlaemmen mit dem Hydrosoft-Hochdruckverfahren

Energy Technology Data Exchange (ETDEWEB)

Eder, C.; Eder, G. [Christian Eder Technology GbR, Neunkirchen (Germany)

1999-07-01

The hydrosoft process permits to dewater sludge, especially also sludge from municipal sewage treatment plant, until it contains a high proportion of dry substance. For existing dewatering systems equipped with the long-lived chamber filter presses, too, the dry matter content of the filter cake can be substantially increased using the hydrosoft process; only the pump system must be retrofitted. As a preliminary measure, tests with mobile pilot plants should be carried out. (orig.) [German] Mit dem Hydrosoft-Verfahren besteht die Moeglichkeit Schlaemme, insbesondere auch Schlaemme aus kommunalen Klaeranlagen, auf hohe Trockensubstanz-Gehalte zu entwaessern. Auch bei bestehenden Entwaesserungsanlagen, die mit den langlebigen Kammerfilterpressen ausgeruestet sind, koennen die Trockensubstanzgehalte der Filterkuchen mit dem Hydrosoft-Verfahren, fuer das dann nur noch das Pumpsystem nachgeruestet werden muss, wesentlich angehoben werden. Vorausgehen sollten jeweils Vorversuche mit mobilen Versuchsanlagen. (orig.)

A case study on stratified settlement and rebound characteristics due to dewatering in Shanghai subway station.

Science.gov (United States)

Wang, Jianxiu; Huang, Tianrong; Sui, Dongchang

2013-01-01

Based on the Yishan Metro Station Project of Shanghai Metro Line number 9, a centrifugal model test was conducted to investigate the behavior of stratified settlement and rebound (SSR) of Shanghai soft clay caused by dewatering in deep subway station pit. The soil model was composed of three layers, and the dewatering process was simulated by self-invention of decompressing devise. The results indicate that SSR occurs when the decompression was carried out, and only negative rebound was found in sandy clay, but both positive and negative rebound occurred in the silty clay, and the absolute value of rebound in sandy clay was larger than in silty clay, and the mechanism of SSR was discussed with mechanical sandwich model, and it was found that the load and cohesive force of different soils was the main source of different responses when decompressed.

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.

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

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.

Effects of gamma irradiation on physical-chemical properties and dewatering characteristics of sludges

International Nuclear Information System (INIS)

Groneman, A.F.

1976-01-01

Separation of solids from liquids is a paramount operation in the processes applied in treating sewage and waste waters. Therfore, studies were undertaken to investigate effects of gamma irradiation on the physical-chemical properties of sludges and the de-watering characteristics of anaerobically digested sludge and aerobically activated sludge. A dose of 300 krad reduced the specific resistance of anaerobically digested sludges from 33 x 10 sec 2 /g to approximately 10 x 10 9 sec 2 /g. This conditioning effect was little influenced by the presence of oxygen or nitrogen. Pasteurization increased the specific resistance to filtration up to 48 x 10 9 sec 2 /g. Dewatering characteristics of raw sludge were not affected by irradiation in the presence of oxygen but a slight conditioning effect was noticed when the sludge was irradiated under deaerated conditions. Experimental evidence indicated that gamma irradiation detached organic substances from the sludge flocks resulting in a decrease of the specific resistance and an increase in the Total Organic Carbon (TOC) and the Chemical Oxygen Demand (COD) in the filtrates. Elutriation reduced but did not eliminate the conditioning effect of gamma irradiation. (author)

Possibility of sludge conditioning and dewatering with rice husk biochar modified by ferric chloride.

Science.gov (United States)

Wu, Yan; Zhang, Panyue; Zhang, Haibo; Zeng, Guangming; Liu, Jianbo; Ye, Jie; Fang, Wei; Gou, Xiying

2016-04-01

Rice husk biochar modified by FeCl3 (MRB-Fe) was used to enhance sludge dewaterability in this study. MRB-Fe preparation conditions and dosage were optimized. Mechanisms of MRB-Fe improving sludge dewaterability were investigated. The optimal modification conditions were: FeCl3 concentration, 3mol/L; ultrasound time, 1h. The optimal MRB-Fe dosage was 60% DS. Compared with raw sludge, the sludge specific resistance to filtration (SRF) decreased by 97.9%, the moisture content of sludge cake decreased from 96.7% to 77.9% for 6min dewatering through vacuum filtration under 0.03MPa, the SV30% decreased from 96% to 60%, and the net sludge solids yield (YN) increased by 28 times. Positive charge from iron species on MRB-Fe surface counteracted negative charge of sludge flocs to promote sludge settleability and dewaterability. Meanwhile, MRB-Fe kept a certain skeleton structure in sludge cake, making the moisture pass through easily. Using MRB-Fe, therefore, for sludge conditioning and dewatering is promising. Copyright © 2016. Published by Elsevier Ltd.

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.

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

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.

A Case Study on Stratified Settlement and Rebound Characteristics due to Dewatering in Shanghai Subway Station

Directory of Open Access Journals (Sweden)

Jianxiu Wang

2013-01-01

Full Text Available Based on the Yishan Metro Station Project of Shanghai Metro Line number 9, a centrifugal model test was conducted to investigate the behavior of stratified settlement and rebound (SSR of Shanghai soft clay caused by dewatering in deep subway station pit. The soil model was composed of three layers, and the dewatering process was simulated by self-invention of decompressing devise. The results indicate that SSR occurs when the decompression was carried out, and only negative rebound was found in sandy clay, but both positive and negative rebound occurred in the silty clay, and the absolute value of rebound in sandy clay was larger than in silty clay, and the mechanism of SSR was discussed with mechanical sandwich model, and it was found that the load and cohesive force of different soils was the main source of different responses when decompressed.

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

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.

Morphing hull implementation for unmanned underwater vehicles

International Nuclear Information System (INIS)

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

2013-01-01

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

Morphing hull implementation for unmanned underwater vehicles

Science.gov (United States)

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

2013-11-01

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

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.

Underwater Shock Wave Research Applied to Therapeutic Device Developments

Science.gov (United States)

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

2013-07-01

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

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.

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.

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

Effect of biodegradation on the consolidation properties of a dewatered municipal sewage sludge.

Science.gov (United States)

O'Kelly, Brendan C

2008-01-01

The effect of biodegradation on the consolidation characteristics of an anaerobically digested, dewatered municipal sewage sludge was studied. Maintained-load oedometer consolidation tests that included measurement of the pore fluid pressure response were conducted on moderately degraded sludge material and saturated bulk samples that had been stored under static conditions and allowed to anaerobically biodegrade further (simulating what would happen in an actual sewage sludge monofill or lagoon condition). Strongly degraded sludge material was produced after a storage period of 13 years at ambient temperatures of 5-15 degrees C, with the total volatile solids reducing from initially 70% to 55%. The sludge materials were highly compressible, although impermeable for practical purposes. Primary consolidation generally occurred very slowly, which was attributed to the microstructure of the solid phase, the composition and viscosity of the pore fluid, ongoing biodegradation and the high organic contents. The coefficient of primary consolidation values decreased from initially about 0.35m2/yr to 0.003-0.03m2/yr with increasing effective stress (sigmav'=3-100kPa). Initially, the strongly degraded sludge material was slightly more permeable, although both the moderately and strongly degraded materials became impermeable for practical purposes (k=10(-9)-10(-12)m/s) below about 650% and 450% water contents, respectively. Secondary compression became more dominant with increasing effective stress with a mean secondary compression index (Calphae) value of 0.9 measured for both the moderately and strongly degraded materials.

Combined treatment of solar energy and gamma irradiation to eliminate pathogenic bacteria in dewatered sludge

International Nuclear Information System (INIS)

Hilmy, N.; Harsoyo, S.; Suwirma, S.

1987-01-01

Combined treatment of solar energy and gamma irradiation to eliminate pathogenic bacteria in dewatered sludge. A combined treatment of solar energy and gamma irradiation has been done to eliminate the pathogenic microbes contaminating dewatered sludge. Samples were collected during dry season, i.e. from June to September 1985. To reduce the water content from 70% to 20%, solar energy from sun rays was used, i.e. from 9 a.m. to 2 p.m. for 4 days. Total bacterial count coliform bacteria Escherichia coli, Fecal Streptococcus, Enterobacteriaceae, and Pseudomonas sp were found to be 7.4x10 8 per g, 4.1x10 3 per g, 4.5x10 2 per g, 3.1x10 5 per g, 3.6x10 4 per g, and 5.4x10 3 per g of samples respectively. The combined treatment could reduce the irradiation dose needed to eliminate the pathogenic microbes of samples investigated from 6 to 2 kGy. (author). 5 figs, 11 refs

Bioelectrochemically-assisted anaerobic composting process enhancing compost maturity of dewatered sludge with synchronous electricity generation.

Science.gov (United States)

Yu, Hang; Jiang, Junqiu; Zhao, Qingliang; Wang, Kun; Zhang, Yunshu; Zheng, Zhen; Hao, Xiaodi

2015-10-01

Bioelectrochemically-assisted anaerobic composting process (AnCBE) with dewatered sludge as the anode fuel was constructed to accelerate composting of dewatered sludge, which could increase the quality of the compost and harvest electric energy in comparison with the traditional anaerobic composting (AnC). Results revealed that the AnCBE yielded a voltage of 0.60 ± 0.02 V, and total COD (TCOD) removal reached 19.8 ± 0.2% at the end of 35 d. The maximum power density was 5.6 W/m(3). At the end of composting, organic matter content (OM) reduction rate increased to 19.5 ± 0.2% in AnCBE and to 12.9 ± 0.1% in AnC. The fuzzy comprehensive assessment (FCA) result indicated that the membership degree of class I of AnCBE compost (0.64) was higher than that of AnC compost (0.44). It was demonstrated that electrogenesis in the AnCBE could improve the sludge stabilization degree, accelerate anaerobic composting process and enhance composting maturity with bioelectricity generation. Copyright © 2015 Elsevier Ltd. All rights reserved.

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.)

Data Access Based on a Guide Map of the Underwater Wireless Sensor Network.

Science.gov (United States)

Wei, Zhengxian; Song, Min; Yin, Guisheng; Song, Houbing; Wang, Hongbin; Ma, Xuefei; Cheng, Albert M K

2017-10-17

Underwater wireless sensor networks (UWSNs) represent an area of increasing research interest, as data storage, discovery, and query of UWSNs are always challenging issues. In this paper, a data access based on a guide map (DAGM) method is proposed for UWSNs. In DAGM, the metadata describes the abstracts of data content and the storage location. The center ring is composed of nodes according to the shortest average data query path in the network in order to store the metadata, and the data guide map organizes, diffuses and synchronizes the metadata in the center ring, providing the most time-saving and energy-efficient data query service for the user. For this method, firstly the data is stored in the UWSN. The storage node is determined, the data is transmitted from the sensor node (data generation source) to the storage node, and the metadata is generated for it. Then, the metadata is sent to the center ring node that is the nearest to the storage node and the data guide map organizes the metadata, diffusing and synchronizing it to the other center ring nodes. Finally, when there is query data in any user node, the data guide map will select a center ring node nearest to the user to process the query sentence, and based on the shortest transmission delay and lowest energy consumption, data transmission routing is generated according to the storage location abstract in the metadata. Hence, specific application data transmission from the storage node to the user is completed. The simulation results demonstrate that DAGM has advantages with respect to data access time and network energy consumption.

Preconcentration of a low grade uranium ore in CPDU and laboratory investigation to optimize the dewatering conditions of the preconcentration products

International Nuclear Information System (INIS)

Cristovici, M.A.; Berry, T.F.; Raicevic, M.M.; Brady, E.L.; Bredin, E.L.; Leigh, G.W.; Rouleau, J.P.

1982-04-01

A process consisting of pyrite flotation and magnetic concentration of radionuclides was developed by CANMET over several years, to preconcentrate low grade uranium ores prior to leaching. When the economics of the preconcentration-leaching technology was compared with the leaching of the entire ore after pyrite flotation (Base Case variant), the preconcentration method appeared to be economically less advantageous than expected, due to the high cost of dewatering the preconcentration products. Further investigations examined in-depth the metallurgy and dewatering of the two variants: preconcentration and base case. A typical low grade uranium ore from Elliot Lake area was used. The metallurgy was compared based on data from continuous operation (CPDU). In the preconcentration variant the amount of ore directed to leaching was reduced to more than one third of that processed in the base case, while the radionuclide concentration became more than three times higher. However, by preconcentration 7% of the uranium was lost before leaching. Systematic laboratory-scale settling and filter tests optimized the dewatering conditions of the preconcentration technology to the extent that rates similar to those of the base case were obtained

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.

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.

Critical experiments supporting close proximity water storage of power reactor fuel. Technical progress report

International Nuclear Information System (INIS)

Baldwin, M.N.; Hoovler, G.S.; Eng, R.L.; Welfare, F.G.

1979-07-01

Close-packed storage of LWR fuel assemblies is needed in order to expand the capacity of existing underwater storage pools. This increased capacity is required to accommodate the large volume of spent fuel produced by prolonged onsite storage. To provide benchmark criticality data in support of this effort, 20 critical assemblies were constructed that simulated a variety of close-packed LWR fuel storage configurations. Criticality calculations using the Monte Carlo KENO-IV code were performed to provide an analytical basis for comparison with the experimental data. Each critical configuration is documented in sufficient detail to permit the use of these data in validating calculational methods according to ANSI Standard N16.9-1975

Modelagem do processo de desidratação de lodo anaeróbio em leitos de secagem simulados Anaerobic sludge dewatering process modeling in simulated drying beds

Directory of Open Access Journals (Sweden)

Sérgio R. A. Soares

2001-05-01

Full Text Available O emprego de leitos de secagem para a desidratação de lodo de descarte de reatores UASB, constitui excelente alternativa, face a sua simplicidade operacional e aos reduzidos custos de implantação. Este trabalho apresenta uma análise dos fenômenos que influenciam o processo de desidratação de lodo anaeróbio, a partir de simulação de leitos de secagem. Neste sentido, são feitas considerações sobre as características e o comportamento do lodo durante cada fase da secagem. Sugere-se também, um modelo matemático para representar o processo de secagem, obtido a partir dos dados experimentais.The employment of drying beds is an excellent option for dewatering of UASB reactor discarded sludge, because of their simple operation and low construction costs. This paper presents an anaerobic sludge dewatering process analysis of the most influential phenomenon based on drying beds simulation. Therefore, some considerations were made about sludge characteristics and behavior during each dewatering stage. A mathematical model for dewatering process representation obtained from experimental data is also suggested.

Physical and Flavor Profiles of Arabica Coffee as Affected by Cherry Storage Before Pulping

Directory of Open Access Journals (Sweden)

Yusianto .

2014-08-01

Full Text Available Harvesting and pulping process of coffee cherry in the same day is inaccesible. Storage of coffee cherry before pulping was carried out incorrectly. Some storage treatments before pulping of Arabica coffee cherry had been examined at Indonesian Coffee and Cocoa Research Institute using Arabica coffee cherries from Andungsari Experimental Garden, Bondowoso, East Java. Treatments of the experiment were method and period of cherry storage. Methods of coffee cherry storage were put in plastic sacks; immerse in water, without water replacement; and immerse in water with daily water replacement. Period of coffee cherry storage were 0, 1, 2, 3, 4, 5, 6, and 7 days. After storage treatments, the coffee cherries were pulped, fermented, washed, sundried, and dehulled. The experiment were carried out using randomized block design with three replications. Observation of coffee cherry during storage periods was done on the physical and temperature. Observation of the green coffee were done on the color dan bulk density. The green coffee were roasted at medium roast level for sensory analysis. Observation of roasting profile were out-turn, bulk density and pH of roasted coffee. Sensory analysis used Specialty Coffee Association of America method. Methods and period of cherry storage before pulping significanly influence on the cherry color, parchment color, green coffee color, and the flavor profile of Arabica coffee. Color of dry parchment changed to be red-brown becouse of cherry immersed in water for two days or more. In plastic sacks, Arabica coffee cherry may be stored only for two days, but underwater with or without water replacement, should be not more than five days. Green and sensory quality of Arabica coffee will be deteriorated after five days storage underwater. Coffee cherry storage immerse in water with daily replacing water may improve sensory quality of Arabica coffee.Key word: Arabica coffe, storage, pulping, flavor, physical

Application of Fuzzy Synthetic Evaluation in Selection of Best Sludge Dewatering Option in Ghods Town WWTP in Tehran

Directory of Open Access Journals (Sweden)

Masoud Taheriyoun

2015-03-01

Full Text Available The design and upgrade of sludge treatment systems generally depend on the decision made regarding the appropriate system from among the options available. The selection process has become increasingly important and complex due to recent technological developments that have led to increased diversity in the available options which offer a wide variety of capabilities. The multi-criteria decision making method is one of the techniques recently developed which takes into account all the criteria involved in the decision making process. The Ghods Town WWTP in the west of Tehran located in the vicinity of residential areas has given rise to claims by citizens due to the odors emitted by the sludge sand drying bed, which justifies the replacement of the present sludge dewatering system. For this purpose, the multi-criteria decision making method based on the fuzzy synthetic evaluation method was used to identify the optimal sludge dewatering system appropriate for the WWTP under consideration. Furthermore, weighting of the subjective (social, environmental, and administrative criteria was accomplished using the analytical hierarchy process and the objective (i.e., economic criteria were weighted using the entropy concept. In this method, the triangular fuzzy membership function was also used to take into account the uncertainty associated with each of the decision making parameters. Based on the results obtained, the belt filter press dewatering system and the filter press were identified as the preferred solutions.

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.

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.

Dewatering e bonifica dell’ area ˝ex Whitehead Motofides˝ (Pisa, Italia

Directory of Open Access Journals (Sweden)

Nicola Conti

2014-12-01

Full Text Available In 2007 the activities for the remediation of the “ex-Whitehead Motofides area” (in Marina di Pisa, Italy started. In order to allow the contaminated soil excavation in dry conditions a dewatering system was necessary. The water pumped through this system was then treated in an adequate plant. Acque Industriali realized and managed the whole system. The dewatering system was made of suction pins fixed to a depth of 5.5 m, connected by a junction manifold to the suction and booster vacuum assisted pump, which allowed the groundwater release toward the plant. The treatment plant, entirely designed by Acque Industriali and called ITAM (Impianto di Trattamento Acque di Falda Mobile, which means movable groundwater treatment, was realized and set up at the end of 2008. It consisted of a pre-treatment section, made of reinforced concrete, prefabricated nitrogen sweep elements, and a physical chemical treatment plant, in a continuous loop, completely made on skid. The plant, with 25 m3/h of maximum potential, was able to remove possible sedimentable or in suspension material particles from water, iron, manganese, residual organic substances such as hydrocarbons, solvents (chlorinated and not, PCBs, and partly heavy metals. Totally, 98,167 m3 of groundwater were managed in about 25 months of activity. The analytic input and output results confirmed extremely high and satisfactory pollutant removal efficiency. The concentration values of the pollutants, in fact, were always lower than the limits imposed by law.

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...

Hot dewatering and resin encapsulation of intermediate level radioactive waste

International Nuclear Information System (INIS)

Rickman, J.; Birch, D.

1985-01-01

The chemistry of the processes involved in the hot dewatering and encapsulation of alumino-ferric hydroxide floc in epoxide resin have been studied. Pretreatment of the floc to reduce resin attack and hydrolysis and to increase the dimensional stability of the solidified wasteform has been evaluated. It has been demonstrated that removal of ammonium nitrate from the floc and control of the residual water in the resin are important factors in ensuring dimensional stability of the solidified resin. Resin systems have been identified which, together with the appropriate waste pretreatment have successfully encapsulated a simulated magnox sludge producing a stable wasteform having mechanical and physical properties comparable with the basic resin. (author)

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.

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.

Degradation of EBR-II driver fuel during wet storage

International Nuclear Information System (INIS)

Pahl, R. G.

2000-01-01

Characterization data are reported for sodium bonded EBR-II reactor fuel which had been stored underwater in containers since the 1981--1982 timeframe. Ten stainless steel storage containers, which had leaked water during storage due to improper sealing, were retrieved from the ICPP-603 storage basin at the Idaho National Engineering and Environmental Laboratory (INEEL) in Idaho. In the container chosen for detailed destructive analysis, the stainless steel cladding on the uranium alloy fuel had ruptured and fuel oxide sludge filled the bottom of the container. Headspace gas sampling determined that greater than 99% hydrogen was present. Cesium 137, which had leached out of the fuel during the aqueous corrosion process, dominated the radionuclide source term of the water. The metallic sodium from the fuel element bond had reacted with the water, forming a concentrated caustic solution of NaOH

H2-O2 fuel cell and advanced battery power systems for autonomous underwater vehicles: performance envelope comparisons

International Nuclear Information System (INIS)

Schubak, G.E.; Scott, D.S.

1993-01-01

Autonomous underwater vehicles have traditionally been powered by low energy density lead-acid batteries. Recently, advanced battery technologies and H 2 -O 2 fuel cells have become available, offering significant improvements in performance. This paper compares the solid polymer fuel cell to the lithium-thionyl chloride primary battery, sodium-sulfur battery, and lead acid battery for a variety of missions. The power system performance is simulated using computer modelling techniques. Performance envelopes are constructed, indicating domains of preference for competing power system technologies. For most mission scenarios, the solid polymer fuel cell using liquid reactant storage is the preferred system. Nevertheless, the advanced battery systems are competitive with the fuel cell systems using gaseous hydrogen storage, and they illustrate preferred performance for missions requiring high power density. 11 figs., 4 tabs., 15 refs

An assessment of filter aids and filter cloths in the dewatering of intermediate level wastes

International Nuclear Information System (INIS)

Knibbs, R.H.; Hudson, B.C.; Blackwell, J.C.W.

1984-12-01

This report considers a range of filter cloths and precoat materials intended for use in dewatering intermediate level radioactive wastes, and their interaction when used on a rotary drum vacuum filter. The report outlines the advantages and disadvantages of various grades and types of precoat and shows that grades with permeabilities in the intermediate range, 3 to 4 x 10 -12 m 2 , give satisfactory filtrate quality together with ease of operation. The work on filter cloths shows that: radiation damage is not a limiting factor as regards operational life for any of the cloths examined; polyester-based cloths are unsuitable due to their poor resistance to alkali attack; polyamide cloths are satisfactory; and stainless steel Dutch weave cloths are satisfactory and have the added advantage of high strength. The report also briefly considers the radiation resistance of two elastomeric membranes used on the 'epidermal' filter and shows that the natural latex rubber membrane is considerably more resistant to radiation than the silicone rubber membrane and has an estimated operational life of at least 1200 hours when dewatering Magnox silo sludge or α-contaminated alumino ferric flocs. (author)

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 ...

Efficient dewatering of bark in heated presses. Survey and pilot-scale trials; Effektivare avvattning av bark i vaermda pressar. Problemkartering samt foersoek i pilotskala

Energy Technology Data Exchange (ETDEWEB)

Haakansson, Martin; Stenstroem, Stig (Lund Inst. of Technology, Lund (SE))

2007-12-15

Dewatering and drying of biofuels such as bark and GROT have received increased importance due to an increased interest to use these products as energy sources. In Sweden there are about 30 bark presses installed, however the amount of available information is very limited about dewatering of bark. The goal with this work is to increase the knowledge about dewatering of bark. Two separate goals have been defined in the project: A. Survey about problems related to dewatering of bark and compilation of operating experiences at Swedish mills. B. Study how different parameters affect bark dewatering at pilot scale experiments. Study different techniques for heating bark and the bark pressing process. The results will mainly be of interest for mills which are handling bark, for municipal power plants who buy wet forest residues (bark, GROT etc.) and for manufacturers of industrial bark pressing equipment. The results show that the dry matter content for birch- and pine bark normally are so high that pressing does not result in dewatering of the barks. Both dry and wet debarking is used and these bark fractions should be pressed separately. On line measurement of the dry matter content for the bark should be used as a standard tool on the bark press. This will facilitate improved control of the bark press during the year. Other conclusions are that smaller bark particles result in an increased dry matter content, large bark- and wood pieces decrease the dewatering in the bark press and that the total residence time in the press nip should be at least 30 seconds. The most common method to take care of bark water is to send it to the evaporators or to the water purification plant. Maintenance of the bark press appears not to be a big problem. Hot pressing can be accomplished in different ways, either the bark press can be heated or the bark can be heated in different ways. The alternatives that have been studied in this project are steaming the bark, heating the bark using

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.

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...

Current State of Technology of Fuel Cell Power Systems for Autonomous Underwater Vehicles

Directory of Open Access Journals (Sweden)

Alejandro Mendez

2014-07-01

Full Text Available Autonomous Underwater Vehicles (AUVs are vehicles that are primarily used to accomplish oceanographic research data collection and auxiliary offshore tasks. At the present time, they are usually powered by lithium-ion secondary batteries, which have insufficient specific energies. In order for this technology to achieve a mature state, increased endurance is required. Fuel cell power systems have been identified as an effective means to achieve this endurance but no implementation in a commercial device has yet been realized. This paper summarizes the current state of development of the technology in this field of research. First, the most adequate type of fuel cell for this application is discussed. The prototypes and design concepts of AUVs powered by fuel cells which have been developed in the last few years are described. Possible commercial and experimental fuel cell stack options are analyzed, examining solutions adopted in the analogous aerial vehicle applications, as well as the underwater ones, to see if integration in an AUV is feasible. Current solutions in oxygen and hydrogen storage systems are overviewed and energy density is objectively compared between battery power systems and fuel cell power systems for AUVs. A couple of system configuration solutions are described including the necessary lithium-ion battery hybrid system. Finally, some closing remarks on the future of this technology are given.

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)

The status of spent fuel storage in the UK

International Nuclear Information System (INIS)

Dunn, M.J.; Topliss, I.R.

1999-01-01

Nuclear generating capacity in the UK is static with no units currently under construction. There are three main nuclear fuel types used in the UK for Magnox reactors, AGRs and PWRs. All Magnox fuel will ultimately be reprocessed following a short period of interim storage. AGR fuel will either be reprocessed or long term stored in ponds. PWR fuel will be stored underwater at the reactor site for the foreseeable future, with no decision as yet made to its ultimate management route. (author)

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)

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

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...

Dewatering treatments to increase dry matter content of the brown seaweed, kelp (Laminaria digitata ((Hudson) JV Lamouroux)).

Science.gov (United States)

Gallagher, Joe A; Turner, Lesley B; Adams, Jessica M M; Dyer, Philip W; Theodorou, Michael K

2017-01-01

Macroalgal water content is an on-going problem for the use of readily accessible seaweeds in sustainable biorefining, including fuel production. Silage is a reduced-water, compactable, easily stored, transportable material. Ensiling could establish a non-seasonal supply of preserved algal biomass, but requires high initial dry matter content to mitigate environmental pollution risks from effluent. This study investigated potential dewatering methods for kelp harvested throughout the year. Treatments included air-drying, osmotic media and acids. Significant interactions between treatment and harvest-time were observed for traits of interest. Fresh weight loss during treatment was composed of changes in water and dry matter content. Air-drying gave reliable increase in final dry matter content; in summer and autumn 30% dry matter content was reached after 24h. Dilute hydrochloric acid reduced stickiness and rendered material suitable for dewatering by screw-pressing; it may be possible to use the consequent pH reduction to promote efficient preservation. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Apparatus and methods for recovery of lead oxide from production and application wastes of lead storage battery production or of lead storage batteries themselves. Verfahren und Anordnung zur Rueckgewinnung von Bleioxyd aus Produktions- und Anwendungsabfaellen der Bleiakkumulatorherstellung beziehungsweise der Bleiakkumulatoren

Energy Technology Data Exchange (ETDEWEB)

Szalay, G; Gyoeroek, A; Orgovan, G

1982-11-04

For reasons of economy and pollution control, aqueous lead-oxide-containing wastes from the various steps of lead storage battery production are reprocessed involving e.g. a vibrating screen for separating foreign matter and particles larger than 0.2 mm, dewatering of the residual paste by centrifuging for recycling the thickened product to the production process at an H/sub 2/O content of some 20 wt%. Largish particles separated by the screen can be re-used after being finely ground; the water may be recycled just as well or be discharged following neutralisation.

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.

Field experiment and numerical simulation of coupling non-Darcy flow caused by curtain and pumping well in foundation pit dewatering

Science.gov (United States)

Wang, Jianxiu; Liu, Xiaotian; Wu, Yuanbin; Liu, Shaoli; Wu, Lingao; Lou, Rongxiang; Lu, Jiansheng; Yin, Yao

2017-06-01

High-velocity non-Darcy flow produced larger drawdown than Darcy flow under the same pumping rate. When the non-Darcy flow caused by curtain met non-Darcy flow caused by pumping wells, superposition and amplification effect occurred in the coupling area, the non-Darcy flow was defined as coupling non-Darcy flow. The coupling non-Darcy flow can be produced and controlled using different combination of curtain and pumping wells in foundation pit dewatering to obtain the maximum drawdown using the minimum pumping rate. The Qianjiang Century City Station foundation pit of Hangzhou subway, China, was selected as background. Field experiments were performed to observe the coupling non-Darcy flow in round gravel. A generalized conceptual model was established to study the coupling effect under different combination of curtain and pumping wells. Numerical simulations of the coupling non-Darcy flow in foundation pit dewatering were carried out based on the Forchheimer equation. The non-Darcy flow area and flow velocity were influenced by the coupling effect. Short filter tube, large pumping rate, small horizontal distance between filter tube and diaphragm wall, and small vertical distance between the filter tube and confined aquifer roof effectively strengthened the coupling effect and obtained a large drawdown. The pumping wells installed close to a curtain was an intentional choice designed to create coupling non-Darcy flow and obtain the maximize drawdown. It can be used in the dewatering of a long and narrow foundation pit, such as a subway foundation pit.

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

Evaluating manta ray mucus as an alternative DNA source for population genetics study: underwater-sampling, dry-storage and PCR success

Science.gov (United States)

Maxwell, Elisabeth A.; Marshall, Andrea D.; Christensen, Ana B.

2015-01-01

Sharks and rays are increasingly being identified as high-risk species for extinction, prompting urgent assessments of their local or regional populations. Advanced genetic analyses can contribute relevant information on effective population size and connectivity among populations although acquiring sufficient regional sample sizes can be challenging. DNA is typically amplified from tissue samples which are collected by hand spears with modified biopsy punch tips. This technique is not always popular due mainly to a perception that invasive sampling might harm the rays, change their behaviour, or have a negative impact on tourism. To explore alternative methods, we evaluated the yields and PCR success of DNA template prepared from the manta ray mucus collected underwater and captured and stored on a Whatman FTA™ Elute card. The pilot study demonstrated that mucus can be effectively collected underwater using toothbrush. DNA stored on cards was found to be reliable for PCR-based population genetics studies. We successfully amplified mtDNA ND5, nuclear DNA RAG1, and microsatellite loci for all samples and confirmed sequences and genotypes being those of target species. As the yields of DNA with the tested method were low, further improvements are desirable for assays that may require larger amounts of DNA, such as population genomic studies using emerging next-gen sequencing. PMID:26413431

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.

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.

Underwater Shock Response Analysis of a Floating Vessel

Directory of Open Access Journals (Sweden)

J.E. van Aanhold

1998-01-01

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

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 Basic Research for Pulverization of Rice Using Underwater Shock Wave by Electric Discharge

Directory of Open Access Journals (Sweden)

M Ide

2016-09-01

Full Text Available In recent years, the food self-support rate of Japan is 40%, and this value is the lowest level in major developed countries. This reason includes decreasing of diverting rice consumption in Japan and increasing abandonment of cultivation. Therefore, these problems are solved by using rice powder instead of expensive flour, and we manage to increase the food selfsupport rate. Previously, the rice powder is manufactured by two methods. One is dry type, and the other is wet type. The former is the method getting rice powder by running dried rice to rotating metal, and has a problem which that starch is damaged by heat when processing was performed. The latter is performed same method against wet rice, and has a problem which a large quantity of water is used. As a method to solve these problems, an underwater shock wave is used. Shock wave is the pressure wave which is over speed of sound by discharging high energy in short time. Propagating shock wave in water is underwater shock wave. The characters of underwater shock wave are long duration of shock wave because water density is uniform, water is low price and easy to get and not heat processing. Thinking of industrialization, the electric discharge is used as the generating source of underwater shock wave in the experiment. As the results, the efficiency of obtaining enough grain size, 100ìm, of rice powder was too bad only using the simple processing using underwater shock wave. Therefore, in Okinawa National College of Technology collaborating with us, obtaining rice powder with higher efficiency by using converged underwater shock wave is the goal of this research. In this research, the underwater shock wave with equal energy of the experimental device of underwater shock wave is measured by the optical observation. In addition, the appearance converging underwater shock wave is simulated by numerical analysis, and the pressure appreciation rate between the first wave and converged

The exploitation of swamp plants for dewatering liquid sewage sludge

Directory of Open Access Journals (Sweden)

Jiří Šálek

2006-01-01

Full Text Available The operators of little rural wastewater treatment plants have been interested in economic exploitation of sewage sludge in local conditions. The chance is searching simply and natural ways of processing and exploitation stabilized sewage sludge in agriculture. Manure substrate have been obtained by composting waterless sewage sludge including rest plant biomass after closing 6–8 years period of filling liquid sewage sludge to the basin. Main attention was focused on exploitation of swamp plants for dewatering liquid sewage sludge and determination of influence sewage sludge on plants, intensity and course of evapotranspiration and design and setting of drying beds. On the base of determined ability of swamp plants evapotranspiration were edited suggestion solutions of design and operation sludge bed facilities in the conditions of small rural wastewater treatment plant.

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

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.

Performance of Sandy Dry Beds for sludge dewatering

International Nuclear Information System (INIS)

Al-Muzaini, S.

2003-01-01

Sludge produced by the Jahra treatment plant was assessed. The assessment was directed at determining the performance of sand drying beds. The assessment of quality of the sludge produced was based on the standards for land application of sewage sludge. Analyses were carried out for trace heavy metals and bacteria. The results of analyses showed that the sludge produced was high in organic matter and sand content but low in heavy metals. The collected data indicated that the sand drying beds at the Jahra treatment plant are at present inadequate to handle the projected sludge production. The investigation showed that the sand drying beds are fully used and the plant will require 3-4 times the capacity of the existing drying beds when the plant becomes fully operational. In addition, these sand drying beds are subjected to uncontrollable conditions such as temperature, rainfall and sludge drainage rate. Thus, sand drying beds have become less popular as a dewatering system. This paper evaluates the performance of the existing sand drying beds and suggests the most appropriate technology to alleviate the above mentioned problems. (author)

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...

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

Directory of Open Access Journals (Sweden)

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.

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)

Feasibility study of green wastes composting with digested and dewatering sludge from municipal wastewater treatment plant in Iran

Directory of Open Access Journals (Sweden)

Neamat Jaafarzadeh Haghighi Fard

2015-09-01

Full Text Available Background: Composting as a waste management technology is becoming more widespread. The purpose of this study was to assess the feasibility and to find the most effective composting process for the ratio of green waste, digested and dewatered sludge from Chonibieh wastewater treatment plant in the west region of Ahvaz. Methods: The composting time was 23 days and the evaluated parameters in this period of the study were organic carbon, total nitrogen, phosphorus, carbon to nitrogen ratio (C/N, moisture content and pH. The C/N ratio was maintained at 30 with weight:weight ratio of 1:1, 1:2, 1:3 (digested and dewatered sludge to green waste. Results: It was observed that vessel R3 produced higher quality of compost with final total nitrogen (1.28%, final total phosphorus (0.71%, final total organic carbon (TOC (25.78% and C/N (20.65% within the 23 days of composting. While vessel R1 produced higher final total nitrogen and total phosphorus with lower amount of total coliform indicating suitable quality of composting. Therefore, the results showed that the characteristics of dewatered sludge mixed with green waste proportion of green waste significantly influenced the compost quality and process dynamics. The results also showed that the quality of final products in all the conditions was in agreement with Global Organic Textile Standard (GOTS and World Health Organization (WHO guidelines. However, the moisture content ratios were lower than the mentioned guidelines. With regards to microbial quality, all three ratios were in agreement with US Environmental Protection Agency (EPA and Iranian guidelines. Conclusion: It is suggested that the final product of composting can be safely used in farmland and green space.

Multi-layer protective armour for underwater shock wave mitigation

OpenAIRE

Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih

2015-01-01

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

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)

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.

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.

Predicting spread of invasive exotic plants into de-watered reservoirs following dam removal on the Elwha River, Olympic National Park, Washington

Science.gov (United States)

Woodward, Andrea; Torgersen, Christian E.; Chenoweth, Joshua; Beirne, Katherine; Acker, Steve

2011-01-01

The National Park Service is planning to start the restoration of the Elwha River ecosystem in Olympic National Park by removing two high head dams beginning in 2011. The potential for dispersal of exotic plants into dewatered reservoirs following dam removal, which would inhibit restoration of native vegetation, is of great concern. We focused on predicting long-distance dispersal of invasive exotic plants rather than diffusive spread because local sources of invasive species have been surveyed. We included the long-distance dispersal vectors: wind, water, birds, beavers, ungulates, and users of roads and trails. Using information about the current distribution of invasive species from two surveys, various geographic information system techniques and models, and statistical methods, we identified high-priority areas for Park staff to treat prior to dam removal, and areas of the dewatered reservoirs at risk after dam removal.

Evaluating manta ray mucus as an alternative DNA source for population genetics study: underwater-sampling, dry-storage and PCR success

Directory of Open Access Journals (Sweden)

Tom Kashiwagi

2015-08-01

Full Text Available Sharks and rays are increasingly being identified as high-risk species for extinction, prompting urgent assessments of their local or regional populations. Advanced genetic analyses can contribute relevant information on effective population size and connectivity among populations although acquiring sufficient regional sample sizes can be challenging. DNA is typically amplified from tissue samples which are collected by hand spears with modified biopsy punch tips. This technique is not always popular due mainly to a perception that invasive sampling might harm the rays, change their behaviour, or have a negative impact on tourism. To explore alternative methods, we evaluated the yields and PCR success of DNA template prepared from the manta ray mucus collected underwater and captured and stored on a Whatman FTA™ Elute card. The pilot study demonstrated that mucus can be effectively collected underwater using toothbrush. DNA stored on cards was found to be reliable for PCR-based population genetics studies. We successfully amplified mtDNA ND5, nuclear DNA RAG1, and microsatellite loci for all samples and confirmed sequences and genotypes being those of target species. As the yields of DNA with the tested method were low, further improvements are desirable for assays that may require larger amounts of DNA, such as population genomic studies using emerging next-gen sequencing.

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).

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.

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...

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.

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.

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.

Environmental control of drilling mud discharge through dewatering in cold weather climates

International Nuclear Information System (INIS)

Wojtanowicz, A.K.

1991-01-01

The paper presents results of an experimental study into the effect of drilling mud temperature upon the dewatering performance. Three temperature ranges were considered: from flowline temperature to room temperature, from room temperature to freezing point, and the freeze (4 degrees F)/thaw (54 degrees F) cycle. The tested drilling fluids included unweighted and weighted fresh water muds and a weighted salt water mud. a sealed laboratory batch reactor was used in the experiments to prevent rapid vaporization of separated water at temperatures above 140 degrees F. Also, ice or ice-salt baths were utilized for deep freezing. The dewaterability (net water removal) was measured with a bench-top plate press under constant expression pressure 30 psi

Energy and Exergy Analysis of Ocean Compressed Air Energy Storage Concepts

Directory of Open Access Journals (Sweden)

Vikram C. Patil

2018-01-01

Full Text Available Optimal utilization of renewable energy resources needs energy storage capability in integration with the electric grid. Ocean compressed air energy storage (OCAES can provide promising large-scale energy storage. In OCAES, energy is stored in the form of compressed air under the ocean. Underwater energy storage results in a constant-pressure storage system which has potential to show high efficiency compared to constant-volume energy storage. Various OCAES concepts, namely, diabatic, adiabatic, and isothermal OCAES, are possible based on the handling of heat in the system. These OCAES concepts are assessed using energy and exergy analysis in this paper. Roundtrip efficiency of liquid piston based OCAES is also investigated using an experimental liquid piston compressor. Further, the potential of improved efficiency of liquid piston based OCAES with use of various heat transfer enhancement techniques is investigated. Results show that adiabatic OCAES shows improved efficiency over diabatic OCAES by storing thermal exergy in thermal energy storage and isothermal OCAES shows significantly higher efficiency over adiabatic and diabatic OCAES. Liquid piston based OCAES is estimated to show roundtrip efficiency of about 45% and use of heat transfer enhancement in liquid piston has potential to improve roundtrip efficiency of liquid piston based OCAES up to 62%.

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.

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)

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.

Laser surveillance systems for fuel storage pools

International Nuclear Information System (INIS)

Boeck, H.

1985-06-01

A Laser Surveillance System (LASSY) as a new safeguards device has been developed under the IAEA research contract No. 3458/RB at the Atominstitut Wien using earlier results by S. Fiarman. This system is designed to act as a sheet of light covering spent fuel assemblies in spent fuel storage pools. When movement of assemblies takes place, LASSY detects and locates the position of the movement in the pool and when interrogated, presents a list of pool positions and times of movement to the safeguards inspector. A complete prototype system was developed and built. Full scale tests showed the principal working capabilities of a LASSY underwater

Detecting Dewatering of Peatland Pastures Using Sentinel-1 Satellite Radar Interferometry.

Science.gov (United States)

Heuff, F.; Samiei-Esfahany, S.; van Leijen, F. J.; Hanssen, R. F.

2017-12-01

The Netherlands are famous for their polders and the draining of soils to be used as pastures. Around 30% of the pastures are situated on peat soils, mostly in the western part of the Netherlands. Peat is composed of organic materials that oxidize and emit greenhouse gases when exposed to air. Oxidation of peat soils results in volume reduction and subsequent subsidence. As a result, the groundwater level rises relative to the surface. Consequently, the soil needs to be dewatered to keep it sufficiently dry for farming, resulting in more oxidation, and therefore more subsidence. This process is bound to continue until the peat soils have disappeared completely. The societal cost of land subsidence due to peat soils are estimated to be 5200 million euro for urban areas and 200 million euro for peatland pastures, for a period until 2050. Measuring the subsidence is not straightforward, if not impossible, with conventional geodetic means as soft soils make it impossible to install fixed benchmarks for repeated surveying. Also, due to the very fast temporal decorrelation over pastures, conventional InSAR approaches cannot measure a signal due to loss of coherence. Here we deploy a complete set of available SAR data from Sentinel-1, Radarsat-2 and TerraSAR-X to estimate the spatio-temporally varying subsidence signal due to the dewatering of peatland pastures over the western part of the Netherlands. We compute the InSAR coherence matrix for all possible interferometric combination, and compute an equivalent single-master stack to estimate the subsidence. Using terrain and land-use defined coherence estimation areas we optimize the phase estimation over areas severely affected by temporal decorrelation. This leads to a first estimate of deformation signals correlated with ancient shallow soil structures due to fluviatile structures. We use the methodology to investigate the effect of advanced local drainage schemes to slow down the subsidence phenomena.

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...

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

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.

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.

Experience with underwater storage of spent fuel in CIRUS and DHRUVA

International Nuclear Information System (INIS)

Sharma, S.K.

1996-01-01

CIRUS, a 40 MWt Research Reactor and DHRUVA, a 100 MWt Research Reactor have been in operation since 1960 and 1985 respectively at the Bhabha Atomic Research Centre, Trombay, Bombay. Over three decades of experience in handling and storage of irradiated fuel in Cirus has been extensively utilized for making several design improvements in Dhruva. Details of some of the important experiences in Cirus and the design improvements made in Dhruva are presented in this paper. (author)

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

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 ...

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.

Dewatering of contaminated river sediments

Science.gov (United States)

Church, Ronald H.; Smith, Carl W.; Scheiner, Bernard J.

1994-01-01

Dewatering of slurries has been successfully accomplished by the proper use of polymers in flocculating the fine particulate matter suspended in mineral processing streams. The U.S. Bureau of Mines (USBM) entered into a cooperative research effort with the U.S. Army Corps of Engineers (Corps) for the purpose of testing and demonstrating the applicability of mining flocculation technology to dredging activities associated with the removal of sediments from navigable waterways. The Corps has the responsibility for maintaining the navigable waterways in the United States. Current technology relies primarily on dredging operations which excavate the material from the bottom of waterways. The Corps is testing new dredging technology which may reduce resuspension of sediments by the dredging operation. Pilot plant dredging equipment was tested by the Corps which generated larger quantities of water when compared to conventional equipment, such as the clam shell. The transportation of this 'excess' water adds to the cost of sediment removal. The process developed by the USBM consists of feed material from the barge being pumped through a 4-in line by a centrifugal pump and exiting through a 4-in PVC delivery system. A 1,000-gal fiberglass tank was used to mix the polymer concentrate. The polymer was pumped through a 1-in line using a variable speed progressive cavity pump and introduced to the 4-in feed line prior to passing through a 6-in by 2-ft static mixer. The polymer/feed slurry travels to the clarifying tank where the flocculated material settled to the bottom and allowed 'clean' water to exit the overflow. A pilot scale flocculation unit was operated on-site at the Corps' 'Confined Disposal Facility' in Buffalo, NY.

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.

Magnox Swarf Storage Silo Liquor Effluent Management -Sellafield Site, Cumbria, UK - Legacy radioactive waste storage - 59271

International Nuclear Information System (INIS)

Le Clere, Stephen

2012-01-01

The Sellafield Magnox Swarf Storage Silo (MSSS) was constructed to provide an underwater storage facility for irradiated magnox cladding metal Swarf, as well as miscellaneous beta-gamma waste from several sources. Liquid effluent arisings from hazard reduction activities at this facility represent the toughest effluent treatment challenge within the company's Legacy Ponds and Silos portfolio. The key requirement for hazard reduction has generated many substantial challenges as the facility is readied for decommissioning. This has demanded the production of carefully thought out strategies for managing, and overcoming, the key difficulties to be encountered as hazard reduction progresses. The complexity associated with preparing for waste retrievals from the Magnox Swarf Storage Silo, has also generated the demand for a mix of creativity and perseverance to meet the challenges and make progress. Challenging the status quo and willingness to accept change is not easy and the road to overall hazard reduction for the high hazard MSSS facility will demand the skills and investment of individuals, teams, and entire facility work-forces. The first steps on this road have been taken with the successful introduction of liquor management operations, however much more is yet to be achieved. Clear communication, investing in stakeholder management, perseverance in the face of difficulty and a structured yet flexible programme delivery approach, will ensure the continued success of tackling the complex challenges of treating liquid effluent from a legacy fuel storage silo at the Sellafield Site. (authors)

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)

Development of producing equipment of mixed butane-air with low dew point. Energy saving dewatering apparatus and 6A-Gas producing apparatus utilizing vaporization latent heat of butane and potential heat of air

Energy Technology Data Exchange (ETDEWEB)

Komine, Jin; Okada, Hiroto; Taniue, Nobuo; Tanoue, Keiju; Yamada, Tatsuhiko; Maekawa, Hisami; Murakami, Keiji

1988-02-10

A producing equipment of mixed butane-air with low dew point was developed. The dewatering was made during the period from the middle of May to the middle of October with high atmospheric humidity. The production capacity of the mixed gas is 3000 Nm/sup 3/ of 22% of butane and 78% of air per hour. The designed dew point is 18/sup 0/C or less under the pressure of 0.7 kg/cm/sup 2/G. The saturation temperature is 7.5/sup 0/C after the liquid butane is evacuated by a regulating valve. The air introduced into the dehumidifier through finned tubes is cooled to dewater based on those data. The partially vaporized butane is completely gasified by hot water in a vaporizer and mixed with the dewatered air by a venture mixer to produce the mixed butane-air. When the dewatering is incomplete, the spray nozzle must be just exchanged. The dew point of the produced gas was sufficiently below the designed value. The investment cost is low. The total operating cost is reduced by the remarkably decreased fuel cost though the power cost is increased. The noise level is low and the heat control is easy. (11 figs, 4 tabs, 1 photo)

Vibrating membrane filtration as improved technology for microalgae dewatering.

Science.gov (United States)

Nurra, Claudia; Clavero, Ester; Salvadó, Joan; Torras, Carles

2014-04-01

The effect of shear-enhanced filtration by vibratory process in microalgae dewatering is presented in this paper. The aim of this research was to investigate the technical performance and improvement of vibrating membrane filtration compared with conventional tangential cross-flow filtration in microalgae concentration. An industrial-scale available commercial set-up was used. Several membrane materials as polyethersulfone, polyacrylonitrile, etc., and mean pore sizes (from 7000Da to 0.2μm) were tested and compared in both filtration set-ups. Experiments were carried-out with Nannochloropsis gaditana and Phaeodactylum tricornutum microalgae. It has been demonstrated that, even if the choice of the membrane depends on its cut-off, its material and the type of microalgae filtrated, dynamic filtration is always the best technology over a conventional one. If with conventional filtration permeability values were in the vicinity of 10L/h/m(2)/bar in steady state phase, with dynamic filtration these values increased to 30L/h/m(2)/bar or more. Copyright © 2014 Elsevier Ltd. All rights reserved.

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

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.

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.

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

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.

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.

Geohydrological and environmental isotope observation of Sishen ground waters

International Nuclear Information System (INIS)

Verhagen, B.Th.; Dziembowski, Z.M.

1985-01-01

The dewatering of Sishen Mine in the northern Cape Province supplies good quality water for the mine and surrounding areas. Using various approaches, attempts are made to quantify the remaining storage of ground water. Geohydrological observations provide an estimate based on extrapolating the thickness of dewatered rock. Environmental isotope observations on various borehole outputs show contrasts between different ground-water bodies and their mixtures and allows for some extrapolations of observed trends. Indications are that previous estimates of storage, based on ground-water level changes, are conservative

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.

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.

Pressure vessel made by free forming using underwater explosion

Directory of Open Access Journals (Sweden)

H Iyama

2016-03-01

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

Consolidation theory and its applicability to the dewatering and covering of uranium-mill tailings

International Nuclear Information System (INIS)

Gates, T.E.

1982-11-01

This report is a review and evaluation of soil consolidation theories applicable for evaluating settlement during dewatering and subsequent covering of uranium-mill tailings. Such theories may be used to predict both consolidation and water flow related effects in uranium-mill tailings during drainage, following sluicing into burial pits. A consolidation theory to be useful must consider the effect of time-dependent loads, nonhomogeneous soil mass, nonlinear variation of soil properties with the stress-state parameters, large strain, and saturated and unsaturated flow. Constitutive relations linking the stress-deformation-state variables with void ratio should be adopted for predicting both consolidation and fluid-flow interaction in unsaturated uranium-mill tailings

Upgrading of brown coal by slurry-dewatering; Kattan no yuchu dassui ni yoru clean kotai nenryo no seizo

Energy Technology Data Exchange (ETDEWEB)

Okuma, O.; Shimizu, T.; Inoue, T.; Shigehisa, T.; Deguchi, T.; Katsushima, S. [Kobe Steel, Ltd., Kobe (Japan)

1996-10-28

This paper describes an outline of solid fuel production process from brown coal and the investigation results of its elemental techniques. Dried coal is produced by this process which consists of a dewatering of crushed brown coal in oil-based solvent, a solid and liquid separation of slurry, and a remained oil recovery by heating. This process is characterized by the higher thermal efficiency compared with usual drying and the restraint of spontaneous combustion of product coal. It was revealed that solid fuel with low moisture, low ash, low sulfur, and suppressed spontaneous combustion property can be produced from Australian brown coal through this process. From the comparison between kerosene and fuel oil A, it was confirmed that the oil content during dewatering was smaller and the oil recovery by heating was easier by using a solvent with lower boiling point. It was also confirmed that the spontaneous combustion property can be suppressed using small amount of asphalt by solving asphalt in the solvent and adsorbing asphalt on the surface of brown coal. From these results, low rank coals including brown coal, which are difficult to use, are expected to be used as clean coal with low ash and low sulfur through this process. 2 refs., 7 figs., 2 tabs.

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

Hydrothermal and alkaline hydrothermal pretreatments plus anaerobic digestion of sewage sludge for dewatering and biogas production: Bench-scale research and pilot-scale verification.

Science.gov (United States)

Li, Chunxing; Wang, Xingdong; Zhang, Guangyi; Yu, Guangwei; Lin, Jingjiang; Wang, Yin

2017-06-15

To test the feasibility and practicability of the process combing hydrothermal pretreatment for dewatering with biogas production for full utilization of sewage sludge, hydrothermal/alkaline hydrothermal pretreatments and in turn anaerobic digestion of the filtrates obtained after dewatering the pretreated sludge were performed at bench- and pilot-scales. The hydrothermal temperature fell within the range of 140 °C-220 °C and the pretreatment time varied from 30 min to 120 min. For the alkaline hydrothermal pretreatment the pH value of the sludge was adjusted to 9.0-11.0 by adding Ca(OH) 2 . The results showed that the dewaterability of the sewage sludge was improved with increasing pretreatment temperature but the impact of the pretreatment time was not significant. The addition of Ca(OH) 2 gave better performance on the subsequent mechanical dewatering of the pretreated sludge compared to pure hydrothermal pretreatment, and the higher the pH value was, the better the dewaterability of the pretreated sludge was. The conditions of 180 °C/30 min and 160 °C/60 min/pH = 10.0 (for hydrothermal and alkaline hydrothermal pretreatments, respectively) resulted in relatively good results in the theoretical energy balance, which were verified in the pilot-scale tests. Based on the data from the pilot tests, the alkaline hydrothermal process realized self-sufficiency in energy at the cost of a proper amount of CaO. Copyright © 2017 Elsevier Ltd. All rights reserved.

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.

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...

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 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.

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.

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

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).

COMPLETION OF THE FIRST INTEGRATED SPENT NUCLEAR FUEL TRANSSHIPMENT/INTERIM STORAGE FACILITY IN NW RUSSIA

International Nuclear Information System (INIS)

Dyer, R.S.; Barnes, E.; Snipes, R.L.; Hoeibraaten, S.; Gran, H.C.; Foshaug, E.; Godunov, V.

2003-01-01

Northwest and Far East Russia contain large quantities of unsecured spent nuclear fuel (SNF) from decommissioned submarines that potentially threaten the fragile environments of the surrounding Arctic and North Pacific regions. The majority of the SNF from the Russian Navy, including that from decommissioned nuclear submarines, is currently stored in on-shore and floating storage facilities. Some of the SNF is damaged and stored in an unstable condition. Existing Russian transport infrastructure and reprocessing facilities cannot meet the requirements for moving and reprocessing this amount of fuel. Additional interim storage capacity is required. Most of the existing storage facilities being used in Northwest Russia do not meet health and safety, and physical security requirements. The United States and Norway are currently providing assistance to the Russian Federation (RF) in developing systems for managing these wastes. If these wastes are not properly managed, they could release significant concentrations of radioactivity to these sensitive environments and could become serious global environmental and physical security issues. There are currently three closely-linked trilateral cooperative projects: development of a prototype dual-purpose transport and storage cask for SNF, a cask transshipment interim storage facility, and a fuel drying and cask de-watering system. The prototype cask has been fabricated, successfully tested, and certified. Serial production is now underway in Russia. In addition, the U.S. and Russia are working together to improve the management strategy for nuclear submarine reactor compartments after SNF removal

Underwater electrical wire explosion: Shock wave from melting being overtaken by shock wave from vaporization

Science.gov (United States)

Li, Liuxia; Qian, Dun; Zou, Xiaobing; Wang, Xinxin

2018-05-01

The shock waves generated by an underwater electrical wire explosion were investigated. A microsecond time-scale pulsed current source was used to trigger the electrical explosion of copper wires with a length of 5 cm and a diameter of 200 μm. The energy-storage capacitor was charged to a relatively low energy so that the energy deposited onto the wire was not large enough to fully vaporize the whole wire. Two shock waves were recorded with a piezoelectric gauge that was located at a position of 100 mm from the exploding wire. The first and weak shock wave was confirmed to be the contribution from wire melting, while the second and stronger shock wave was the contribution from wire vaporization. The phenomenon whereby the first shock wave generated by melting being overtaken by the shock wave due to vaporization was observed.

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.)

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.)

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

Low-level radioactive waste from commercial nuclear reactors. Volume 2. Treatment, storage, disposal, and transportation technologies and constraints

Energy Technology Data Exchange (ETDEWEB)

Jolley, R.L.; Dole, L.R.; Godbee, H.W.; Kibbey, A.H.; Oyen, L.C.; Robinson, S.M.; Rodgers, B.R.; Tucker, R.F. Jr.

1986-05-01

The overall task of this program was to provide an assessment of currently available technology for treating commercial low-level radioactive waste (LLRW), to initiate development of a methodology for choosing one technology for a given application, and to identify research needed to improve current treatment techniques and decision methodology. The resulting report is issued in four volumes. Volume 2 discusses the definition, forms, and sources of LLRW; regulatory constraints affecting treatment, storage, transportation, and disposal; current technologies used for treatment, packaging, storage, transportation, and disposal; and the development of a matrix relating treatment technology to the LLRW stream as an aid for choosing methods for treating the waste. Detailed discussions are presented for most LLRW treatment methods, such as aqueous processes (e.g., filtration, ion exchange); dewatering (e.g., evaporation, centrifugation); sorting/segregation; mechanical treatment (e.g., shredding, baling, compaction); thermal processes (e.g., incineration, vitrification); solidification (e.g., cement, asphalt); and biological treatment.

Low-level radioactive waste from commercial nuclear reactors. Volume 2. Treatment, storage, disposal, and transportation technologies and constraints

International Nuclear Information System (INIS)

Jolley, R.L.; Dole, L.R.; Godbee, H.W.; Kibbey, A.H.; Oyen, L.C.; Robinson, S.M.; Rodgers, B.R.; Tucker, R.F. Jr.

1986-05-01

The overall task of this program was to provide an assessment of currently available technology for treating commercial low-level radioactive waste (LLRW), to initiate development of a methodology for choosing one technology for a given application, and to identify research needed to improve current treatment techniques and decision methodology. The resulting report is issued in four volumes. Volume 2 discusses the definition, forms, and sources of LLRW; regulatory constraints affecting treatment, storage, transportation, and disposal; current technologies used for treatment, packaging, storage, transportation, and disposal; and the development of a matrix relating treatment technology to the LLRW stream as an aid for choosing methods for treating the waste. Detailed discussions are presented for most LLRW treatment methods, such as aqueous processes (e.g., filtration, ion exchange); dewatering (e.g., evaporation, centrifugation); sorting/segregation; mechanical treatment (e.g., shredding, baling, compaction); thermal processes (e.g., incineration, vitrification); solidification (e.g., cement, asphalt); and biological treatment

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...

Assessment of technical-scale dewatering results in decanters on the basis of measurements of water types in sewage sludge; Bestimmung grosstechnischer Entwaesserungsergebnisse in Dekantern basierend auf der Messung der Wasserarten von Klaerschlaemmen

Energy Technology Data Exchange (ETDEWEB)

Kopp, J.; Dichtl, N. [Technische Univ. Braunschweig (Germany). Inst. fuer Siedlungswasserwirtschaft

1999-07-01

In a sewage sludge suspension, three water portions can be measured and distinguished from each other. The free water portion is not bound to sludge particles and can be separated by mechanical dewatering. The interstitial water portion bound by capillary forces and bound water (on surfaces and in cells) remain in the sludge cake after dewatering. The described measuring system for thermo-gravimetric determination of the water portions of sewage sludge was adjusted and calibrated at Braunschweig Technical University and permits prognosticating the maximum attainable content of solids through mechanical dewatering in high-performance decanters. (orig.) [German] In einer Klaerschlammsuspension koennen drei Wasseranteile messtechnisch unterschieden werden. Der freie Wasseranteil ist nicht an die Schlammpartikel gebunden und ist bei einer maschinellen Entwaesserung abtrennbar. Der kapillar gehaltene Zwischenraumwasseranteil und das gebundene Wasser (auf Oberflaechen und in Zellen) verbleibt nach der Entwaesserung im Schlammkuchen. Die an der TU Braunschweig angepasste und kalibrierte Messanlage zur thermo-gravimetrischen Bestimmung der Wasseranteile eines Klaerschlammes ermoeglicht es, den maximal bei der maschinellen Entwaesserung in Hochleistungsdekantern erreichbaren Feststoffgehalt zu prognostizieren. (orig.)

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.

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.

Seismic evaluation of BWR spent fuel storage racks using actual damping by vibration test in water

International Nuclear Information System (INIS)

Yamasaki, Hiroto; Iwakura, Shigeyoshi; Imaoka, Tetsuo; Okumura, Kazue; Orita, Syuichi; Namita, Yoshio

2010-01-01

Damping value for BWR spent fuel storage racks has been used 1 percent damping, which is applied to welded steel structures in air as defined JEAG4601. However, it is considered that the actual damping is higher than that of the above mentioned, because of its underwater installation. This report shows the actual damping value of the Check Arrayed Rack by vibration test in water and Evaluation by the analysis of rack using actual damping. (author)

Development of underwater YAG laser repair welding robots for tanks

International Nuclear Information System (INIS)

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

1999-01-01

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

Event localization in underwater wireless sensor networks using Monitoring Courses

KAUST Repository

Debont, Matthew John Robert

2012-08-01

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

Underwater image quality enhancement of sea cucumbers based on improved histogram equalization and wavelet transform

Directory of Open Access Journals (Sweden)

Xi Qiao

2017-09-01

Full Text Available Sea cucumbers usually live in an environment where lighting and visibility are generally not controllable, which cause the underwater image of sea cucumbers to be distorted, blurred, and severely attenuated. Therefore, the valuable information from such an image cannot be fully extracted for further processing. To solve the problems mentioned above and improve the quality of the underwater images of sea cucumbers, pre-processing of a sea cucumber image is attracting increasing interest. This paper presents a new method based on contrast limited adaptive histogram equalization and wavelet transform (CLAHE-WT to enhance the sea cucumber image quality. CLAHE was used to process the underwater image for increasing contrast based on the Rayleigh distribution, and WT was used for de-noising based on a soft threshold. Qualitative analysis indicated that the proposed method exhibited better performance in enhancing the quality and retaining the image details. For quantitative analysis, the test with 120 underwater images showed that for the proposed method, the mean square error (MSE, peak signal to noise ratio (PSNR, and entropy were 49.2098, 13.3909, and 6.6815, respectively. The proposed method outperformed three established methods in enhancing the visual quality of sea cucumber underwater gray image.

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.

An explanatory model of underwater adaptation

Directory of Open Access Journals (Sweden)

Joaquín Colodro

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

Monitoring Coral Growth - the Dichotomy Between Underwater Photogrammetry and Geodetic Control Network

Science.gov (United States)

Neyer, F.; Nocerino, E.; Gruen, A.

2018-05-01

Creating 3-dimensional (3D) models of underwater scenes has become a common approach for monitoring coral reef changes and its structural complexity. Also in underwater archeology, 3D models are often created using underwater optical imagery. In this paper, we focus on the aspect of detecting small changes in the coral reef using a multi-temporal photogrammetric modelling approach, which requires a high quality control network. We show that the quality of a good geodetic network limits the direct change detection, i.e., without any further registration process. As the photogrammetric accuracy is expected to exceed the geodetic network accuracy by at least one order of magnitude, we suggest to do a fine registration based on a number of signalized points. This work is part of the Moorea Island Digital Ecosystem Avatar (IDEA) project that has been initiated in 2013 by a group of international researchers (https://mooreaidea.ethz.ch/).

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

Science.gov (United States)

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

2011-01-01

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

Autonomous underwater vehicle for research and rescue operations

CSIR Research Space (South Africa)

Holtzhausen S

2008-11-01

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