WorldWideScience

Sample records for underwater systems center

  1. Underwater Glider System Study

    OpenAIRE

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

    2003-01-01

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

  2. Underwater laser detection system

    Science.gov (United States)

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

    2015-02-01

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

  3. 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.

  4. Magnetohydrodynamic underwater vehicular propulsion systems

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  5. 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.

  6. The Modular Optical Underwater Survey System

    Directory of Open Access Journals (Sweden)

    Ruhul Amin

    2017-10-01

    Full Text Available The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism.

  7. A Cataloger’s Guide to the LMARS Report Number Authority File in Use at the Naval Underwater Systems Center.

    Science.gov (United States)

    1980-09-15

    ELECTRIC STORAGE BATTERY CO ESB-TR-17-66 ESC EARTH SATELLITE CORP ESC-TR-16-76 ESD ELECTRONIC SYSTEMS DIVISION, ESD-TDR-C-1028 HANSCOM AFB ESD-TR-71-161 ETI...INC XI-TR-109-OSD XUM XEROX UNIVERSITY MICROFILMS XUM-76-23515 YALE YALE UNIVERSITY YALE-TM-2 YEC YARDNEY ELECTRONIC CORP YEC-DOC-161 YEC-R-2326-78 YU

  8. Underwater Advanced Time-Domain Electromagnetic System

    Science.gov (United States)

    2017-03-03

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

  9. A Recovery System for Unmanned Underwater Vehicles

    Science.gov (United States)

    2017-09-28

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

  10. 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.

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

    Science.gov (United States)

    Shortis, Mark

    2015-12-07

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

  12. Calibration Techniques for Accurate Measurements by Underwater Camera Systems

    Directory of Open Access Journals (Sweden)

    Mark Shortis

    2015-12-01

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

  13. Collision Detection for Underwater ROV Manipulator Systems.

    Science.gov (United States)

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

    2018-04-06

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

  14. Autonomous Underwater Vehicle Magnetic Mapping System

    Science.gov (United States)

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

    2012-12-01

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

  15. 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.

  16. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-10-01

    Obtaining new insights into the behavior of free-living marine organisms is fundamental for conservation efforts and anticipating the impact of climate change on marine ecosystems. Despite the recent advances in biotelemetry, collecting physiological and behavioral parameters of underwater free-living animals remains technically challenging. In this thesis, we develop the first magnetic underwater animal monitoring system that utilizes Tunnel magnetoresistance (TMR) sensors, the most sensitive solid-state sensors today, coupled with flexible magnetic composites. The TMR sensors are composed of CoFeB free layers and MgO tunnel barriers, patterned using standard optical lithography and ion milling procedures. The short and long-term stability of the TMR sensors has been studied using statistical and Allan deviation analysis. Instrumentation noise has been reduced using optimized electrical interconnection schemes. We also develop flexible NdFeB-PDMS composite magnets optimized for applications in corrosive marine environments, and which can be attached to marine animals. The magnetic and mechanical properties are studied for different NdFeB powder concentrations and the performance of the magnetic composites for different exposure times to sea water is systematically investigated. Without protective layer, the composite magnets loose more than 50% of their magnetization after 51 days in seawater. The durability of the composite magnets can be considerably improved by using polymer coatings which are protecting the composite magnet, whereby Parylene C is found to be the most effective solution, providing simultaneously corrosion resistance, flexibility, and enhanced biocompatibility. A Parylene C film of 2μm thickness provides the sufficient protection of the magnetic composite in corrosive aqueous environments for more than 70 days. For the high level performance of the system, the theoretically optimal position of the composite magnets with respect to the sensing

  17. Data extraction system for underwater particle holography

    Science.gov (United States)

    Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John

    2000-08-01

    Pulsed laser holography in an extremely powerful technique for the study of particle fields as it allows instantaneous, non-invasive high- resolution recording of substantial volumes. By relaying the real image one can obtain the size, shape, position and - if multiple exposures are made - velocity of every object in the recorded field. Manual analysis of large volumes containing thousands of particles is, however, an enormous and time-consuming task, with operator fatigue an unpredictable source of errors. Clearly the value of holographic measurements also depends crucially on the quality of the reconstructed image: not only will poor resolution degrade the size and shape measurements, but aberrations such as coma and astigmatism can change the perceived centroid of a particle, affecting position and velocity measurements. For large-scale applications of particle field holography, specifically the in situ recording of marine plankton with Holocam, we have developed an automated data extraction system that can be readily switched between the in-line and off-axis geometries and provides optimised reconstruction from holograms recorded underwater. As a videocamera is automatically stepped through the 200 by 200 by 1000mm sample volume, image processing and object tracking routines locate and extract particle images for further classification by a separate software module.

  18. 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

  19. 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.

  20. 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.

  1. Navigation System Fault Diagnosis for Underwater Vehicle

    DEFF Research Database (Denmark)

    Falkenberg, Thomas; Gregersen, Rene Tavs; Blanke, Mogens

    2014-01-01

    This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using dierent approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal...... based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude...

  2. Underwater Wireless Optical Communication System Using Blue LEDs

    Science.gov (United States)

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

    2016-02-01

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

  3. Baited remote underwater video system (BRUVs) survey of ...

    African Journals Online (AJOL)

    This is the first baited remote underwater video system (BRUVs) survey of the relative abundance, diversity and seasonal distribution of chondrichthyans in False Bay. Nineteen species from 11 families were recorded across 185 sites at between 4 and 49 m depth. Diversity was greatest in summer, on reefs and in shallow ...

  4. 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)

  5. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

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

  6. 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

  7. The control system of an autonomous underwater vehicle

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    1995-04-01

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

  8. Underwater Advanced Time-Domain Electromagnetic System

    Science.gov (United States)

    2017-03-01

    Information Center DTIC-CQ 8725 John J. Kingman Road Fort Belvoir, VA 22060 To whom it may concern: A. <Cl>ESTCP ~ January 10th, 2018 The...15 Buried Target...18 Buried target fit locations for ISOs and inert munitions 19 Graph showing the relationship of the distance from the center of the array of each

  9. The system of underwater CCTV inspection for reactor internal components

    International Nuclear Information System (INIS)

    Zhu Rong

    1997-12-01

    During the operation of nuclear power plant, the reactor internal components are greatly scoured and vibrated by flowing water. So the structural integrity and surface sludge for reactor internal components are needed to be inspected during refuelling. Thus an inspection system is developed, in which the camera inspects underwater at different height and different direction by mechanical elevator and the image of closed-circuit television (CCTV) is mixed with digital coordinate of the camera position for re-inspection. It is the first system for inspection of reactor internal components in China. This system has been used 4 times in the inspection of Daya Bay Nuclear Power Plant successfully

  10. A Dual Communication and Imaging Underwater Acoustic System

    Science.gov (United States)

    Fu, Tricia C.

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

  11. Underwater robot system for reactor vessel

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Young Soo; Kim, Tae Won; Lee, Sung Uk; Jeong, Kyung Min [KAERI, Daejeon (Korea, Republic of)

    2012-10-15

    It is dangerous to work inside reactor vessel because of high radioactivity. So robot system is necessary to work inside reactor vessel instead of workers. And robot also has advantage of mobility over conventional equipment which has limitation of the range of accessibility. In this paper, we describe design consideration and criteria of robot system for reactor vessel, and component of developed system. Reliability, usability and convenience of robot system were considered to design and fabrication.

  12. Underwater robot system for reactor vessel

    International Nuclear Information System (INIS)

    Choi, Young Soo; Kim, Tae Won; Lee, Sung Uk; Jeong, Kyung Min

    2012-01-01

    It is dangerous to work inside reactor vessel because of high radioactivity. So robot system is necessary to work inside reactor vessel instead of workers. And robot also has advantage of mobility over conventional equipment which has limitation of the range of accessibility. In this paper, we describe design consideration and criteria of robot system for reactor vessel, and component of developed system. Reliability, usability and convenience of robot system were considered to design and fabrication

  13. Calibration system of underwater robot sensor based on CID algorithm

    Science.gov (United States)

    Wang, Xiaolong; Wang, Sen; Gao, Lifu; Wu, Shan; Wei, Shuheng

    2017-06-01

    In the calibration of static characteristic of the sensor, the original measured data are usually a nonlinear distribution. Based on this situation, underwater robot sensor static calibration system is designed. The system consists of four parts: a sensor, I-V conversion with amplifying circuit, microcontroller STM32F107 and a PC. The lower computer and the upper computer communicate by USB. A kind of adaptive cyclic iterative denoising (CID) algorithm is presented for data processing. Finally the curve will be fitted with compensation processing.

  14. 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.       

  15. System and method for underwater radiography

    Science.gov (United States)

    Hunter, James; Keck, Danny Lee; Sims, Jr., James Rae; Watson, Scott Avery

    2015-01-20

    A system for subsea imaging comprises a first plate having an inner surface, an outer surface, and a cavity formed in the inner surface. In addition, the system comprises a phosphor imaging plate disposed in the cavity. Further, the system comprises a second plate having an inner surface facing the inner surface of the first plate and an outer surface facing away from the outer surface of the first plate. Still further, the system comprises a seal member disposed between the inner surface of the first plate and the inner surface of the second plate. The seal member extends around the perimeter of the cavity and is configured to seal the phosphor imaging plate and the cavity from intrusion water.

  16. Optical Communication System for an Underwater Wireless Sensor Network

    Science.gov (United States)

    Gabriel, C.; Khalighi, A.; Bourennane, S.; Léon, P.; Rigaud, V.

    2012-04-01

    Seventy percent of the Earth is covered with water. Yet, we know so little about what lies below the sea surface. One new emerging technology that can help in oceans exploration is underwater wireless sensor network (UWSN). In such a network, a number of sensors are connected to a set of nodes that collect the data from them. Then, each node communicate its retrieved data to the other parts of the network through wireless links. So, an important step in the implementation of an UWSN is the design of an adequate transmitter/receiver system that is reliable, easy to implement, energy efficient and adapted to the underwater environment. Thanks to its cost-effectiveness and low-energy consumption property, optical underwater communication turns to be the most adequate solution for medium range node connections in an UWSN. To evaluate the optical underwater channel, we have studied its impulse response using a Monte Carlo simulator that takes into consideration all the transmitter, receiver and medium characteristics. We have demonstrated through these simulations that the channel delay dispersion is negligible in most practical cases. Therefore, we do not need to perform computationally complex signal processing such as channel equalization at the receiver. After studying the channel characteristics, we have turned our attention onto the transmitter/receiver system design. For this, we have simulated a system composed by a high-power monochromatic 532 nm LED transmitter and a Silicon PIN photodiode receiver with a collimating lens for capturing the scattered light. After photo-detection, the photo-current is converted to a voltage and low-pass filtered to limit the thermal noise variance which is the dominant noise in the receiver. Note that, in our case, background noise can be neglected because we are working in deep waters were the sunlight cannot penetrate. Then, using on-off-keying (OOK) modulation, we have proceeded to signal detection based on optimum

  17. Evaluation of Underwater Adhesives and Friction Coatings for In Situ Attachment of Fiber Optic Sensor System for Subsea Applications

    Science.gov (United States)

    Tang, Henry H.; Le, Suy Q.; Orndoff, Evelyne S.; Smith, Frederick D.; Tapia, Alma S.; Brower, David V.

    2012-01-01

    Integrity and performance monitoring of subsea pipelines and structures provides critical information for managing offshore oil and gas production operation and preventing environmentally damaging and costly catastrophic failure. Currently pipeline monitoring devices require ground assembly and installation prior to the underwater deployment of the pipeline. A monitoring device that could be installed in situ on the operating underwater structures could enhance the productivity and improve the safety of current offshore operation. Through a Space Act Agreement (SAA) between the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) and Astro Technology, Inc. (ATI), JSC provides technical expertise and testing facilities to support the development of fiber optic sensor technologies by ATI. This paper details the first collaboration effort between NASA JSC and ATI in evaluating underwater applicable adhesives and friction coatings for attaching fiber optic sensor system to subsea pipeline. A market survey was conducted to examine different commercial ]off ]the ]shelf (COTS) underwater adhesive systems and to select adhesive candidates for testing and evaluation. Four COTS epoxy based underwater adhesives were selected and evaluated. The adhesives were applied and cured in simulated seawater conditions and then evaluated for application characteristics and adhesive strength. The adhesive that demonstrated the best underwater application characteristics and highest adhesive strength were identified for further evaluation in developing an attachment system that could be deployed in the harsh subsea environment. Various friction coatings were also tested in this study to measure their shear strengths for a mechanical clamping design concept for attaching fiber optic sensor system. A COTS carbide alloy coating was found to increase the shear strength of metal to metal clamping interface by up to 46 percent. This study provides valuable data for

  18. Application of an Underwater Robot in Reactor Coolant System

    International Nuclear Information System (INIS)

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

    2006-01-01

    Nuclear energy is a major source of electric energy consumed in Korea. It has the advantage of other energy sources, nuclear energy is cost effective and little pollution. But the fearfulness of an accident and/or failure has scared us the utilization of nuclear energy extensively. So, the safety and reliability of nuclear power plants become more important. Inspection and maintenance of component should be achieved continuously. The RCS(reactor coolant system) of PWR(pressurized water reactor) has a role to cool down the reactor's temperature. Cooling water is injected through the SI(safety injection) nozzle into the cold leg of the primary loop. Thermal sleeves are attached inside the cylindrical SI nozzle to reduce the thermal shock of the cooling water to the weld zone of the safety injection nozzle. The human workers are susceptible to radiation exposure and manual handling machine is hard to access because of the complexity of the path. So, we developed and applied free running, tele-operated underwater vehicle to inspect SI nozzle close to the place. Tele-operated robot is useful to inspect and maintain the component of nuclear power plants to reduce the radiation exposure of human operators and improve the reliability of the operation in nuclear power plants. Underwater robot is comprised of two parts; one is robot vehicle and the other is remote control module. Underwater robot vehicle has 4 DOF(degree of freedom) of mobility and 1 DOF of camera observation. The task to inspect the internal of RCS in nuclear power plant is achieved successfully. And the reliability for the maintenance is increased by the aid of tele-operated robot

  19. Application of an Underwater Robot in Reactor Coolant System

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-07-01

    Nuclear energy is a major source of electric energy consumed in Korea. It has the advantage of other energy sources, nuclear energy is cost effective and little pollution. But the fearfulness of an accident and/or failure has scared us the utilization of nuclear energy extensively. So, the safety and reliability of nuclear power plants become more important. Inspection and maintenance of component should be achieved continuously. The RCS(reactor coolant system) of PWR(pressurized water reactor) has a role to cool down the reactor's temperature. Cooling water is injected through the SI(safety injection) nozzle into the cold leg of the primary loop. Thermal sleeves are attached inside the cylindrical SI nozzle to reduce the thermal shock of the cooling water to the weld zone of the safety injection nozzle. The human workers are susceptible to radiation exposure and manual handling machine is hard to access because of the complexity of the path. So, we developed and applied free running, tele-operated underwater vehicle to inspect SI nozzle close to the place. Tele-operated robot is useful to inspect and maintain the component of nuclear power plants to reduce the radiation exposure of human operators and improve the reliability of the operation in nuclear power plants. Underwater robot is comprised of two parts; one is robot vehicle and the other is remote control module. Underwater robot vehicle has 4 DOF(degree of freedom) of mobility and 1 DOF of camera observation. The task to inspect the internal of RCS in nuclear power plant is achieved successfully. And the reliability for the maintenance is increased by the aid of tele-operated robot.

  20. Controlling Underwater Robots with Electronic Nervous Systems

    Directory of Open Access Journals (Sweden)

    Joseph Ayers

    2010-01-01

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

  1. LOW COST EMBEDDED STEREO SYSTEM FOR UNDERWATER SURVEYS

    Directory of Open Access Journals (Sweden)

    M. M. Nawaf

    2017-11-01

    Full Text Available This paper provides details of both hardware and software conception and realization of a hand-held stereo embedded system for underwater imaging. The designed system can run most image processing techniques smoothly in real-time. The developed functions provide direct visual feedback on the quality of the taken images which helps taking appropriate actions accordingly in terms of movement speed and lighting conditions. The proposed functionalities can be easily customized or upgraded whereas new functions can be easily added thanks to the available supported libraries. Furthermore, by connecting the designed system to a more powerful computer, a real-time visual odometry can run on the captured images to have live navigation and site coverage map. We use a visual odometry method adapted to low computational resources systems and long autonomy. The system is tested in a real context and showed its robustness and promising further perspectives.

  2. Low Cost Embedded Stereo System for Underwater Surveys

    Science.gov (United States)

    Nawaf, M. M.; Boï, J.-M.; Merad, D.; Royer, J.-P.; Drap, P.

    2017-11-01

    This paper provides details of both hardware and software conception and realization of a hand-held stereo embedded system for underwater imaging. The designed system can run most image processing techniques smoothly in real-time. The developed functions provide direct visual feedback on the quality of the taken images which helps taking appropriate actions accordingly in terms of movement speed and lighting conditions. The proposed functionalities can be easily customized or upgraded whereas new functions can be easily added thanks to the available supported libraries. Furthermore, by connecting the designed system to a more powerful computer, a real-time visual odometry can run on the captured images to have live navigation and site coverage map. We use a visual odometry method adapted to low computational resources systems and long autonomy. The system is tested in a real context and showed its robustness and promising further perspectives.

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

    Science.gov (United States)

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

    2016-02-01

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

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

    Science.gov (United States)

    2013-02-01

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

  5. Thruster Modelling for Underwater Vehicle Using System Identification Method

    Directory of Open Access Journals (Sweden)

    Mohd Shahrieel Mohd Aras

    2013-05-01

    Full Text Available Abstract This paper describes a study of thruster modelling for a remotely operated underwater vehicle (ROV by system identification using Microbox 2000/2000C. Microbox 2000/2000C is an XPC target machine device to interface between an ROV thruster with the MATLAB 2009 software. In this project, a model of the thruster will be developed first so that the system identification toolbox in MATLAB can be used. This project also presents a comparison of mathematical and empirical modelling. The experiments were carried out by using a mini compressor as a dummy depth pressure applied to a pressure sensor. The thruster model will thrust and submerge until it reaches a set point and maintain the set point depth. The depth was based on pressure sensor measurement. A conventional proportional controller was used in this project and the results gathered justified its selection.

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

    International Nuclear Information System (INIS)

    Kobayashi, Futoshi; Kojima, Fumio

    2007-01-01

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

  7. Optimization of computation efficiency in underwater acoustic navigation system.

    Science.gov (United States)

    Lee, Hua

    2016-04-01

    This paper presents a technique for the estimation of the relative bearing angle between the unmanned underwater vehicle (UUV) and the base station for the homing and docking operations. The key requirement of this project includes computation efficiency and estimation accuracy for direct implementation onto the UUV electronic hardware, subject to the extreme constraints of physical limitation of the hardware due to the size and dimension of the UUV housing, electric power consumption for the requirement of UUV survey duration and range coverage, and heat dissipation of the hardware. Subsequent to the design and development of the algorithm, two phases of experiments were conducted to illustrate the feasibility and capability of this technique. The presentation of this paper includes system modeling, mathematical analysis, and results from laboratory experiments and full-scale sea tests.

  8. Underwater milling machine system for core barrel repair

    International Nuclear Information System (INIS)

    Kramer, A.W.; Smith, E.H.

    1991-01-01

    This paper discusses an underwater machining system for the repair and maintenance of nuclear vessels. It comprises a platform with means for supporting the platform in a substantially horizontal plane; a machining device detachably connectable to the platform comprising a milling or boring machine and a spacial positioning means for locating the milling or boring machines in a precise working position. The spacial positioning means including adjustment means for movement of the milling or boring machine along its X Y and Z axes; a guide means for automatically aligning the machining device on the platform, so that when the detachable machining device is lowered from a detached position above the platform. The guide means automatically aligns the machining device to the platform; and a remote control means for operating the spacial positioning means and the milling or boring machine

  9. 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...... tools and robots, and recharge their batteries while underwater. These properties will provide the system, when fully developed, with unique capabilities such as ability to adapt robotic morphology and function to the current task and tolerate failures leading to long-term autonomous operations....

  10. KeproVt : underwater robotic system for visual inspection of nuclear reactor internals

    International Nuclear Information System (INIS)

    Cho, Byung-Hak; Byun, Seung-Hyun; Shin, Chang-Hoon; Yang, Jang-Bum; Song, Sung-Il; Oh, Jung-Mook

    2004-01-01

    An underwater robotic system for visual inspection of reactor vessel internals has been developed. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor based measuring unit, a master control station and a servo control station. The vision processor based measuring unit employs a first-of-a-kind engineering technology in nuclear robotics. The vision processor makes use of a camera located at the top of the water level referenced to the reactor center line to get an image of the robot, and computes the location and orientation of the robot. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with ±1 cm positioning and ±2 deg. heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The installation process consists of hooking a vision camera on the guide rail of the refueling machine and putting a small robot (14.5 kg in weight) in the reactor cavity pool. The easy installation and automatic operation meet the demand of shortening the reactor outage and reducing the number of inspection personnel. The developed robotic system was successfully deployed at the Yonggwang Nuclear Unit 1 for the visual inspection of reactor internals

  11. 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.

  12. Design and Experimental Validation of a USBL Underwater Acoustic Positioning System

    OpenAIRE

    Reis, Joel; Morgado, Marco; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos

    2016-01-01

    This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the...

  13. Active Chemical Sampling System for Underwater Chemical Source Localization

    Directory of Open Access Journals (Sweden)

    Ryuichi Takemura

    2016-01-01

    Full Text Available This paper investigates the effect of active water sampling to enhance chemical reception for small underwater robots. The search for a chemical source in a stagnant water environment is not an easy task because the chemical solution released from the source stays in the close vicinity of the source. No signal is obtained even if a robot with chemical sensors is placed a few centimeters from the chemical source. In the system under study, four electrochemical sensors are aligned in front of a suction pipe that draws water samples from the surroundings. Owing to the smooth laminar flow converging to the suction port, the streak of the chemical solution drawn to the sensors is shaped into a thin filamentous form. To prevent the chemical solution from passing between the sensors without touching their surfaces, slits are placed in front of the sensors to guide the incoming chemical solution from different directions to the corresponding sensors. A chemical source can be located by moving the system in the direction of the sensor showing the largest response. It is also shown that the chemical reception at the sensors can be significantly enhanced when the system is wobbled to introduce disturbances.

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

    Science.gov (United States)

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

    2011-11-01

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

  15. Optimal BRUVs (baited remote underwater video system) survey ...

    African Journals Online (AJOL)

    Marine protected areas (MPAs) play an important role in coastal conservation, but there is presently no uniformly applied methodology for monitoring the efficacy of coastal fish protection. Whereas underwater visual census and controlled angling surveys have been used, their skilled-labour requirements and environmental ...

  16. Depth Level Control System using Peripheral Interface Controller for Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Muhamad Fadli Ghani

    2013-01-01

    Full Text Available This research explained on a design and development of an Automatic Depth Control System for underwater vehicle. Definition of underwater vehicle is a robotic sub-sea that is a part of the emerging field of autonomous and unmanned vehicles. This project shows the implementation’s development of an Automatic Depth Control System on a test prototyping vehicle especially involved small-scale and low cost sub-sea robots. The Automatic Depth Control System assembled with mechanical system and module of electronic system for development of a controller.

  17. 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.

  18. A Novel Fractional Fourier Transform-Based ASK-OFDM System for Underwater Acoustic Communications

    Directory of Open Access Journals (Sweden)

    Rami Ashri

    2017-12-01

    Full Text Available A key research area in wireless transmission is underwater communications. It has a vital role in applications such as underwater sensor networks (UWSNs and disaster detection. The underwater channel is very unique as compared to other alternatives of transmission channels. It is characterized by path loss, multipath fading, Doppler spread and ambient noise. Thus, the bit error rate (BER is increased to a large extent when compared to its counterpart of cellular communications. Acoustic signals are the current best solution for underwater communications. The use of electromagnetic or optical waves obviously entails a much higher data rate. However, they suffer from high attenuation, absorption or scattering. This paper proposes a novel fractional fast Fourier transform (FrFT—orthogonal frequency division multiplexing (FrFT-OFDM system for underwater acoustic (UWA communication—which employs the amplitude shift keying (ASK modulation technique (FrFT-ASK-OFDM. Specifically, ASK achieves a better bandwidth efficiency as compared to other commonly used modulation techniques, such as quadrature amplitude modulation (QAM and phase shift keying (PSK. In particular, the system proposed in this article can achieve a very promising BER performance, and can reach higher data rates when compared to other systems proposed in the literature. The BER performance of the proposed system is evaluated numerically, and is compared to the corresponding M-ary QAM system in the UWA channel for the same channel conditions. Moreover, the performance of the proposed system is compared to the conventional fast Fourier transform (FFT-OFDM (FFT-OFDM system in the absence and presence of the effect of carrier frequency offset (CFO. Numerical results show that the proposed system outperforms the conventional FFT-based systems for UWA channels, even in channels dominated by CFO. Moreover, the spectral efficiency and data rate of the proposed system are approximately double

  19. Design of an Autonomous Underwater Vehicle (AUV) Charging System for Underway, Underwater Recharging

    Science.gov (United States)

    2014-05-09

    method of power transfer. Induction is less common than conduction. Rather than transferring power directly through a physical electrical...interesting aspects of this particular system include the “ hockey puck” coupling design of the induction coils. Transmit and receive coils are inlayed...The switching frequency for any application cannot be increased to an arbitrarily high value. Several physically limitations exist preventing

  20. Fault Risk Assessment of Underwater Vehicle Steering System Based on Virtual Prototyping and Monte Carlo Simulation

    Directory of Open Access Journals (Sweden)

    He Deyu

    2016-09-01

    Full Text Available Assessing the risks of steering system faults in underwater vehicles is a human-machine-environment (HME systematic safety field that studies faults in the steering system itself, the driver’s human reliability (HR and various environmental conditions. This paper proposed a fault risk assessment method for an underwater vehicle steering system based on virtual prototyping and Monte Carlo simulation. A virtual steering system prototype was established and validated to rectify a lack of historic fault data. Fault injection and simulation were conducted to acquire fault simulation data. A Monte Carlo simulation was adopted that integrated randomness due to the human operator and environment. Randomness and uncertainty of the human, machine and environment were integrated in the method to obtain a probabilistic risk indicator. To verify the proposed method, a case of stuck rudder fault (SRF risk assessment was studied. This method may provide a novel solution for fault risk assessment of a vehicle or other general HME system.

  1. Influence of range-gated intensifiers on underwater imaging system SNR

    Science.gov (United States)

    Wang, Xia; Hu, Ling; Zhi, Qiang; Chen, Zhen-yue; Jin, Wei-qi

    2013-08-01

    Range-gated technology has been a hot research field in recent years due to its high effective back scattering eliminating. As a result, it can enhance the contrast between a target and its background and extent the working distance of the imaging system. The underwater imaging system is required to have the ability to image in low light level conditions, as well as the ability to eliminate the back scattering effect, which means that the receiver has to be high-speed external trigger function, high resolution, high sensitivity, low noise, higher gain dynamic range. When it comes to an intensifier, the noise characteristics directly restrict the observation effect and range of the imaging system. The background noise may decrease the image contrast and sharpness, even covering the signal making it impossible to recognize the target. So it is quite important to investigate the noise characteristics of intensifiers. SNR is an important parameter reflecting the noise features of a system. Through the use of underwater laser range-gated imaging prediction model, and according to the linear SNR system theory, the gated imaging noise performance of the present market adopted super second generation and generation Ⅲ intensifiers were theoretically analyzed. Based on the active laser underwater range-gated imaging model, the effect to the system by gated intensifiers and the relationship between the system SNR and MTF were studied. Through theoretical and simulation analysis to the image intensifier background noise and SNR, the different influence on system SNR by super second generation and generation Ⅲ ICCD was obtained. Range-gated system SNR formula was put forward, and compared the different effect influence on the system by using two kind of ICCDs was compared. According to the matlab simulation, a detailed analysis was carried out theoretically. All the work in this paper lays a theoretical foundation to further eliminating back scattering effect, improving

  2. Experimental findings on the underwater measurements uncertainty of speed of sound and the alignment system

    Science.gov (United States)

    Santos, T. Q.; Alvarenga, A. V.; Oliveira, D. P.; Mayworm, R. C.; Souza, R. M.; Costa-Félix, R. P. B.

    2016-07-01

    Speed of sound is an important quantity to characterize reference materials for ultrasonic applications, for instance. The alignment between the transducer and the test body is an key activity in order to perform reliable and consistent measurement. The aim of this work is to evaluate the influence of the alignment system to the expanded uncertainty of such measurement. A stainless steel cylinder was previously calibrated on an out of water system typically used for calibration of non-destructive blocks. Afterwards, the cylinder was calibrated underwater with two distinct alignment system: fixed and mobile. The values were statistically compared to the out-of-water measurement, considered the golden standard for such application. For both alignment systems, the normalized error was less than 0.8, leading to conclude that the both measurement system (under and out-of-water) do not diverge significantly. The gold standard uncertainty was 2.7 m-s-1, whilst the fixed underwater system resulted in 13 m-s-1, and the mobile alignment system achieved 6.6 m-s-1. After the validation of the underwater system for speed of sound measurement, it will be applied to certify Encapsulated Tissue Mimicking Material as a reference material for biotechnology application.

  3. An Underwater Target Detection System for Electro-Optical Imagery Data

    Science.gov (United States)

    2010-06-01

    The detection method involves identifying frames of interest (FOI) containing the potential targets. Once the FOI have been identified, regions of...complicated one. Previous work on EO data has been focused on Streak Tube Imaging Lidar ( STIL ) system [1]–[4], and laser line scan (LLS) [5]–[7...based systems. STIL sensor produces high- resolution 3-D images of underwater objects by scanning (line by line), on the target field [1]. The collected

  4. Apollo remote analysis system applied to surface and underwater in-situ elemental analysis

    International Nuclear Information System (INIS)

    Evans, L.G.; Bielefeld, M.J.; Eller, E.L.; Schmadebeck, R.L.; Trombka, J.I.; Mustafa, M.G.; Senftle, F.E.; Heath, R.L.; Stehling, K.; Vadus, J.

    1976-01-01

    The surveying of the elemental composition of bulk samples over extended areas in near real-time would be an invaluable tool for surface and underwater environmental analysis. However, few techniques provide such a capability. Based on the experience from the orbital gamma-ray spectrometer experiments on Apollo 15 and 16 in which elemental composition of large portions of the moon were determined, an analysis system has been developed for terrestrial applications, which can fulfill these requirements. A portable, compact pulsed neutron generator and NaI(Tl) detector system coupled to associated electronics under mini-computer control can provide the timing and spectral characteristics necessary to determine elemental composition for many applications. Field trials of the system for underwater elemental analysis are planned during the next year

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

    International Nuclear Information System (INIS)

    Drews, P.; Fuchs, K.

    1990-01-01

    Shutdown and dismantling of nuclear power plants requires special techniques to decommission the radioactive components involved. For reasons of safety, decommissioning of components under water can be advantageous because of the radioactive shielding effect of water. In this project, research activities and developmental works focused on the realization of different sensor systems and their adaptation to cutting tasks. A new image-processing system has been developed in addition to the use of a modified underwater TV camera for optical cutting process control (plasma and abrasive wheel cutting). For control of process parameters, different inductive, ultrasonic and optical sensors have been modified and tested. The investigations performed are aimed at assuring high-quality underwater cutting with the help of sensor systems specially adapted to cutting tasks, with special signal procession and evaluation through microcomputer control. It is important that special attention be paid to the reduction of interferences in image pick-up and procession. The measuring system has been designed and realized according to the consideration of the demands for underwater cutting processes. The reliability of the system was tested in conjunction with a four-axes handling system

  6. Design and Experimental Validation of a USBL Underwater Acoustic Positioning System

    Science.gov (United States)

    Reis, Joel; Morgado, Marco; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos

    2016-01-01

    This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance. PMID:27649181

  7. Performance Analysis of Single Photon Avalanche Diode Underwater VLC System Using ARQ

    KAUST Repository

    Shafiqu, Taniya

    2017-08-24

    Single photon avalanche diode (SPAD) has recently been introduced as a powerful detector for long distance underwater visible light (UVLC) communication. In this paper, the performance of the SPAD detector in UVLC is analyzed considering the effect of the turbulence induced fading resulting from air bubbles in addition to the combined effect of attenuation and scattering. Automatic repeat request (ARQ) system is adopted to mitigate different underwater impairments and reduce the error probability at the receiver side. Approximate packet error rate (PER) expressions are derived using Laguerre Gauss polynomial for a finite number of transmission. Next, the average energy efficiency and throughput are analyzed to account for the increased energy consumption cost and the decreased effective transmission rate, which results from adopting the ARQ scheme. Finally, different numerical results are introduced to verify the derived PER expressions, demonstrate the ability of the proposed ARQ system in extending the transmission range, and show the trade-off between energy efficiency (EE) and throughput.

  8. Design and Experimental Validation of a USBL Underwater Acoustic Positioning System

    Directory of Open Access Journals (Sweden)

    Joel Reis

    2016-09-01

    Full Text Available This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance.

  9. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    Science.gov (United States)

    2015-01-01

    Houston-based Astro Technology Inc. used a partnership with Johnson Space Center to pioneer an advanced fiber-optic monitoring system for offshore oil pipelines. The company's underwater adhesives allow it to retrofit older deepwater systems in order to measure pressure, temperature, strain, and flow properties, giving energy companies crucial data in real time and significantly decreasing the risk of a catastrophe.

  10. The Research on Improved Companding Transformation for Reducing PAPR in Underwater Acoustic OFDM Communication System

    Directory of Open Access Journals (Sweden)

    Jinqiu Wu

    2016-01-01

    Full Text Available To solve the problem of the high peak-to-average power ratio (PAPR in Orthogonal Frequency Division Multiplexing (OFDM for the underwater acoustic communication system, the paper offers a method of reducing PAPR which combines the amplitude limiting and the improved nonlinear transformation. Traditional amplitude limiting technique can reduce PAPR in OFDM system effectively, at the cost of reducing the bit error rate (BER. However the companding transformation has far less computation complexity than SLM or PTS technologies and can improve the BER performance compared to the amplitude limiting technique simultaneously. The paper combines these two kinds of techniques, takes full use of advantages of the two method, and puts forward a low-complexity scheme choosing parameters that are more appropriate to the underwater acoustic field, with the result of improved BER performance even in lower SNR. Both simulation and experiment results show that the new method which combines clipping and companding transformation can effectively reduce the PAPR in the underwater acoustic OFDM communication system and improve the BER performance simultaneously.

  11. Design and implementation of omni-directional light source and receiving system used in underwater wireless optical communication

    Science.gov (United States)

    Rao, Jionghui; Yao, Wenming; Chen, Nannan

    2013-08-01

    Underwater wireless optical communication is a communication mode which uses light as an information carrier and water as transmission medium. As a result of the inherent characteristics of the light waves, underwater wireless optical communication has the advantages of high transmission rate, good security, and strong anti-interference ability. It is suitable for high-speed, short-range communication between underwater mobile vehicles. Underwater optical wireless communication system designed in this paper is composed of the omni-directional communication light source and the receiving system. In the omni-directional communication light source, the laser beams with small divergence angle of 532nm wavelength produced by modulated laser are expanded through a combination refraction-reflection solid and then obtain more than 2π space divergence angle. The paper use TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and test in the air and underwater, the result shows that the effect is fine. Unlike in the air, light attenuation is heavy in the water and a large range of variations in light intensity at different distances appear during underwater optical communication. In order to overcome this problem, the paper use a small photomultiplier as the detection device, design the receiving system using the automatic gain control technique. Underwater wireless optical communication system designed in this paper has the characteristics of small size, low power dissipation and the omni-directional communication function, it is suitable for application in the UUV, AUV, Swimmer Delivery Vehicle (SDV) and other underwater mobile platform, it realizes point-to-point communications and point-to-multipoint communications.

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

    Directory of Open Access Journals (Sweden)

    Jinlong Song

    2015-09-01

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

  13. Autonomous underwater handling system for service, measurement and cutting tasks for the decommissioning of nuclear facilities

    International Nuclear Information System (INIS)

    Hahn, M.; Haferkamp, H.; Bach, W.; Rose, N.

    1992-01-01

    For about 10 years the Institute for Material Science at the Hanover University has worked on projects of underwater cutting and welding. Increasing tasks to be done in nuclear facilities led to the development of special handling systems to support and handle the cutting tools. Also sensors and computers for extensive and complex tasks were integrated. A small sized freediving handling system, equipped with 2 video cameras, ultrasonic and radiation sensors and a plasma cutting torch for inspection and decommissioning tasks in nuclear facilities is described in this paper. (Author)

  14. Testing of an underwater remotely-operated vehicle in the basins of the Cattenom nuclear power generation center

    International Nuclear Information System (INIS)

    Delfour, D.; Khakanski, M.; Nepveu, C.; Schmitt, J.

    1993-05-01

    An underwater robot was tested in the basins of the Cattenom Nuclear Power Generation Center fed with raw water from the Moselle River. The purpose was to inspect wall biofouling without interrupting water circulation. The ROV is a light, compact device, remotely controlled by cable and equipped with video cameras. The video recordings made were used to compare conditions in a basin cleaned the previous month by divers with those in a basin which had not been cleaned for a year. Manual cleaning by divers is an effective method, leaving Zebra Mussels on less than 5% of the wall surfaces. On the other hand, the floor of the basin was observed to be covered with fine sediment, vegetal matters and shells washed in with the Moselle River water. In the basin which had not been cleaned, the entire wall surface was covered with very dense tufts of tubular organisms (Hydrozoa Cordylophora) and zebra mussels. The tests have provided elements for definition of an inspection procedure and have given rise to suggestions for complementary equipment. (authors). 5 figs., 9 photos

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

    OpenAIRE

    Kraus, Robert J.

    2010-01-01

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

  16. Wearable Current-Based ECG Monitoring System with Non-Insulated Electrodes for Underwater Application

    Directory of Open Access Journals (Sweden)

    Stefan Gradl

    2017-12-01

    Full Text Available The second most common cause of diving fatalities is cardiovascular diseases. Monitoring the cardiovascular system in actual underwater conditions is necessary to gain insights into cardiac activity during immersion and to trigger preventive measures. We developed a wearable, current-based electrocardiogram (ECG device in the eco-system of the FitnessSHIRT platform. It can be used for normal/dry ECG measuring purposes but is specifically designed to allow underwater signal acquisition without having to use insulated electrodes. Our design is based on a transimpedance amplifier circuit including active current feedback. We integrated additional cascaded filter components to counter noise characteristics specific to the immersed condition of such a system. The results of the evaluation show that our design is able to deliver high-quality ECG signals underwater with no interferences or loss of signal quality. To further evaluate the applicability of the system, we performed an applied study with it using 12 healthy subjects to examine whether differences in the heart rate variability exist between sitting and supine positions of the human body immersed in water and outside of it. We saw significant differences, for example, in the RMSSD and SDSD between sitting outside the water (36 ms and sitting immersed in water (76 ms and the pNN50 outside the water (6.4% and immersed in water (18.2%. The power spectral density for the sitting positions in the TP and HF increased significantly during water immersion while the LF/HF decreased significantly. No significant changes were found for the supine position.

  17. Underwater wireless optical communications: From system-level demonstrations to channel modelling

    KAUST Repository

    Oubei, Hassan M.

    2018-01-09

    In this paper, we discuss about recent experimental advances in underwater wireless optical communications (UWOC) over various underwater channel water types using different modulation schemes as well as modelling and describing the statistical properties of turbulence-induced fading in underwater wireless optical channels using laser beam intensity fluctuations measurements.

  18. 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, ...

  19. 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.

  20. Optimization of the Working Cycle for an Underwater Propulsion System Based on Aluminium-Water Combustion

    Science.gov (United States)

    Chen, Xianhe; Xia, Zhixun; Huang, Liya; Hu, Jianxin

    2017-05-01

    The working cycle of a novel underwater propulsion system based on aluminium combustion with water is researched in order to evaluate the best performance. The system exploits the exothermic reaction between aluminium and water which will produce high temperature, pressure steam and hydrogen mixture that can be used to drive turbine to generate power. Several new system configurations corresponding to different working cycles are investigated, and their performance parameters in terms of net power, energy density and global efficiency are discussed. The results of the system simulation show that using the recirculation steam rather than hydrogen as the carrier gas, the system net power, energy density and efficiency of the system are greatly increased compared, however the system performance is close either using adiabatic compression or isothermal compression. And if an evaporator component is added into system in order to take full use of the solid product heat, the system performance will be improved.

  1. The Analysis of Drive Systems in Unmanned Underwater Vehicles Towards Identifying the Method of Drive Transmission – Part 2

    Directory of Open Access Journals (Sweden)

    Jakus Bartłomiej

    2017-10-01

    Full Text Available This is the second part of material concerned with the analysis of drive systems in remotely controlled underwater vehicles. The first part involved the problem of classification of unmanned underwater vehicles, mainly remotely controlled, as well as the nomenclature used in relation to various components of the discussed drive systems and thrusters. The functionality of particular drive systems was discussed along with the advantages and disadvantages of the analysed design technologies. This material presents the method of conducting an analysis of drive systems, its methodology and results.

  2. Reliability considerations of electronics components for the deep underwater muon and neutrino detection system

    International Nuclear Information System (INIS)

    Leskovar, B.

    1980-02-01

    The reliability of some electronics components for the Deep Underwater Muon and Neutrino Detection (DUMAND) System is discussed. An introductory overview of engineering concepts and technique for reliability assessment is given. Component reliability is discussed in the contest of major factors causing failures, particularly with respect to physical and chemical causes, process technology and testing, and screening procedures. Failure rates are presented for discrete devices and for integrated circuits as well as for basic electronics components. Furthermore, the military reliability specifications and standards for semiconductor devices are reviewed

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

    Science.gov (United States)

    Zaba, Katherine D.; Rudnick, Daniel L.

    2016-02-01

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

  4. A climatology of the California Current System from a network of underwater gliders

    Science.gov (United States)

    Rudnick, Daniel L.; Zaba, Katherine D.; Todd, Robert E.; Davis, Russ E.

    2017-05-01

    Autonomous underwater gliders offer the possibility of sustained observation of the coastal ocean. Since 2006 Spray underwater gliders in the California Underwater Glider Network (CUGN) have surveyed along California Cooperative Oceanic Fisheries Investigations (CalCOFI) lines 66.7, 80.0, and 90.0, constituting the world's longest sustained glider network, to our knowledge. In this network, gliders dive between the surface and 500 m, completing a cycle in 3 h and covering 3 km in that time. Sections extend 350-500 km offshore and take 2-3 weeks to occupy. Measured variables include pressure, temperature, salinity, and depth-average velocity. The CUGN has amassed over 10,000 glider-days, covering over 210,000 km with over 95,000 dives. These data are used to produce a climatology whose products are for each variable a mean field, an annual cycle, and the anomaly from the annual cycle. The analysis includes a weighted least-squares fit to derive the mean and annual cycle, and an objective map to produce the anomaly. The final results are variables on rectangular grids in depth, distance offshore, and time. The mean fields are finely resolved sections across the main flows in the California Current System, including the poleward California Undercurrent and the equatorward California Current. The annual cycle shows a phase change from the surface to the thermocline, reflecting the effects of air/sea fluxes at the surface and upwelling in the thermocline. The interannual anomalies are examined with an emphasis on climate events of the last ten years including the 2009-2010 El Niño, the 2010-2011 La Niña, the warm anomaly of 2014-2015, and the 2015-2016 El Niño.

  5. OFDM-based broadband underwater wireless optical communication system using a compact blue LED

    Science.gov (United States)

    Xu, Jing; Kong, Meiwei; Lin, Aobo; Song, Yuhang; Yu, Xiangyu; Qu, Fengzhong; Han, Jun; Deng, Ning

    2016-06-01

    We propose and experimentally demonstrate an IM/DD-OFDM-based underwater wireless optical communication system. We investigate the dependence of its BER performance on the training symbol number as well as LED's bias voltage and driving voltage. With single compact blue LED and a low-cost PIN photodiode, we achieve net bit rates of 225.90 Mb/s at a BER of 1.54×10-3 using 16-QAM and 231.95 Mb/s at a BER of 3.28×10-3 using 32-QAM, respectively, over a 2-m air channel. Over a 2-m underwater channel, we achieve net bit rates of 161.36 Mb/s using 16-QAM, 156.31 Mb/s using 32-QAM, and 127.07 Mb/s using 64-QAM, respectively. The corresponding BERs are 2.5×10-3, 7.42×10-4, and 3.17×10-3, respectively, which are all below the FEC threshold.

  6. Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

    International Nuclear Information System (INIS)

    Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

    1995-01-01

    Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

  7. A scalable global positioning system-free localization scheme for underwater wireless sensor networks

    KAUST Repository

    Mohammed, A.M.

    2013-05-07

    Seaweb is an acoustic communication technology that enables communication between sensor nodes. Seaweb technology utilizes the commercially available telesonar modems that has developed link and network layer firmware to provide a robust undersea communication capability. Seaweb interconnects the underwater nodes through digital signal processing-based modem by using acoustic links between the neighboring sensors. In this paper, we design and investigate a global positioning system-free passive localization protocol by integrating the innovations of levelling and localization with the Seaweb technology. This protocol uses the range data and planar trigonometry principles to estimate the positions of the underwater sensor nodes. Moreover, for precise localization, we consider more realistic conditions namely, (a) small displacement of sensor nodes due to watch circles and (b) deployment of sensor nodes over non-uniform water surface. Once the nodes are localized, we divide the whole network field into circular levels and sectors to minimize the traffic complexity and thereby increases the lifetime of the sensor nodes in the network field. We then form the mesh network inside each of the sectors that increases the reliability. The algorithm is designed in such a way that it overcomes the ambiguous nodes errata and reflected paths and therefore makes the algorithm more robust. The synthetic network geometries are so designed which can evaluate the algorithm in the presence of perfect or imperfect ranges or in case of incomplete data. A comparative study is made with the existing algorithms which proves the efficiency of our newly proposed algorithm. 2013 Mohammed et al.

  8. Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

    Directory of Open Access Journals (Sweden)

    Junjun Cao

    2016-12-01

    Full Text Available In this article, an adaptive backstepping control is proposed for multi-input and multi-output nonlinear underwater glider systems. The developed method is established on the basis of the state-space equations, which are simplified from the full glider dynamics through reasonable assumptions. The roll angle, pitch angle, and velocity of the vehicle are considered as control objects, a Lyapunov function consisting of the tracking error of the state vectors is established. According to Lyapunov stability theory, the adaptive control laws are derived to ensure the tracking errors asymptotically converge to zero. The proposed nonlinear MIMO adaptive backstepping control (ABC scheme is tested to control an underwater glider in saw-tooth motion, spiral motion, and multimode motion. The linear quadratic regular (LQR control scheme is described and evaluated with the ABC for the motion control problems. The results demonstrate that both control strategies provide similar levels of robustness while using the proposed ABC scheme leads to the more smooth control efforts with less oscillatory behavior.

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

    Science.gov (United States)

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

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Tran MinhHai

    2016-01-01

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

  11. Multi-LED parallel transmission for long distance underwater VLC system with one SPAD receiver

    Science.gov (United States)

    Wang, Chao; Yu, Hong-Yi; Zhu, Yi-Jun; Wang, Tao; Ji, Ya-Wei

    2018-03-01

    In this paper, a multiple light emitting diode (LED) chips parallel transmission (Multi-LED-PT) scheme for underwater visible light communication system with one photon-counting single photon avalanche diode (SPAD) receiver is proposed. As the lamp always consists of multi-LED chips, the data rate could be improved when we drive these multi-LED chips parallel by using the interleaver-division-multiplexing technique. For each chip, the on-off-keying modulation is used to reduce the influence of clipping. Then a serial successive interference cancellation detection algorithm based on ideal Poisson photon-counting channel by the SPAD is proposed. Finally, compared to the SPAD-based direct current-biased optical orthogonal frequency division multiplexing system, the proposed Multi-LED-PT system could improve the error-rate performance and anti-nonlinearity performance significantly under the effects of absorption, scattering and weak turbulence-induced channel fading together.

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

    Science.gov (United States)

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

    2016-01-01

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

  13. Underwater wireless optical MIMO system with spatial modulation and adaptive power allocation

    Science.gov (United States)

    Huang, Aiping; Tao, Linwei; Niu, Yilong

    2018-04-01

    In this paper, we investigate the performance of underwater wireless optical multiple-input multiple-output communication system combining spatial modulation (SM-UOMIMO) with flag dual amplitude pulse position modulation (FDAPPM). Channel impulse response for coastal and harbor ocean water links are obtained by Monte Carlo (MC) simulation. Moreover, we obtain the closed-form and upper bound average bit error rate (BER) expressions for receiver diversity including optical combining, equal gain combining and selected combining. And a novel adaptive power allocation algorithm (PAA) is proposed to minimize the average BER of SM-UOMIMO system. Our numeric results indicate an excellent match between the analytical results and numerical simulations, which confirms the accuracy of our derived expressions. Furthermore, the results show that adaptive PAA outperforms conventional fixed factor PAA and equal PAA obviously. Multiple-input single-output system with adaptive PAA obtains even better BER performance than MIMO one, at the same time reducing receiver complexity effectively.

  14. Google™ underwater

    Science.gov (United States)

    Showstack, Randy

    2012-10-01

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

  15. High–Level Control System for Biomimetic Autonomous Under-water Vehicle

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2017-01-01

    Full Text Available Usually, a rough software architecture designed for a robot can be can be shortly presented in the form of layers. The lowest layer is responsible for direct control of the hardware, i.e. engines, energy system, sensors, navigation devices, etc. A next layer is a low–level control which knows how to use the hardware in order to achieve a desired state of the robot, e.g. to stay on a desired course. And the last layer, the layer which is the nearest to the human–operator, is a high–level control which decides how to use the low–level control and sometimes also individual pieces of the hardware to achieve predefined objectives. The paper describes architecture, tasks and operation of the high–level control system (HLCS designed for Biomimetic Autonomous Underwater Vehicle (BAUV.

  16. Performance Evaluation of a Novel Propulsion System for the Spherical Underwater Robot (SURIII

    Directory of Open Access Journals (Sweden)

    Shuoxin Gu

    2017-11-01

    Full Text Available This paper considers a novel propulsion system for the third-generation Spherical Underwater Robot (SURIII, the improved propulsion system is designed and analyzed to verify its increased stability compared to the second-generation Spherical Underwater Robot (SURII. With the new propulsion system, the robot is not only symmetric on the X axis but also on the Y axis, which increases the flexibility of its movement. The new arrangement also reduces the space constraints of servomotors and vectored water-jet thrusters. This paper also aims to the hydrodynamic characteristic of the whole robot. According to the different situations of the surge and heave motion, two kinds of methods are used to calculate the drag coefficient for the SURIII. For surge motion, the drag coefficient can be determined by the Reynolds number. For heave motion, considering about the influences of edges and gaps of the SURIII, the drag coefficient needs to be calculated by the dynamic equation. In addition, the Computational Fluid Dynamics (CFD simulation is carried out to estimate some parameters which cannot be measured. The pressure contours, velocity vectors and velocity streamlines for different motions are extracted from the post-processor in the CFD simulation. The drag coefficients of surge and heave motion are both calculated by the simulation results and compared with the chosen one by Reynolds number. Finally, an experiment is also conducted for measure the propulsive force of the multi-vectored water-jet thrusters by using a 6-DoF load cell. The experimental results demonstrate the propulsive force is better than a previous version. Thus, the propulsive performance is better than before.

  17. Snapping shrimp noise mitigation based on statistical detection in underwater acoustic orthogonal frequency division multiplexing systems

    Science.gov (United States)

    Kim, Hyeonsu; Seo, Jongpil; Ahn, Jongmin; Chung, Jaehak

    2017-07-01

    We propose a mitigation scheme for snapping shrimp noise when it corrupts an orthogonal frequency division multiplexing (OFDM) signal in underwater acoustic communication systems. The OFDM signal distorted by the snapping shrimp noise is filtered by a band-stop filter. The snapping shrimp noises in the filtered signal are detected by a detector with a constant false alarm rate whose threshold is derived theoretically from the statistics of the background noise. The detected signals are reconstructed by a simple reconstruction method. The proposed scheme has a higher detection capability and a lower mean square error of the channel estimation for simulated data and a lower bit error rate for practical ocean OFDM data collected in northern East China Sea than the conventional noise-mitigating methods.

  18. Underwater Vehicle

    National Research Council Canada - National Science Library

    Dick, James L

    2007-01-01

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

  19. Fusing Multiscale Charts into 3D ENC Systems Based on Underwater Topography and Remote Sensing Image

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2015-01-01

    Full Text Available The purpose of this study is to propose an approach to fuse multiscale charts into three-dimensional (3D electronic navigational chart (ENC systems based on underwater topography and remote sensing image. This is the first time that the fusion of multiscale standard ENCs in the 3D ENC system has been studied. First, a view-dependent visualization technology is presented for the determination of the display condition of a chart. Second, a map sheet processing method is described for dealing with the map sheet splice problem. A process order called “3D order” is designed to adapt to the characteristics of the chart. A map sheet clipping process is described to deal with the overlap between the adjacent map sheets. And our strategy for map sheet splice is proposed. Third, the rendering method for ENC objects in the 3D ENC system is introduced. Fourth, our picking-up method for ENC objects is proposed. Finally, we implement the above methods in our system: automotive intelligent chart (AIC 3D electronic chart display and information systems (ECDIS. And our method can handle the fusion problem well.

  20. Estimating the neutrally buoyant energy density of a Rankine-cycle/fuel-cell underwater propulsion system

    Science.gov (United States)

    Waters, Daniel F.; Cadou, Christopher P.

    2014-02-01

    A unique requirement of underwater vehicles' power/energy systems is that they remain neutrally buoyant over the course of a mission. Previous work published in the Journal of Power Sources reported gross as opposed to neutrally-buoyant energy densities of an integrated solid oxide fuel cell/Rankine-cycle based power system based on the exothermic reaction of aluminum with seawater. This paper corrects this shortcoming by presenting a model for estimating system mass and using it to update the key findings of the original paper in the context of the neutral buoyancy requirement. It also presents an expanded sensitivity analysis to illustrate the influence of various design and modeling assumptions. While energy density is very sensitive to turbine efficiency (sensitivity coefficient in excess of 0.60), it is relatively insensitive to all other major design parameters (sensitivity coefficients < 0.15) like compressor efficiency, inlet water temperature, scaling methodology, etc. The neutral buoyancy requirement introduces a significant (∼15%) energy density penalty but overall the system still appears to offer factors of five to eight improvements in energy density (i.e., vehicle range/endurance) over present battery-based technologies.

  1. Simulating an underwater vehicle self-correcting guidance system with Simulink

    Science.gov (United States)

    Fan, Hui; Zhang, Yu-Wen; Li, Wen-Zhe

    2008-09-01

    Underwater vehicles have already adopted self-correcting directional guidance algorithms based on multi-beam self-guidance systems, not waiting for research to determine the most effective algorithms. The main challenges facing research on these guidance systems have been effective modeling of the guidance algorithm and a means to analyze the simulation results. A simulation structure based on Simulink that dealt with both issues was proposed. Initially, a mathematical model of relative motion between the vehicle and the target was developed, which was then encapsulated as a subsystem. Next, steps for constructing a model of the self-correcting guidance algorithm based on the Stateflow module were examined in detail. Finally, a 3-D model of the vehicle and target was created in VRML, and by processing mathematical results, the model was shown moving in a visual environment. This process gives more intuitive results for analyzing the simulation. The results showed that the simulation structure performs well. The simulation program heavily used modularization and encapsulation, so has broad applicability to simulations of other dynamic systems.

  2. Outage analysis of relay-assisted underwater wireless optical communication systems

    Science.gov (United States)

    Tabeshnezhad, Azadeh; Pourmina, Mohammad Ali

    2017-12-01

    In this paper, we theoretically evaluate the outage probabilities of underwater wireless optical communication (UWOC) systems. Our derivations are general as the channel model under consideration takes into account all of the channel degrading effects, namely absorption, scattering, and turbulence-induced fading. We numerically show that the UWOC systems, due to the severe channel impairments, cannot typically support longer link ranges than 100 m. Therefore, in this paper, in order to increase the transmission reliability and hence extend the viable communication range of UWOC systems, we apply decode-and-forward (DF) relay-assisted communications either in the form of multi-hop transmission, where multiple intermediate relays are serially employed between the source and destination, or parallel relaying in which multiple DF relays are distributed among the source-to-destination path to cooperate in the end-to-end transmission. Our numerical results reveal that multi-hop transmission, owing to the distance-dependency of all of the channel degrading effects, can tremendously improve the end-to-end outage probability and increase the accessible link ranges to hundreds of meter. For example, a dual-hop transmission in a 45 m coastal water link can provide up to 41 dB performance improvement at the outage probability of 10-9.

  3. Development and assessment of two decontamination processes: closed electropolishing system for decontamination of underwater surfaces -vibratory decontamination with abrasives

    International Nuclear Information System (INIS)

    Benavides, E.; Fajardo, M.

    1992-01-01

    Two decontamination processes have been developed to decontaminate the stainless steel components of nuclear power plants. The first process uses an underwater closed electropolishing system for the decontamination of large stainless steel surfaces in flooded systems without loss of electrolyte. Large underwater contaminated areas can be treated with an electropolishing head covering an area of 2 m 2 in one step. The decontamination factors achieved with this technique range between 100 and 1000. The second process consists in the decontamination of nuclear components using vibratory equipment with self-cleaning abrasives generating a minimum quantity of waste. This technique may reach contamination factors similar to those obtained with other abrasive methods (brush abrasion, abrasive blasting, etc...). The obtained decontamination factors range between 5 and 50. Only a small quantity of waste is generated, which is treated and reduced in volume by filtration and evaporation

  4. An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera

    OpenAIRE

    Lagudi, Antonio; Bianco, Gianfranco; Muzzupappa, Maurizio; Bruno, Fabio

    2016-01-01

    The integration of underwater 3D data captured by acoustic and optical systems is a promising technique in various applications such as mapping or vehicle navigation. It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions. Aligning these data is a challenging problem, as it is hard to make a point-to-point correspondence. This paper presents a multi-sensor registration for the automatic integration...

  5. Infrastructure for thulium-170 isotope power systems for autonomous underwater vehicle fleets

    International Nuclear Information System (INIS)

    Walter, C.E.

    1991-07-01

    The radioisotope thulium-170 is a safe and environmentally benign heat source for providing the high endurance and energy densities needed by advanced power systems for autonomous underwater vehicles (AUV). Thulium Isotope Power (TIP) systems have an endurance of ∼3000 h, and gravimetric and volumetric energy densities of 3 x 10 4 Wh/kg and 3 x 10 8 Wh/m 3 , respectively. These energy densities are more than 200 times higher than those currently provided by Ag-Zn battery technology. In order to capitalize on these performance levels with about one hundred AUVs in continuous use, it will be necessary to establish an infrastructure for isotope production and heat-source refurbishment. The infrastructure cost is not trivial, and studies are needed to determine its optimum configuration. The major component of the projected infrastructure is the nuclear reactor used to produce Tm- 170 by neutron absorption in Tm-169. The reactor design should ideally be optimized for TM-170 production. Using the byproduct ''waste'' heat beneficially would help defray the cost of isotope production. However, generating electric power with the reactor would compromise both the cost of electricity and the isotope production capacity. A coastal location for the reactor would be most convenient from end-use considerations, and the ''waste'' heat could be used to desalinate seawater in water-thirsty states. 13 refs., 6 figs., 2 tabs

  6. The underwater installation of a drained geomembrane system on Lost Creek Dam

    International Nuclear Information System (INIS)

    Onken, S.; Harlan, R.C.; Wilkes, J.; Vaschetti, G.

    1998-01-01

    Lost Creek Dam was constructed in California around 1923. It is a 122 foot high concrete arch dam with a crest elevation of 3,287 feet and a crest length of 490 feet. Over the years, the dam and the condition of the concrete face have deteriorated. The concrete is porous and seeps water along the entire downstream face. In winter, the seeping water freezes, penetrates the concrete and causes expansion and spalling of the concrete surface. In some places, the concrete has very low strength to a depth of a foot or more, rendering the dam only marginally safe. Seven mitigative measures were identified as possible solutions to the problem. It was determined that the seepage of the water through the concrete dam could be stopped with the installation of a geomembrane to the upstream face. This paper describes the unique underwater installation of a drained geomembrane system on the concrete face of the dam. This was the first ever installation of a drained geomembrane system on an entire dam using divers. Monitoring will determine the success of the project, and whether the seepage of the water through the porous concrete had been reduced sufficiently to stop the deterioration of the concrete on the downstream face. 2 refs., 12 figs

  7. Underwater inspection and maintenance programs within nuclear and non-nuclear related operating systems

    International Nuclear Information System (INIS)

    Vallance, C.; Goulet, B.; Black, S.

    2008-01-01

    The increasing age of the nuclear and non-nuclear power generating facilities requires extended inspection, repair and maintenance (IRM) activities to prolong the operation of these facilities past their original design life. Commercial divers are often utilized to perform critical work at nuclear power plants, fuel reprocessing plants, waste storage facilities, and research institutions. These various tasks include inspection, welding, mechanical modifications and repairs, coating applications, and work associated with plant decommissioning. Programs may take place in areas such as the reactor vessel, equipment pool, spent fuel pool, and suppression chamber using manned intervention and remotely operated vehicles. Some of these tasks can also be conducted using remotely operated vehicles (ROV's). Although specialist robots are not uncommon to the nuclear industry, the use of free-swimming vehicle's and remote systems for the inspection of underwater assets has increased due to improvements of the supporting technologies and information requirements needed to extend the life of these facilities. This paper will provide an overview of the procedures and equipment necessary to perform unique work tasks using manned and unmanned techniques. (author)

  8. Learning System Center App Controller

    CERN Document Server

    Naeem, Nasir

    2015-01-01

    This book is intended for IT professionals working with Hyper-V, Azure cloud, VMM, and private cloud technologies who are looking for a quick way to get up and running with System Center 2012 R2 App Controller. To get the most out of this book, you should be familiar with Microsoft Hyper-V technology. Knowledge of Virtual Machine Manager is helpful but not mandatory.

  9. The industrial research project: “Blu-Archeosys – Innovative Technologies and Advanced Systems as Support in Underwater Archaeology”

    Directory of Open Access Journals (Sweden)

    Salvatore Lorusso

    2003-02-01

    Full Text Available The reasons of the research about new technologies as support in naval and underwater archaeology or, more generally, in waters archaeology are various and described in this work, where the characteristics of the research project “BLU-ARCHEOSYS – Innovative Technologies and Advanced SYStems as Support in Underwater ARCHaeology” are illustrated. This industrial research project faces problems regarding innovative technologies and instruments in waters archaeology and it comprehends synergic steps and joined works among skilled professionals that have the competences to interpret qualitative and/or quantitative data within an artistic – historical and technical – historical study, also with the involvement of various public and private institutions. The BLUARCHEOSYS project has, in fact, the objective to create technologies that have a reply in underwater archaeology and contemporaneously in other sectors. In particular, starting from the methodological way that spans from the discovery in underwater or subaerial environment to the collocation of the objects in museums, the intent is to support the different methodological stages with specific tools and innovative technologies. The education project, presented to the Ministry with the research one, is articulated in the different branches of artistic-historical character, of the management, normative and operative character, and of the technical-diagnostic-material-preservative character. The professionals will have not only theoretical knowledge about standard and consolidated technologies, but they will be also experts about methodologies, in particular the diagnostic ones, that put in field the innovative tools evaluated in the project, with consequent competitive advantage in the working field, more and more demanding specific sector competences.

  10. Award 1 Title: Acoustic Communications 2011 Experiment: Deployment Support and Post Experiment Data Handling and Analysis. Award 2 Title: Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award. 3 Title: Coupled Research in Ocean Acoustics and Signal Processing for the Next Generation of Underwater Acoustic Communication Systems

    Science.gov (United States)

    2015-09-30

    Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award #3 Title Coupled Research in Ocean Acoustics ...and Signal Processing for theNext Generation of Underwater Acoustic Communication Systems James Preisig Woods Hole Oceanographic Institution...Dept. of Applied Ocean Physics and Engineering Ocean Acoustics and Signals Laboratory Woods Hole, MA 02540 AND JPAnalytics LLC 638 Brick Kiln

  11. Limiting Performance Analysis of Underwater Shock Isolation of a System with Biodynamic Response Using Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Z. Zong

    2000-01-01

    Full Text Available Biodynamic response of shipboard crew to underwater shock is of a major concern to navies. An underwater shock can produce very high accelerations, resulting in severe human injuries aboard a battleship. Protection of human bodies from underwater shock is implemented by installing onboard isolators. In this paper, the optimal underwater shock isolation to protect human bodies is studied. A simple shock-structure-isolator-human interaction model is first constructed. The model incorporates the effect of fluid-structure interaction, biodynamic response of human body, isolator influence. Based on this model, the optimum shock isolation is then formulated. The performance index and restriction are defined. Thirdly, GA (genetic algorithm is employed to solve the formulated optimization problem. GA is a powerful evolutionary optimization scheme suitable for large-scale and multi-variable optimization problems that are otherwise hard to be solved by conventional methods. A brief introduction to GA is given in the paper. Finally, the method is applied to an example problem and the limiting performance characteristic is obtained.

  12. 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

  13. A theoretical study on the impact of particle scattering on the channel characteristics of underwater optical communication system

    Science.gov (United States)

    Sahu, Sanjay Kumar; Shanmugam, Palanisamy

    2018-02-01

    Scattering by water molecules and particulate matters determines the path and distance of photon propagation in underwater medium. Consequently, photon angle of scattering (given by scattering phase function) requires to be considered in addition to the extinction coefficient of the aquatic medium governed by the absorption and scattering coefficients in channel characterization for an underwater wireless optical communication (UWOC) system. This study focuses on analyzing the received signal power and impulse response of UWOC channel based on Monte-Carlo simulations for different water types, link distances, link geometries and transceiver parameters. A newly developed scattering phase function (referred to as SS phase function), which represents the real water types more accurately like the Petzold phase function, is considered for quantification of the channel characteristics along with the effects of absorption and scattering coefficients. A comparison between the results simulated using various phase function models and the experimental measurements of Petzold revealed that the SS phase function model predicts values closely matching with the actual values of the Petzold's phase function, which further establishes the importance of using a correct scattering phase function model while estimating the channel capacity of UWOC system in terms of the received power and channel impulse response. Results further demonstrate a great advantage of considering the nonzero probability of receiving scattered photons in estimating channel capacity rather than considering the reception of only ballistic photons as in Beer's Law, which severely underestimates the received power and affects the range of communication especially in the scattering water column. The received power computed based on the Monte-Carlo method by considering the receiver aperture sizes and field of views in different water types are further analyzed and discussed. These results are essential for

  14. The development of a under-water robot system for inspection of the contaminated inner wall of nuclear research reactor

    International Nuclear Information System (INIS)

    Kim, Kyung Hoon; Kim, Byung Man; Cho, Hyung Suk; Park, Ki Yong; Park, Young Soo; Yoon, Ji Sup; Lee, Byung Jik

    1997-01-01

    In this paper, an under-water robot system is developed in order to inspect the radiation level and decontaminate the contaminated inner wall of nuclear research reactor, TRIGA MARK III. This system is composed of the mobile robot which navigates autonomously under the water and the ground control unit which monitors and commands the motion of mobile robot. The mobile robot can move on the wall surface with five thruster systems and is composed of three parts, i.e., mechanical, control, and sensory parts. The five thruster system is configured such as one main thruster, two wall adhesion thruster, and two turning/buoyancy compensation thruster. The control part has 4 CPU boards and each board is configured such that one is in charge of supervisory control mode which controls the position of mobile robot and communicates with the ground control unit and the other board is designed to have motor control mode which drives two motors simultaneously. In secondary part, the laser scanner and fluorescent reflectors and the incilinometer are designed. The laser scanner with fluorescent reflectors provides the current position of the mobile robot on the wall surface and by incilinometer, the moving direction can be obtained. This paper describes the design and configuration procedures of under-water robot in detail and presents the experimental results for characteristic test of the thruster system. 11 refs., 4 tabs., 7 figs

  15. Detection of Visual Events in Underwater Video Using a Neuromorphic Saliency-based Attention System

    Science.gov (United States)

    Edgington, D. R.; Walther, D.; Cline, D. E.; Sherlock, R.; Salamy, K. A.; Wilson, A.; Koch, C.

    2003-12-01

    The Monterey Bay Aquarium Research Institute (MBARI) uses high-resolution video equipment on remotely operated vehicles (ROV) to obtain quantitative data on the distribution and abundance of oceanic animals. High-quality video data supplants the traditional approach of assessing the kinds and numbers of animals in the oceanic water column through towing collection nets behind ships. Tow nets are limited in spatial resolution, and often destroy abundant gelatinous animals resulting in species undersampling. Video camera-based quantitative video transects (QVT) are taken through the ocean midwater, from 50m to 4000m, and provide high-resolution data at the scale of the individual animals and their natural aggregation patterns. However, the current manual method of analyzing QVT video by trained scientists is labor intensive and poses a serious limitation to the amount of information that can be analyzed from ROV dives. Presented here is an automated system for detecting marine animals (events) visible in the videos. Automated detection is difficult due to the low contrast of many translucent animals and due to debris ("marine snow") cluttering the scene. Video frames are processed with an artificial intelligence attention selection algorithm that has proven a robust means of target detection in a variety of natural terrestrial scenes. The candidate locations identified by the attention selection module are tracked across video frames using linear Kalman filters. Typically, the occurrence of visible animals in the video footage is sparse in space and time. A notion of "boring" video frames is developed by detecting whether or not there is an interesting candidate object for an animal present in a particular sequence of underwater video -- video frames that do not contain any "interesting" events. If objects can be tracked successfully over several frames, they are stored as potentially "interesting" events. Based on low-level properties, interesting events are

  16. 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

  17. Underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2010-01-01

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

  18. Underwater Communications for Video Surveillance Systems at 2.4 GHz

    Directory of Open Access Journals (Sweden)

    Sandra Sendra

    2016-10-01

    Full Text Available Video surveillance is needed to control many activities performed in underwater environments. The use of wired media can be a problem since the material specially designed for underwater environments is very expensive. In order to transmit the images and videos wirelessly under water, three main technologies can be used: acoustic waves, which do not provide high bandwidth, optical signals, although the effect of light dispersion in water severely penalizes the transmitted signals and therefore, despite offering high transfer rates, the maximum distance is very small, and electromagnetic (EM waves, which can provide enough bandwidth for video delivery. In the cases where the distance between transmitter and receiver is short, the use of EM waves would be an interesting option since they provide high enough data transfer rates to transmit videos with high resolution. This paper presents a practical study of the behavior of EM waves at 2.4 GHz in freshwater underwater environments. First, we discuss the minimum requirements of a network to allow video delivery. From these results, we measure the maximum distance between nodes and the round trip time (RTT value depending on several parameters such as data transfer rate, signal modulations, working frequency, and water temperature. The results are statistically analyzed to determine their relation. Finally, the EM waves’ behavior is modeled by a set of equations. The results show that there are some combinations of working frequency, modulation, transfer rate and temperature that offer better results than others. Our work shows that short communication distances with high data transfer rates is feasible.

  19. Underwater Communications for Video Surveillance Systems at 2.4 GHz.

    Science.gov (United States)

    Sendra, Sandra; Lloret, Jaime; Jimenez, Jose Miguel; Rodrigues, Joel J P C

    2016-10-23

    Video surveillance is needed to control many activities performed in underwater environments. The use of wired media can be a problem since the material specially designed for underwater environments is very expensive. In order to transmit the images and videos wirelessly under water, three main technologies can be used: acoustic waves, which do not provide high bandwidth, optical signals, although the effect of light dispersion in water severely penalizes the transmitted signals and therefore, despite offering high transfer rates, the maximum distance is very small, and electromagnetic (EM) waves, which can provide enough bandwidth for video delivery. In the cases where the distance between transmitter and receiver is short, the use of EM waves would be an interesting option since they provide high enough data transfer rates to transmit videos with high resolution. This paper presents a practical study of the behavior of EM waves at 2.4 GHz in freshwater underwater environments. First, we discuss the minimum requirements of a network to allow video delivery. From these results, we measure the maximum distance between nodes and the round trip time (RTT) value depending on several parameters such as data transfer rate, signal modulations, working frequency, and water temperature. The results are statistically analyzed to determine their relation. Finally, the EM waves' behavior is modeled by a set of equations. The results show that there are some combinations of working frequency, modulation, transfer rate and temperature that offer better results than others. Our work shows that short communication distances with high data transfer rates is feasible.

  20. Simple statistical channel model for weak temperature-induced turbulence in underwater wireless optical communication systems

    KAUST Repository

    Oubei, Hassan M.

    2017-06-16

    In this Letter, we use laser beam intensity fluctuation measurements to model and describe the statistical properties of weak temperature-induced turbulence in underwater wireless optical communication (UWOC) channels. UWOC channels with temperature gradients are modeled by the generalized gamma distribution (GGD) with an excellent goodness of fit to the measured data under all channel conditions. Meanwhile, thermally uniform channels are perfectly described by the simple gamma distribution which is a special case of GGD. To the best of our knowledge, this is the first model that comprehensively describes both thermally uniform and gradient-based UWOC channels.

  1. Records Center Program Billing System

    Data.gov (United States)

    National Archives and Records Administration — RCPBS supports the Records center programs (RCP) in producing invoices for the storage (NARS-5) and servicing of National Archives and Records Administration’s...

  2. Underwater manipulator

    Science.gov (United States)

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

    1993-04-20

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

  3. Underwater manipulator

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  4. Development of Handheld Haptics Device for Driving System of Unmanned Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    Shazali Syed Mohamad

    2018-01-01

    Full Text Available This paper presents a research aimed at illustrating hydrodynamic force impact on the orientation of a Remotely Operated Underwater Vehicle (ROV operating underwater by providing kinaesthetic haptic feedback to its handheld steering device. To get more understanding on how this aim can be achieved, a literature review had been done on the haptic feedback which are available to ROV pilots and how it could be delivered through a handheld device. While some achievement were made in providing different cues to pilots on drag force and its influence on its speed, non-have been made to offer insight on how it had affected ROVs orientation through haptic feedback. This study found that currently available handheld haptic device, while successfully delivering tactile feedback, are not capable of providing kinaesthetic feedback at par with the grounded haptic device. To address this, a series of thrusters has been introduced as a new actuation technique in providing kinaesthetic feedback on a handheld device in all three axes. This would allow total illustration of ROV orientation through haptic feedback. This paper has summarized and discussed our findings in our literature review, followed by some details of the proposed method.

  5. Evaluation of an Efficient Approach for Target Tracking from Acoustic Imagery for the Perception System of an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Sebastián A. Villar

    2014-02-01

    Full Text Available This article describes the core algorithms of the perception system to be included within an autonomous underwater vehicle (AUV. This perception system is based on the acoustic data acquired from side scan sonar (SSS. These data should be processed in an efficient time, so that the perception system is able to detect and recognize a predefined target. This detection and recognition outcome is therefore an important piece of knowledge for the AUVs dynamic mission planner (DMP. Effectively, the DMP should propose different trajectories, navigation depths and other parameters that will change the robot's behaviour according to the perception system output. Hence, the time in which to make a decision is critical in order to assure safe robot operation and to acquire good quality data; consequently, the efficiency of the on-line image processing from acoustic data is a key issue. Current techniques for acoustic data processing are time and computationally intensive. Hence, it was decided to process data coming from a SSS using a technique that is used for radars, due to its efficiency and its amenability to on-line processing. The engineering problem to solve in this case was underwater pipeline tracking for routine inspections in the off-shore industry. Then, an automatic oil pipeline detection system was developed borrowing techniques from the processing of radar measurements. The radar technique is known as Cell Average – Constant False Alarm Rate (CA – CFAR. With a slight variation of the algorithms underlying this radar technique, which consisted of the previous accumulation of partial sums, a great improvement in computing time and effort was achieved. Finally, a comparison with previous approaches over images acquired with a SSS from a vessel in the Salvador de Bahia bay in Brazil showed the feasibility of using this on-board technique for AUV perception.

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

    Directory of Open Access Journals (Sweden)

    Borja Fernández

    2012-02-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

  8. Underwater Sound Reference Division

    Data.gov (United States)

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

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

    OpenAIRE

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

    2015-01-01

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

  10. Microsoft System Center 2012 Orchestrator cookbook

    CERN Document Server

    Erskine, Samuel

    2013-01-01

    This book is written in a practical, Cookbook style with numerous chapters and recipes focusing on creating runbooks to automate mission critical and everyday administration tasks.System Center 2012 Orchestrator is for administrators who wish to simplify the process of automating systems administration tasks. This book assumes that you have a basic knowledge of Windows Server 2008 Administration, Active Directory, Network Systems, and Microsoft System Center technologies.

  11. 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.

  12. Model based image restoration for underwater images

    Science.gov (United States)

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

    2013-04-01

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

  13. Real-Time, General-Purpose, High-Speed Signal Processing Systems for Underwater Research. Proceedings of a Working Level Conference held at Supreme Allied Commander, Atlantic, Anti-Submarine Warfare Research Center (SACLANTCEN) on 18-21 September 1979. Part 1. Sessions I to III.

    Science.gov (United States)

    1979-12-01

    receiver. The receiver outputs a binary 8-bit parallel signal with a resolution of degree Farenheit . D. Nairn With reference to use of non-rugged gear in...specified input/output devices. MEMO No 451 VOL I. EMI Electronics Ltd, Systems and Weapons Division, Feltham, Middlesex, England, 1978. i. SACLANTCEN CP-25

  14. Ecient Parameter Estimation and Control Based on a Modified LOS Guidance System of an Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Elías Revestido Herrero

    2017-12-01

    Full Text Available In this work, a methodology is proposed for the improvement of the parameter estimation effciency of a non-linear manoeuvring model of a torpedo shaped unmanned underwater vehicle. For this purpose, data from different tests, were carried out with the aforementioned vehicle at the facilities of the Canal de Experiencias Hidrodinámicas del Pardo, Madrid. In the proposed methodology, the following aspects are taken into account in order to improve the parameter estimation effciency: selection of the sampling period, smoothing of the data acquired in the tests considering a compromise between variance and bias of the smoothing filter to be applied, analysis of the classical linear regression model proposed in each trial, from the statistical point of view for the estimation of the parameters. Improvements in effciency are verified by graphical and statistical methods. In addition, a modification of the conventional LOS method is proposed which provides satisfactory results in the presence of ocean currents by performing a simple procedure.

  15. Reliable underwater dipole source characterization in 3D space by an optimally designed artificial lateral line system.

    Science.gov (United States)

    Ahrari, Ali; Lei, Hong; Sharif, Montassar Aidi; Deb, Kalyanmoy; Tan, Xiaobo

    2017-04-19

    Inspired by the lateral line of aquatic vertebrates, an artificial lateral line (ALL) system can localize and track an underwater moving object by analyzing the ambient flow caused by its motion. There are several studies on object detection, localization and tracking by ALL systems, but only a few have investigated the optimal design of the ALL system, the one that on average provides the highest characterization accuracy. Design optimization is particularly important because the uncertainties in the employed flow model and in sensor measurements deteriorate the reliability of sensing. This study investigates the optimal design of the ALL system in three-dimensional (3D) space for dipole source characterization. It highlights some challenges specific to the 3D setting and demonstrates the shortcomings of the designs in which all sensors and their sensing directions are in the same plane. As an alternative, it proposes two design concepts, called 'Offset Strategy' and 'Angle Strategy' to overcome these shortcomings. It investigates potentials of having a swarm of cooperative ALLs as well. It performs design optimization in the presence of sensor and model uncertainties and analyzes the trade-off between the number of sensors and characterization accuracy. The obtained solutions are analyzed to reveal their strategies in solving the problem efficiently. The dependency of the optimized solutions on the uncertainties is also demonstrated.

  16. Center for Intelligent Control Systems

    Science.gov (United States)

    1992-12-01

    34 November 1988 October 1987 Professor Roger W. Brockett, CICS Professor Karl Johan Astrom "Differential Equations that Sort and Lund Institute of Technology... Karl Robert Sloan Alan Knoew Stephen Strickland Felipe Martins Paul Tseng M~ohammed Messaoudene Yuui Wang Michael Miller Jichuan Yang Densi Mustafa...Professor Willsky, Dr. Karl , and their students engaged in research in discrete-event systems and in a number of problem areas in multidimensional

  17. Structural Dynamics of a Pulsed-Jet Propulsion System for Underwater Soft Robots

    Directory of Open Access Journals (Sweden)

    Federico Renda

    2015-06-01

    Full Text Available This paper entails the study of the pulsed-jet propulsion inspired by cephalopods in the frame of underwater bioinspired robotics. This propulsion routine involves a sequence of consecutive cycles of inflation and collapse of an elastic bladder, which, in the robotics artefact developed by the authors, is enabled by a cable-driven actuation of a deformable shell composed of rubber-like materials. In the present work an all-comprehensive formulation is derived by resorting to a coupled approach that comprises of a model of the structural dynamics of the cephalopod-like elastic bladder and a model of the pulsed-jet thrust production. The bladder, or mantle, is modelled by means of geometrically exact, axisymmetric, nonlinear shell theory, which yields an accurate estimation of the forces involved in driving the deformation of the structure in water. By coupling these results with those from a standard thrust model, the behaviour of the vehicle propelling itself in water is derived. The constitutive laws of the shell are also exploited as control laws with the scope of replicating the muscle activation routine observed in cephalopods. The model is employed to test various shapes, material properties and actuation routines of the mantle. The results are compared in terms of speed performance in order to identify suitable design guidelines. Altogether, the model is tested in more than 50 configurations, eventually providing useful insight for the development of more advanced vehicles and bringing evidence of its reliability in studying the dynamics of both man-made cephalopod-inspired robots and live specimens.

  18. Data Center Equipment Location and Monitoring System

    DEFF Research Database (Denmark)

    2013-01-01

    Abstract: Data center equipment location systems include hardware and software to provide information on the location, monitoring, and security of servers and other equipment in equipment racks. The systems provide a wired alternative to the wireless RFID tag system by using electronic ID tags...

  19. An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera.

    Science.gov (United States)

    Lagudi, Antonio; Bianco, Gianfranco; Muzzupappa, Maurizio; Bruno, Fabio

    2016-04-14

    The integration of underwater 3D data captured by acoustic and optical systems is a promising technique in various applications such as mapping or vehicle navigation. It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions. Aligning these data is a challenging problem, as it is hard to make a point-to-point correspondence. This paper presents a multi-sensor registration for the automatic integration of 3D data acquired from a stereovision system and a 3D acoustic camera in close-range acquisition. An appropriate rig has been used in the laboratory tests to determine the relative position between the two sensor frames. The experimental results show that our alignment approach, based on the acquisition of a rig in several poses, can be adopted to estimate the rigid transformation between the two heterogeneous sensors. A first estimation of the unknown geometric transformation is obtained by a registration of the two 3D point clouds, but it ends up to be strongly affected by noise and data dispersion. A robust and optimal estimation is obtained by a statistical processing of the transformations computed for each pose. The effectiveness of the method has been demonstrated in this first experimentation of the proposed 3D opto-acoustic camera.

  20. An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera

    Directory of Open Access Journals (Sweden)

    Antonio Lagudi

    2016-04-01

    Full Text Available The integration of underwater 3D data captured by acoustic and optical systems is a promising technique in various applications such as mapping or vehicle navigation. It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions. Aligning these data is a challenging problem, as it is hard to make a point-to-point correspondence. This paper presents a multi-sensor registration for the automatic integration of 3D data acquired from a stereovision system and a 3D acoustic camera in close-range acquisition. An appropriate rig has been used in the laboratory tests to determine the relative position between the two sensor frames. The experimental results show that our alignment approach, based on the acquisition of a rig in several poses, can be adopted to estimate the rigid transformation between the two heterogeneous sensors. A first estimation of the unknown geometric transformation is obtained by a registration of the two 3D point clouds, but it ends up to be strongly affected by noise and data dispersion. A robust and optimal estimation is obtained by a statistical processing of the transformations computed for each pose. The effectiveness of the method has been demonstrated in this first experimentation of the proposed 3D opto-acoustic camera.

  1. Underwater Hearing in Turtles.

    Science.gov (United States)

    Willis, Katie L

    2016-01-01

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

  2. 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.

  3. 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.

  4. Underwater Geotechnical Foundations

    National Research Council Canada - National Science Library

    Lee, Landris

    2001-01-01

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

  5. High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders.

    Science.gov (United States)

    Huang, Haoqian; Chen, Xiyuan; Zhang, Bo; Wang, Jian

    2017-01-01

    The underwater navigation system, mainly consisting of MEMS inertial sensors, is a key technology for the wide application of underwater gliders and plays an important role in achieving high accuracy navigation and positioning for a long time of period. However, the navigation errors will accumulate over time because of the inherent errors of inertial sensors, especially for MEMS grade IMU (Inertial Measurement Unit) generally used in gliders. The dead reckoning module is added to compensate the errors. In the complicated underwater environment, the performance of MEMS sensors is degraded sharply and the errors will become much larger. It is difficult to establish the accurate and fixed error model for the inertial sensor. Therefore, it is very hard to improve the accuracy of navigation information calculated by sensors. In order to solve the problem mentioned, the more suitable filter which integrates the multi-model method with an EKF approach can be designed according to different error models to give the optimal estimation for the state. The key parameters of error models can be used to determine the corresponding filter. The Adams explicit formula which has an advantage of high precision prediction is simultaneously fused into the above filter to achieve the much more improvement in attitudes estimation accuracy. The proposed algorithm has been proved through theory analyses and has been tested by both vehicle experiments and lake trials. Results show that the proposed method has better accuracy and effectiveness in terms of attitudes estimation compared with other methods mentioned in the paper for inertial navigation applied to underwater gliders. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  6. 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...

  7. Resonances in the two centers Coulomb system

    Energy Technology Data Exchange (ETDEWEB)

    Seri, Marcello

    2012-09-14

    In this work we investigate the existence of resonances for two-centers Coulomb systems with arbitrary charges in two and three dimensions, defining them in terms of generalized complex eigenvalues of a non-selfadjoint deformation of the two-center Schroedinger operator. After giving a description of the bifurcation of the classical system for positive energies, we construct the resolvent kernel of the operators and we prove that they can be extended analytically to the second Riemann sheet. The resonances are then defined and studied with numerical methods and perturbation theory.

  8. Damage Analysis of Aluminium Foam Panel Subjected to Underwater Shock Loading

    Directory of Open Access Journals (Sweden)

    Xuan He

    2017-01-01

    Full Text Available Underwater shock loading experiment device is the equipment which simulates underwater explosive shock wave through experiment. Underwater shock loading experiment device was used to conduct high-speed underwater impact on aluminium foam panel and its damage modes were studied in this paper. 3D dynamic DIC test system was used to collect and analyze real-time deformation of target board. After the experiment was completed, a numerical simulation of the series of experiment was conducted through ABAQUS finite element simulation and then a comparative analysis of the experiment was implemented. To comprehensively study damage modes of aluminium foam panel subjected to underwater shock loading, damage modes of aluminium foam panel at different shock speeds were studied. Results indicated that when a certain impact speed which could damage aluminium foam panel was reached, if the impact speed was low, aluminium foam panel would generate shear fracture at constrained boundary of flange; if the impact speed was high, aluminium foam panel would firstly generate fracture at the center and then generate shear fracture at constrained boundary of flange, and central fracture would generate three cracks.

  9. 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.

  10. Development and demonstration of the safe dismantling of metal components from the decommissioning of nuclear facilities by means of underwater plasma arc cutting. Development of a measurement and control system for a underwater plasma arc cutting device for the safe dismantling of metallic components from the decommissioning of nuclear facility. Final report

    International Nuclear Information System (INIS)

    Haferkamp, H.; Bach, F.W.; Steiner, H.; Kah, S.

    1992-01-01

    For the decommissioning of nuclear installations, methods and tools for the dismantling of complicated metallic components with great material thickness are needed. The method of underwater plasma arc cutting offers the possibility for the dismantling of highly activated components because of the shielding effect of water. Up to now the tools for the underwater method are only available for simple contours. Target of the project was the development of a plasma arc cutting technique for the dismantling of complicated components and of a control and measurement system. (orig./DG) [de

  11. 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…

  12. The Regional Test Center Data Transfer System

    Energy Technology Data Exchange (ETDEWEB)

    Riley, Daniel M. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Photovoltaic and Distributed Systems Dept.; Stein, Joshua S. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Photovoltaic and Distributed Systems Dept.

    2016-09-01

    The Regional Test Centers are a group of several sites around the US for testing photovoltaic systems and components related to photovoltaic systems. The RTCs are managed by Sandia National Laboratories. The data collected by the RTCs must be transmitted to Sandia for storage, analysis, and reporting. This document describes the methods that transfer the data between remote sites and Sandia as well as data movement within Sandia’s network. The methods described are in force as of September, 2016.

  13. Affordable underwater wireless optical communication using LEDs

    Science.gov (United States)

    Pilipenko, Vladimir; Arnon, Shlomi

    2013-09-01

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

  14. Underwater sympathetic detonation of pellet explosive

    Science.gov (United States)

    Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

    2017-06-01

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

  15. An underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2009-08-01

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

  16. Data center equipment location and monitoring system

    DEFF Research Database (Denmark)

    2011-01-01

    A data center equipment location system includes both hardware and software to provide for location, monitoring, security and identification of servers and other equipment in equipment racks. The system provides a wired alternative to the wireless RFID tag system by using electronic ID tags conne...... to an individual electronic ID tag to activate a sensory indicator to enable a technician(s) to locate a piece of equipment that is in need of repair or replacement.......A data center equipment location system includes both hardware and software to provide for location, monitoring, security and identification of servers and other equipment in equipment racks. The system provides a wired alternative to the wireless RFID tag system by using electronic ID tags...... connected to each piece of equipment, each electronic ID tag connected directly by wires to a equipment rack controller on the equipment rack. The equipment rack controllers then link over a local area network to a central control computer. The central control computer provides an operator interface...

  17. Joint Logistics Systems Center Reporting of Systems Development Costs

    National Research Council Canada - National Science Library

    1998-01-01

    ...." The Joint Logistics Systems Center (JLSC) was organized in FY 1992 to accomplish Corporate Information Management goals for the depot maintenance and supply management business areas of the DoD Working Capital Funds...

  18. Mastering System Center 2012 Configuration Manager

    CERN Document Server

    Rachui, Steve; Martinez, Santos; Daalmans, Peter

    2012-01-01

    Expert coverage of Microsoft's highly anticipated network software deployment tool The latest version of System Center Configuration Manager (SCCM) is a dramatic update of its predecessor Configuration Manager 2007, and this book offers intermediate-to-advanced coverage of how the new SCCM boasts a simplified hierarchy, role-based security, a new console, flexible application deployment, and mobile management. You'll explore planning and installation, migrating from SCCM 2007, deploying software and operating systems, security, monitoring and troubleshooting, and automating and customizing SCC

  19. 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...

  20. Development of an underwater shot peening system to prevent stress corrosion cracking of reactor internals

    International Nuclear Information System (INIS)

    Obata, M.; Kimura, M.; Shima, S.; Kanno, M.

    1998-01-01

    The water projection type shot peening system and remotely driven robots were developed to be operated under water, in order to apply shot peening to reactor internals (shroud) in boiling water reactors (BWRs). The effects of processing parameters on the residual stress depth profiles were examined to obtain the optimum processing conditions to suppress stress corrosion cracking (SCC). Creviced bent beam (CBB) type stress corrosion tests showed that the SCC resistance in Type 304 stainless steel was remarkable increased by the shot peening. It was ascertained by several fundamental experiments that the shot peening had no detrimental effects on the other material characteristics and had sufficient applicability to the practical shroud. The reliable processing system which the accelerated shots by the pressurized water could be supplied, completely sucked and repeatedly used in order to reduce radioactive waste was developed. Two types of remote handling robots were also developed to positioning to follow the complicated shape of the core shroud welds, and for processing efficiency by reducing radiation exposure , one for processing the inner surface of the cylindrical core shroud, and the other for processing the outer surface in the narrow annulus region. The system and robots were successfully applied to the core shrouds of Hamaoka Unit- 1 and Unit-2 of Chubu Electric Power Co., Ltd. (author)

  1. Underwater Coatings for Contamination Control

    International Nuclear Information System (INIS)

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

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: (1) Be easy to apply; (2) Adhere well to the four surfaces of interest; (3) Not change or have a negative impact on water chemistry or clarity; (4) Not be hazardous in final applied form; and (5) Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates

  2. 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.

  3. Grid Integration Science, NREL Power Systems Engineering Center

    Energy Technology Data Exchange (ETDEWEB)

    Kroposki, Benjamin [National Renewable Energy Lab. (NREL), Golden, CO (United States)

    2017-04-25

    This report highlights journal articles published in 2016 by researchers in the Power Systems Engineering Center. NREL's Power Systems Engineering Center published 47 journal and magazine articles in the past year, highlighting recent research in grid modernization.

  4. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  5. 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.

  6. 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

  7. Remote Sensing/Geographic Information Systems Center

    Data.gov (United States)

    Federal Laboratory Consortium — The RS/GIS Center, located at ERDC's Cold Regions Research and Engineering Laboratory, in Hanover, New Hampshire, is the Corps of Engineers Center of Expertise for...

  8. "Boxnep" advanced modular underwater robot

    OpenAIRE

    Buluev, Ilia

    2016-01-01

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

  9. 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…

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

    OpenAIRE

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

    2013-01-01

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

  11. Design and implementation of an underwater sound recording device

    Energy Technology Data Exchange (ETDEWEB)

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

    2011-09-19

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

  12. Comparable Systems Analysis: Design and Operation of Advanced Control Centers

    Science.gov (United States)

    1995-08-01

    This research explored lessons that have been learned involving human factors in the design and operation of control centers that were similar to a generic, intelligent vehicle highway system (IVHS) class traffic management center (TMC). During an in...

  13. Evolution: Fossil Ears and Underwater Sonar.

    Science.gov (United States)

    Lambert, Olivier

    2016-08-22

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

  14. Center for Efficiency in Sustainable Energy Systems

    Energy Technology Data Exchange (ETDEWEB)

    Abraham, Martin [Youngstown State Univ., OH (United States)

    2016-01-31

    The main goal of the Center for Efficiency in Sustainable Energy Systems is to produce a methodology that evaluates a variety of energy systems. Task I. Improved Energy Efficiency for Industrial Processes: This task, completed in partnership with area manufacturers, analyzes the operation of complex manufacturing facilities to provide flexibilities that allow them to improve active-mode power efficiency, lower standby-mode power consumption, and use low cost energy resources to control energy costs in meeting their economic incentives; (2) Identify devices for the efficient transformation of instantaneous or continuous power to different devices and sections of industrial plants; and (3) use these manufacturing sites to demonstrate and validate general principles of power management. Task II. Analysis of a solid oxide fuel cell operating on landfill gas: This task consists of: (1) analysis of a typical landfill gas; (2) establishment of a comprehensive design of the fuel cell system (including the SOFC stack and BOP), including durability analysis; (3) development of suitable reforming methods and catalysts that are tailored to the specific SOFC system concept; and (4) SOFC stack fabrication with testing to demonstrate the salient operational characteristics of the stack, including an analysis of the overall energy conversion efficiency of the system. Task III. Demonstration of an urban wind turbine system: This task consists of (1) design and construction of two side-by-side wind turbine systems on the YSU campus, integrated through power control systems with grid power; (2) preliminary testing of aerodynamic control effectors (provided by a small business partner) to demonstrate improved power control, and evaluation of the system performance, including economic estimates of viability in an urban environment; and (3) computational analysis of the wind turbine system as an enabling activity for development of smart rotor blades that contain integrated sensor

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

    International Nuclear Information System (INIS)

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

    2002-01-01

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

  16. 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.

  17. 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.

  18. National Finance Center Personnel/Payroll System

    Data.gov (United States)

    US Agency for International Development — The NFC system is an USDA system used for processing transactions for payroll/personnel systems. Personnel processing is done through EPIC/HCUP, which is web-based....

  19. 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.

  20. Microsoft System Center 2012 R2 compliance management cookbook

    CERN Document Server

    Baumgarten, Andreas; Roesner, Susan

    2014-01-01

    Whether you are an IT manager, an administrator, or security professional who wants to learn how Microsoft Security Compliance Manager and Microsoft System Center can help fulfil compliance and security requirements, this is the book for you. Prior knowledge of Microsoft System Center is required.

  1. FY17 Transportation and Hydrogen Systems Center Journal Publication Highlights

    Energy Technology Data Exchange (ETDEWEB)

    2017-12-08

    NREL's Transportation and Hydrogen Systems Center published 39 journal articles in fiscal year 2017 highlighting recent research in advanced vehicle technology, alternative fuels, and hydrogen systems.

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

    Science.gov (United States)

    2013-09-01

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

  3. A Comparison of Organization-Centered and Agent-Centered Multi-Agent Systems

    DEFF Research Database (Denmark)

    Jensen, Andreas Schmidt; Villadsen, Jørgen

    2013-01-01

    Whereas most classical multi-agent systems have the agent in center, there has recently been a development towards focusing more on the organization of the system, thereby allowing the designer to focus on what the system goals are, without considering how the goals should be fulfilled. We have d...

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

    OpenAIRE

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-01-01

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

  5. Carbon Nanotube Underwater Acoustic Thermophone

    Science.gov (United States)

    2016-09-23

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

  6. AUV Positioning Method Based on Tightly Coupled SINS/LBL for Underwater Acoustic Multipath Propagation

    Directory of Open Access Journals (Sweden)

    Tao Zhang

    2016-03-01

    Full Text Available This paper researches an AUV (Autonomous Underwater Vehicle positioning method based on SINS (Strapdown Inertial Navigation System/LBL (Long Base Line tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy correlation peak problem of underwater LBL acoustic propagation multipath could be solved based on SINS positional information, thus improving LBL positional accuracy. Moreover, introduction of SINS-centered LBL locating information could compensate accumulative AUV position error effectively and regularly. Compared to loosely coupled algorithm, this tightly coupled algorithm can still provide accurate location information when there are fewer than four available hydrophones (or within the signal receiving range. Therefore, effective positional calibration area of tightly coupled system based on LBL array is wider and has higher reliability and fault tolerance than loosely coupled. It is more applicable to AUV positioning based on SINS/LBL.

  7. Jellyfish inspired underwater unmanned vehicle

    Science.gov (United States)

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

    2009-03-01

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

  8. 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.

  9. Underwater gas tornado

    Science.gov (United States)

    Byalko, Alexey V.

    2013-07-01

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

  10. Effects of Quality Improvement System for Child Care Centers

    Science.gov (United States)

    Ma, Xin; Shen, Jianping; Kavanaugh, Amy; Lu, Xuejin; Brandi, Karen; Goodman, Jeff; Till, Lance; Watson, Grace

    2011-01-01

    Using multiple years of data collected from about 100 child care centers in Palm Beach County, Florida, the authors studied whether the Quality Improvement System (QIS) made a significant impact on quality of child care centers. Based on a pre- and postresearch design spanning a period of 13 months, QIS appeared to be effective in improving…

  11. 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.

  12. Microsoft System Center Data Protection Manager 2012

    CERN Document Server

    Buchannan, Steve; Gomaa, Islam

    2013-01-01

    This book is a Packt tutorial, walking the administrator through the steps needed to create real solutions to the problems and tasks faced when ensuring that their data is protected. This book is for network administrators, system administrators, backup administrators, or IT consultants who are looking to expand their knowledge on how to utilize DPM to protect their organization's data.

  13. Synergies between blood center and hospital quality systems.

    Science.gov (United States)

    Rhamy, Jennifer F

    2010-12-01

    Blood centers have expertise in following federally mandated standards and establishing rigorous quality systems. Medicare participating hospitals and their laboratories must be compliant with the requirements of the Centers for Medicare and Medicaid Services. Following standards and experiencing unannounced surveys allow blood centers and hospitals to organize and strengthen their patient safety efforts and achieve high-reliability operations. Blood centers provide essential services to hospitals and laboratories according to written contracts; therefore, blood centers need to understand the CMS requirements for blood administration activities and supplier management within these written agreements. Sharing expertise gained from experience with the US Food and Drug Administration and professional standard-setting organizations may be an opportunity for blood centers to build deeper customer relationships and assist in the delivery of high-quality patient care. © 2010 American Association of Blood Banks.

  14. Specification for Visual Requirements of Work-Centered Software Systems

    National Research Council Canada - National Science Library

    Knapp, James R

    2006-01-01

    ... aspects of the user interface design. Without the ability to specify such original requirements, the probability of creating an accurate and effective work-centered software system is significantly reduced...

  15. Microsoft System Center 2012 R2 Operations Manager cookbook

    CERN Document Server

    Beaumont (MVP), Steve; Odika, Chiyo; Ryan, Robert

    2015-01-01

    If you are tasked with monitoring the IT infrastructure within your organization, this book demonstrates how System Center 2012 R2 Operations Manager offers a radical and exciting solution to modern administration.

  16. NIMH Prototype Management Information System for Community Mental Health Centers

    OpenAIRE

    Wurster, Cecil R.; Goodman, John D.

    1980-01-01

    Various approaches to centralized support of computer applications in health care are described. The NIMH project to develop a prototype Management Information System (MIS) for community mental health centers is presented and discussed as a centralized development of an automated data processing system for multiple user organizations. The NIMH program is summarized, the prototype MIS is characterized, and steps taken to provide for the differing needs of the mental health centers are highligh...

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

    Directory of Open Access Journals (Sweden)

    Samuela PERSIA

    2016-04-01

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

  18. Walk-In Triage Systems in University Counseling Centers

    Science.gov (United States)

    Shaffer, Katharine S.; Love, Michael M.; Chapman, Kelsey M.; Horn, Angela J.; Haak, Patricia P.; Shen, Claire Y. W.

    2017-01-01

    To meet the complex mental health needs of students, some university counseling centers (UCCs) have implemented walk-in triage intake systems, which have not yet been empirically investigated. This study compared client and clinician differences (N = 5564) between a traditional scheduled intake system (Year 1) and a walk-in triage system (Year 2)…

  19. Marshall Space Flight Center Ground Systems Development and Integration

    Science.gov (United States)

    Wade, Gina

    2016-01-01

    Ground Systems Development and Integration performs a variety of tasks in support of the Mission Operations Laboratory (MOL) and other Center and Agency projects. These tasks include various systems engineering processes such as performing system requirements development, system architecture design, integration, verification and validation, software development, and sustaining engineering of mission operations systems that has evolved the Huntsville Operations Support Center (HOSC) into a leader in remote operations for current and future NASA space projects. The group is also responsible for developing and managing telemetry and command configuration and calibration databases. Personnel are responsible for maintaining and enhancing their disciplinary skills in the areas of project management, software engineering, software development, software process improvement, telecommunications, networking, and systems management. Domain expertise in the ground systems area is also maintained and includes detailed proficiency in the areas of real-time telemetry systems, command systems, voice, video, data networks, and mission planning systems.

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

    Science.gov (United States)

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

    2013-03-01

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

  1. Underwater plasma arc cutting

    International Nuclear Information System (INIS)

    Leautier, R.; Pilot, G.

    1991-01-01

    This report describes the work done to develop underwater plasma arc cutting techniques, to characterise aerosols from cutting operations on radioactive and non-radioactive work-pieces, and to develop suitable ventilation and filtration techniques. The work has been carried out in the framework of a contract between CEA-CEN Cadarache and the Commission of European Communities. Furthermore, this work has been carried out in close cooperation with CEA-CEN Saclay mainly for secondary emissions and radioactive analysis. The contract started in May 1986 and was completed in December 1988 by a supplementary agreement. This report has been compiled from several progress reports submitted during the work period, contains the main findings of the work and encloses the results of comparative tests on plasma arc cutting

  2. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

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

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

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

    Directory of Open Access Journals (Sweden)

    Chao Bai

    2018-01-01

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

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

    Science.gov (United States)

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

    2011-01-01

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

  5. Design and Implementation of an Underwater Sound Recording Device

    Directory of Open Access Journals (Sweden)

    Christa M. Woodley

    2011-09-01

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

  6. BASIN-CENTERED GAS SYSTEMS OF THE U.S.

    Energy Technology Data Exchange (ETDEWEB)

    Marin A. Popov; Vito F. Nuccio; Thaddeus S. Dyman; Timothy A. Gognat; Ronald C. Johnson; James W. Schmoker; Michael S. Wilson; Charles Bartberger

    2000-11-01

    The USGS is re-evaluating the resource potential of basin-centered gas accumulations in the U.S. because of changing perceptions of the geology of these accumulations, and the availability of new data since the USGS 1995 National Assessment of United States oil and gas resources (Gautier et al., 1996). To attain these objectives, this project used knowledge of basin-centered gas systems and procedures such as stratigraphic analysis, organic geochemistry, modeling of basin thermal dynamics, reservoir characterization, and pressure analysis. This project proceeded in two phases which had the following objectives: Phase I (4/1998 through 5/1999): Identify and describe the geologic and geographic distribution of potential basin-centered gas systems, and Phase II (6/1999 through 11/2000): For selected systems, estimate the location of those basin-centered gas resources that are likely to be produced over the next 30 years. In Phase I, we characterize thirty-three (33) potential basin-centered gas systems (or accumulations) based on information published in the literature or acquired from internal computerized well and reservoir data files. These newly defined potential accumulations vary from low to high risk and may or may not survive the rigorous geologic scrutiny leading towards full assessment by the USGS. For logistical reasons, not all basins received the level of detail desired or required.

  7. DOE Heat Pump Centered Integrated Community Energy Systems Project

    Energy Technology Data Exchange (ETDEWEB)

    Calm, J. M.

    1979-01-01

    The Heat Pump Centered Integrated Community Energy Systems (HP-ICES) Project is a multiphase undertaking seeking to demonstrate one or more operational HP-ICES by the end of 1983. The seven phases include System Development, Demonstration Design, Design Completion, HP-ICES Construction, Operation and Data Acquisition, HP-ICES Evaluation, and Upgraded Continuation. This project is sponsored by the Community Systems Branch, Office of Buildings and Community Systems, Assistant Secretary for Conservation and Solar Applicaions, U.S. Department of Energy (DOE). It is part of the Community Systems Program and is managed by the Energy and Environmental Systems Division of Argonne Natinal Laboratory.

  8. University of Rhode Island Regional Earth Systems Center

    Energy Technology Data Exchange (ETDEWEB)

    Rothstein, Lewis [Univ. of Rhode Island, Kingston, RI (United States); Cornillon, P. [Univ. of Rhode Island, Kingston, RI (United States)

    2017-02-06

    The primary objective of this program was to establish the URI Regional Earth System Center (“Center”) that would enhance overall societal wellbeing (health, financial, environmental) by utilizing the best scientific information and technology to achieve optimal policy decisions with maximum stakeholder commitment for energy development, coastal environmental management, water resources protection and human health protection, while accelerating regional economic growth. The Center was to serve to integrate existing URI institutional strengths in energy, coastal environmental management, water resources, and human wellbeing. This integrated research, educational and public/private sector outreach Center was to focus on local, state and regional resources. The centerpiece activity of the Center was in the development and implementation of integrated assessment models (IAMs) that both ‘downscaled’ global observations and interpolated/extrapolated regional observations for analyzing the complexity of interactions among humans and the natural climate system to further our understanding and, ultimately, to predict the future state of our regional earth system. The Center was to begin by first ‘downscaling’ existing global earth systems management tools for studying the causes of local, state and regional climate change and potential social and environmental consequences, with a focus on the regional resources identified above. The Center would ultimately need to address the full feedbacks inherent in the nonlinear earth systems by quantifying the “upscaled” impacts of those regional changes on the global earth system. Through an interacting suite of computer simulations that are informed by observations from the nation’s evolving climate observatories, the Center activities integrates climate science, technology, economics, and social policy into forecasts that will inform solutions to pressing issues in regional climate change science,

  9. 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

  10. 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.

  11. MEMS-based Optic Fiber Fabry-Perot Sensor for Underwater Acoustic Measurement with A Wavelength-switched System

    Science.gov (United States)

    Xia, J.; Y Wang, F.; Luo, H.; Hu, Y. M.; Xiong, S. D.

    2017-12-01

    In this paper, a MEMS-based extrinsic Farby-Perot Interferometric (EFPI) acoustic pressure acoustic sensor is presented. The diaphragm structure is used as the second reflected surface, and the sensitive surface to acoustic pressure. A wavelength-switched phase demodulation system for EFPI sensors is used for acoustic signal recovery. The modified phase demodulation system has been demonstrated to recover the signal to a stable intensity fluctuation level of ±0.5 dB at the test frequency of 2000 Hz. In the test depth of 50cm, the sensor has a resonant frequency of 3.7 kHz, a flat frequency range of 10-800Hz, and a corresponding acoustic pressure sensitivity of -159 dB re. 1/μPa.

  12. World Key Information Service System Designed For EPCOT Center

    Science.gov (United States)

    Kelsey, J. A.

    1984-03-01

    An advanced Bell Laboratories and Western Electric designed electronic information retrieval system utilizing the latest Information Age technologies, and a fiber optic transmission system is featured at the Walt Disney World Resort's newest theme park - The Experimental Prototype Community of Tomorrow (EPCOT Center). The project is an interactive audio, video and text information system that is deployed at key locations within the park. The touch sensitive terminals utilizing the ARIEL (Automatic Retrieval of Information Electronically) System is interconnected by a Western Electric designed and manufactured lightwave transmission system.

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

    Directory of Open Access Journals (Sweden)

    Carrick Detweiler

    2014-05-01

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

  14. 3D Modelling of a Vectored Water Jet-Based Multi-Propeller Propulsion System for a Spherical Underwater Robot

    Directory of Open Access Journals (Sweden)

    Xichuan Lin

    2013-01-01

    Full Text Available This paper presents an improved modelling method for a water jet-based multi-propeller propulsion system. In our previous work, the modelling experiments were only carried out in 2D planes, whose experimental results had poor agreement when we wanted to control the propulsive forces in 3D space directly. This research extends the 2D modelling described in the authors' previous work into 3D space. By doing this, the model could include 3D space information, which is more useful than that of 2D space. The effective propulsive forces and moments in 3D space can be obtained directly by synthesizing the propulsive vectors of propellers. For this purpose, a novel experimental mechanism was developed to achieve the proposed 3D modelling. This mechanism was designed with the mass distribution centred for the robot. By installing a six-axis load-cell sensor at the equivalent mass centre, we obtained the direct propulsive effect of the system for the robot. Also, in this paper, the orientation surface and propulsive surfaces are developed to provide the 3D information of the propulsive system. Experiments for each propeller were first carried out to establish the models. Then, further experiments were carried out with all of the propellers working together to validate the models. Finally, we compared the various experimental results with the simulation data. The utility of this modelling method is discussed at length.

  15. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

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

  16. 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.

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

    Science.gov (United States)

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

    2011-12-01

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

  18. 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.

  19. Microsoft System Center Data Protection Manager 2012 R2 cookbook

    CERN Document Server

    Hedblom, Robert

    2015-01-01

    If you are a DPM administrator, this book will help you verify your knowledge and provide you with everything you need to know about the 2012 R2 release. No prior knowledge about System Center DPM is required, however some experience of running backups will come in handy.

  20. Power-reduction techniques for data-center storage systems

    NARCIS (Netherlands)

    Bostoen, Tom; Mullender, Sape J.; Berbers, Yolande

    As data-intensive, network-based applications proliferate, the power consumed by the data-center storage subsystem surges. This survey summarizes, organizes, and integrates a decade of research on power-aware enterprise storage systems. All of the existing power-reduction techniques are classified

  1. Performance evaluation of a center pivot variable rate irrigation system

    Science.gov (United States)

    Variable Rate Irrigation (VRI) for center pivots offers potential to match specific application rates to non-uniform soil conditions along the length of the lateral. The benefit of such systems is influenced by the areal extent of these variations and the smallest scale to which the irrigation syste...

  2. System security in the space flight operations center

    Science.gov (United States)

    Wagner, David A.

    1988-01-01

    The Space Flight Operations Center is a networked system of workstation-class computers that will provide ground support for NASA's next generation of deep-space missions. The author recounts the development of the SFOC system security policy and discusses the various management and technology issues involved. Particular attention is given to risk assessment, security plan development, security implications of design requirements, automatic safeguards, and procedural safeguards.

  3. Hemispherical optical dome for underwater communication

    Science.gov (United States)

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

    2017-08-01

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

  4. 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.

  5. Reliability centered operational performance measure for computer systems in NPPs

    International Nuclear Information System (INIS)

    Khobare, S.K.; Chandra, Umesh; Govindarajan, G.

    1992-01-01

    There could be arguments in favour and against the application of digital computers in highly safety critical plants like nuclear power plants (NPPs). The unfavourable arguments arise mainly due to grey areas in accurate assessment, demonstration of the required reliability and availability of computer systems. This requirement is important particularly for computer applications in control and protection logic systems of the NPPs. Systematic performance comparison study is required to be made for these applications against the conventional hard wired logic systems. The present paper discusses reliability centered system and plant performance measures to analyse the gains of computer applications in the NPPs. (author). 5 refs. 2 tabs

  6. NASA Space Engineering Research Center for VLSI systems design

    Science.gov (United States)

    1991-01-01

    This annual review reports the center's activities and findings on very large scale integration (VLSI) systems design for 1990, including project status, financial support, publications, the NASA Space Engineering Research Center (SERC) Symposium on VLSI Design, research results, and outreach programs. Processor chips completed or under development are listed. Research results summarized include a design technique to harden complementary metal oxide semiconductors (CMOS) memory circuits against single event upset (SEU); improved circuit design procedures; and advances in computer aided design (CAD), communications, computer architectures, and reliability design. Also described is a high school teacher program that exposes teachers to the fundamentals of digital logic design.

  7. A highly versatile autonomous underwater vehicle with biomechanical propulsion

    NARCIS (Netherlands)

    Simons, D.G.; Bergers, M.M.C.; Henrion, S.; Hulzenga, J.I.J.; Jutte, R.W.; Pas, W.M.G.; Van Schravendijk, M.; Vercruyssen, T.G.A.; Wilken, A.P.

    2009-01-01

    An autonomous underwater vehicle with a biomechanical propulsion system is a possible answer to the demand for small, silent sensor platforms in many fields. The design of Galatea, a bio-mimetic AUV, involves four aspects: hydrodynamic shape, the propulsion, the motion control systems and payload.

  8. Software architecture of biomimetic underwater vehicle

    Science.gov (United States)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

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

  9. Paramagnetic centers in nanocrystalline TiC/C system

    International Nuclear Information System (INIS)

    Guskos, N.; Bodziony, T.; Maryniak, M.; Typek, J.; Biedunkiewicz, A.

    2008-01-01

    Electron paramagnetic resonance is applied to study the defect centers in nanocrystalline titanium carbide dispersed in carbon matrix (TiC x /C) synthesized by the non-hydrolytic sol-gel process. The presence of Ti 3+ paramagnetic centers is identified below 120 K along with a minor contribution from localized defect spins coupled with the conduction electron system in the carbon matrix. The temperature dependence of the resonance intensity of the latter signal indicates weak antiferromagnetic interactions. The presence of paramagnetic centers connected with trivalent titanium is suggested to be the result of chemical disorder, which can be further related to the observed anomalous behavior of conductivity, hardness, and corrosion resistance of nanocrystalline TiC x /C

  10. Space and Missile Systems Center Standard: Space Flight Pressurized Systems

    Science.gov (United States)

    2015-02-28

    25 5.8 Pneumatic System Configuration...temperatures, and thermal gradients. [4.2.5-4] Both membrane stress and bending stress resulting from internal pressure and external loads shall be...welding, bonding, forming, joining, machining , drilling, grinding, repair, etc., processes as applied to joining system 14 components and

  11. Underwater measurements of muon intensity

    Science.gov (United States)

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

    1985-01-01

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

  12. Underwater Acoustic Communication Quality Evaluation Model Based on USV

    Directory of Open Access Journals (Sweden)

    Zhichao Lv

    2018-01-01

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

  13. Control Systems Security Test Center - FY 2004 Program Summary

    Energy Technology Data Exchange (ETDEWEB)

    Robert E. Polk; Alen M. Snyder

    2005-04-01

    In May 2004, the US-CERT Control Systems Security Center (CSSC) was established at Idaho National Laboratory to execute assessment activities to reduce the vulnerability of the nation’s critical infrastructure control systems to terrorist attack. The CSSC implements a program to accomplish the five goals presented in the US-CERT National Strategy for Control Systems Security. This report summarizes the first year funding of startup activities and program achievements that took place in FY 2004 and early FY 2005. This document was prepared for the US-CERT Control Systems Security Center of the National Cyber Security Division of the Department of Homeland Security (DHS). DHS has been tasked under the Homeland Security Act of 2002 to coordinate the overall national effort to enhance the protection of the national critical infrastructure. Homeland Security Presidential Directive HSPD-7 directs federal departments to identify and prioritize the critical infrastructure and protect it from terrorist attack. The US-CERT National Strategy for Control Systems Security was prepared by the National Cyber Security Division to address the control system security component addressed in the National Strategy to Secure Cyberspace and the National Strategy for the Physical Protection of Critical Infrastructures and Key Assets. The US-CERT National Strategy for Control Systems Security identified five high-level strategic goals for improving cyber security of control systems.

  14. Underwater Acoustic Beacon Location System

    Science.gov (United States)

    2016-12-23

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

  15. 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....... The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems....

  16. An Underwater Color Image Quality Evaluation Metric.

    Science.gov (United States)

    Yang, Miao; Sowmya, Arcot

    2015-12-01

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

  17. System Center 2012 R2 Virtual Machine Manager cookbook

    CERN Document Server

    Cardoso, Edvaldo Alessandro

    2014-01-01

    This book is a step-by-step guide packed with recipes that cover architecture design and planning. The book is also full of deployment tips, techniques, and solutions. If you are a solutions architect, technical consultant, administrator, or any other virtualization enthusiast who needs to use Microsoft System Center Virtual Machine Manager in a real-world environment, then this is the book for you. We assume that you have previous experience with Windows 2012 R2 and Hyper-V.

  18. New computer system for the Japan Tier-2 center

    CERN Multimedia

    Hiroyuki Matsunaga

    2007-01-01

    The ICEPP (International Center for Elementary Particle Physics) of the University of Tokyo has been operating an LCG Tier-2 center dedicated to the ATLAS experiment, and is going to switch over to the new production system which has been recently installed. The system will be of great help to the exciting physics analyses for coming years. The new computer system includes brand-new blade servers, RAID disks, a tape library system and Ethernet switches. The blade server is DELL PowerEdge 1955 which contains two Intel dual-core Xeon (WoodCrest) CPUs running at 3GHz, and a total of 650 servers will be used as compute nodes. Each of the RAID disks is configured to be RAID-6 with 16 Serial ATA HDDs. The equipment as well as the cooling system is placed in a new large computer room, and both are hooked up to UPS (uninterruptible power supply) units for stable operation. As a whole, the system has been built with redundant configuration in a cost-effective way. The next major upgrade will take place in thre...

  19. Calibration of Underwater Sound Transducers

    OpenAIRE

    H.R.S. Sastry

    1983-01-01

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

  20. 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)

  1. 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…

  2. 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.

  3. Engineering system dynamics a unified graph-centered approach

    CERN Document Server

    Brown, Forbes T

    2006-01-01

    For today's students, learning to model the dynamics of complex systems is increasingly important across nearly all engineering disciplines. First published in 2001, Forbes T. Brown's Engineering System Dynamics: A Unified Graph-Centered Approach introduced students to a unique and highly successful approach to modeling system dynamics using bond graphs. Updated with nearly one-third new material, this second edition expands this approach to an even broader range of topics. What's New in the Second Edition? In addition to new material, this edition was restructured to build students' competence in traditional linear mathematical methods before they have gone too far into the modeling that still plays a pivotal role. New topics include magnetic circuits and motors including simulation with magnetic hysteresis; extensive new material on the modeling, analysis, and simulation of distributed-parameter systems; kinetic energy in thermodynamic systems; and Lagrangian and Hamiltonian methods. MATLAB(R) figures promi...

  4. Student-Built Underwater Video and Data Capturing Device

    Science.gov (United States)

    Whitt, F.

    2016-12-01

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

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

    NARCIS (Netherlands)

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

    2014-01-01

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

  6. HullBUG Technology Development for Underwater Hull Cleaning

    Science.gov (United States)

    2015-05-14

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

  7. Underwater Wireless Acousto-Optic Waveguide (UWAOW)

    Science.gov (United States)

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

    2017-10-01

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

  8. System Engineering Processes at Kennedy Space Center for Development of SLS and Orion Launch Systems

    Science.gov (United States)

    Schafer, Eric; Stambolian, Damon; Henderson, Gena

    2013-01-01

    There are over 40 subsystems being developed for the future SLS and Orion Launch Systems at Kennedy Space Center. These subsystems are developed at the Kennedy Space Center Engineering Directorate. The Engineering Directorate at Kennedy Space Center follows a comprehensive design process which requires several different product deliverables during each phase of each of the subsystems. This Presentation describes this process with examples of where the process has been applied.

  9. Present status of the JNC Tono Geoscience Center AMS system

    Science.gov (United States)

    Itoh, Shigeru; Abe, Masahito; Watanabe, Masato; Nakai, Suguru; Touyama, Hisayo; Xu, Sheng

    2004-08-01

    The present status of the JNC Tono Geoscience Center AMS system (TGC-AMS) and the recent developments for 14C and 10Be are summarized. The preparation system for 14C has been modified to enable the preparation of small samples. The precision for 14C measurements with samples having a carbon mass >0.3 mg was normally within 0.5%. For the 10Be analysis, the detector of the AMS system has been improved by mounting a nitrogen absorber together with Havar windows in order to suppress 10B isobars. The efficient separation of 10B from 10Be was demonstrated by comparing the rest energy spectra of a 10Be standard and a mutually 10Be-free sample material.

  10. Present status of the JNC Tono Geoscience Center AMS system

    Energy Technology Data Exchange (ETDEWEB)

    Itoh, Shigeru E-mail: shigeru@tono.jnc.go.jp; Abe, Masahito; Watanabe, Masato; Nakai, Suguru; Touyama, Hisayo; Xu Sheng

    2004-08-01

    The present status of the JNC Tono Geoscience Center AMS system (TGC-AMS) and the recent developments for {sup 14}C and {sup 10}Be are summarized. The preparation system for {sup 14}C has been modified to enable the preparation of small samples. The precision for {sup 14}C measurements with samples having a carbon mass >0.3 mg was normally within 0.5%. For the {sup 10}Be analysis, the detector of the AMS system has been improved by mounting a nitrogen absorber together with Havar windows in order to suppress {sup 10}B isobars. The efficient separation of {sup 10}B from {sup 10}Be was demonstrated by comparing the rest energy spectra of a {sup 10}Be standard and a mutually {sup 10}Be-free sample material.

  11. CCSDS telemetry systems experience at the Goddard Space Flight Center

    Science.gov (United States)

    Carper, Richard D.; Stallings, William H., III

    1990-01-01

    NASA Goddard Space Flight Center (GSFC) designs, builds, manages, and operates science and applications spacecraft in near-earth orbit, and provides data capture, data processing, and flight control services for these spacecraft. In addition, GSFC has the responsibility of providing space-ground and ground-ground communications for near-earth orbiting spacecraft, including those of the manned spaceflight programs. The goal of reducing both the developmental and operating costs of the end-to-end information system has led the GSFC to support and participate in the standardization activities of the Consultative Committee for Space Data Systems (CCSDS), including those for packet telemetry. The environment in which such systems function is described, and the GSFC experience with CCSDS packet telemetry in the context of the Gamma-Ray Observatory project is discussed.

  12. New data acquisition system for the lujan center

    International Nuclear Information System (INIS)

    Nelson, R.; Bowling, P.S.; Cooper, G.M.; Kozlowski, T.

    2001-01-01

    To meet the data acquisition requirements for six new neutron scattering instruments at the Los Alamos Science Center (LANSCE), we are building systems using Web tools, commercial hardware and software, software developed by the controls community, and custom hardware developed by the neutron scattering community. To service these new instruments as well as seven existing instruments, our data acquisition system needs common software and hardware core capabilities and the means to flexibly integrate them while differentiating the needs of the diverse instrument suite. Neutron events are captured and processed in VXI modules while controls for sample environment and beam line setup are processed with PCs. Typically users access the system through web browsers. (author)

  13. Neuromorphic cognitive systems a learning and memory centered approach

    CERN Document Server

    Yu, Qiang; Hu, Jun; Tan Chen, Kay

    2017-01-01

    This book presents neuromorphic cognitive systems from a learning and memory-centered perspective. It illustrates how to build a system network of neurons to perform spike-based information processing, computing, and high-level cognitive tasks. It is beneficial to a wide spectrum of readers, including undergraduate and postgraduate students and researchers who are interested in neuromorphic computing and neuromorphic engineering, as well as engineers and professionals in industry who are involved in the design and applications of neuromorphic cognitive systems, neuromorphic sensors and processors, and cognitive robotics. The book formulates a systematic framework, from the basic mathematical and computational methods in spike-based neural encoding, learning in both single and multi-layered networks, to a near cognitive level composed of memory and cognition. Since the mechanisms for integrating spiking neurons integrate to formulate cognitive functions as in the brain are little understood, studies of neuromo...

  14. 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.

  15. BER evaluations for multimode beams in underwater turbulence

    Science.gov (United States)

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

    2016-07-01

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

  16. Hybrid Underwater Vehicle: ARV Design and Development

    Directory of Open Access Journals (Sweden)

    Zhigang DENG

    2014-02-01

    Full Text Available The development of SMU-I, a new autonomous & remotely-operated vehicle (ARV is described. Since it has both the characteristics of autonomous underwater vehicle (AUV and remote operated underwater vehicle (ROV, it is able to achieve precision fix station operation and manual timely intervention. In the paper the initial design of basic components, such as vehicle, propulsion, batteries etc. and the control design of motion are introduced and analyzed. ROV’s conventional cable is replaced by a fiber optic cable, which makes it available for high-bandwidth real-time video, data telemetry and high-quality teleoperation. Furthermore, with the aid of the manual real-time remote operation and ranging sonar, it also resolves the AUV’s conflicting issue, which can absolutely adapt the actual complex sea environment and satisfy the unknown mission need. The whole battery system is designed as two-battery banks, whose voltages and temperatures are monitored through CAN (controller area network bus to avoid battery fire and explosion. A fuzzy-PID controller is designed for its motion control, including depth control and direction control. The controller synthesizes the advantage of fuzzy control and PID control, utilizes the fuzzy rules to on-line tune the parameters of PID controller, and achieves a better control effect. Experiment results demonstrate to show the effectiveness of the test-bed.

  17. Digital passband processing of wideband-modulated optical signals for enhanced underwater imaging.

    Science.gov (United States)

    Mullen, Linda; Lee, Robert; Nash, Justin

    2016-11-01

    Radar modulation, demodulation, and signal processing techniques have been merged with laser imaging to enhance visibility in murky underwater environments. The modulation provides a way to reject multiple scattered light that would otherwise reduce image contrast and resolution. Recent work has focused on the use of wideband modulation schemes and digital passband processing to resolve range details of an underwater scene. Use of the CLEAN algorithm has also been investigated to extract object features that are obscured by scattered light. Results from controlled laboratory experiments show an improvement in the range resolution and accuracy of underwater imagery relative to data collected with a conventional short pulse system.

  18. Underwater optical communications using orbital angular momentum-based spatial division multiplexing

    Science.gov (United States)

    Willner, Alan E.; Zhao, Zhe; Ren, Yongxiong; Li, Long; Xie, Guodong; Song, Haoqian; Liu, Cong; Zhang, Runzhou; Bao, Changjing; Pang, Kai

    2018-02-01

    In this paper, we review high-capacity underwater optical communications using orbital angular momentum (OAM)-based spatial division multiplexing. We discuss methods to generate and detect blue-green optical data-carrying OAM beams as well as various underwater effects, including attenuation, scattering, current, and thermal gradients on OAM beams. Attention is also given to the system performance of high-capacity underwater optical communication links using OAM-based space division multiplexing. The paper closes with a discussion of a digital signal processing (DSP) algorithm to mitigate the inter-mode crosstalk caused by thermal gradients.

  19. 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.

  20. Network Computing for Distributed Underwater Acoustic Sensors

    Science.gov (United States)

    2014-03-31

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

  1. Model-Based Systems Engineering in Concurrent Engineering Centers

    Science.gov (United States)

    Iwata, Curtis; Infeld, Samantha; Bracken, Jennifer Medlin; McGuire, Melissa; McQuirk, Christina; Kisdi, Aron; Murphy, Jonathan; Cole, Bjorn; Zarifian, Pezhman

    2015-01-01

    Concurrent Engineering Centers (CECs) are specialized facilities with a goal of generating and maturing engineering designs by enabling rapid design iterations. This is accomplished by co-locating a team of experts (either physically or virtually) in a room with a narrow design goal and a limited timeline of a week or less. The systems engineer uses a model of the system to capture the relevant interfaces and manage the overall architecture. A single model that integrates other design information and modeling allows the entire team to visualize the concurrent activity and identify conflicts more efficiently, potentially resulting in a systems model that will continue to be used throughout the project lifecycle. Performing systems engineering using such a system model is the definition of model-based systems engineering (MBSE); therefore, CECs evolving their approach to incorporate advances in MBSE are more successful in reducing time and cost needed to meet study goals. This paper surveys space mission CECs that are in the middle of this evolution, and the authors share their experiences in order to promote discussion within the community.

  2. Effects of improving current characteristics of spark discharge on underwater shock waves

    Directory of Open Access Journals (Sweden)

    O Higa

    2016-09-01

    Full Text Available We have been developing a food-processing device that uses underwater shock waves generated by spark discharges at an underwater spark gap. Underwater shock waves can be used in food processing for softening, fracturing and sterilization. These technologies are attracting attention because the food is not heated during processing, so it does not change flavour. In this study, we develop a rice-powder manufacturing system using the fracturing effect provided by underwater shock waves. Because rice grains are very hard, the process must be applied repeatedly using a momentary high pressure to fracture the grains. The fast repeated generation of shock waves should provide high pressures from low energies. Therefore, we aim to achieve higher pressures from low energies expended by the underwater gap discharge. We increase the pulse compression rate by decreasing the circuit impedance of the device and increasing the charging voltage. Using optical observations and a pressure sensor, we measure the high pressure developed by the underwater shock wave and the rise time of the discharge current. We find that we can decrease the rise time of the discharge current by 17% while maintaining the peak current, and simultaneously increase the high pressure of the underwater shock wave by 135%.

  3. 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.

  4. Assessment on shock pressure acquisition from underwater explosion using uncertainty of measurement

    Directory of Open Access Journals (Sweden)

    Seok-Jun Moon

    2017-11-01

    Full Text Available This study aims to verify experimentally the specifications of the data acquisition system required for the precise measurement of signals in an underwater explosion (UNDEX experiment. The three data acquisition systems with different specifications are applied to compare their precision relatively on maximum shock pressures from UNDEX. In addition, a method of assessing the acquired signals is suggested by introducing the concept of measurement uncertainty. The underwater explosion experiments are repeated five times under same conditions, and assessment is conducted on maximum quantities acquired from underwater pressure sensors. It is confirmed that the concept of measurement uncertainty is very useful method in accrediting the measurement results of UNDEX experiments. Keywords: Naval ship, Underwater explosion (UNDEX experiment, Shock pressure, Data acquisition system, Uncertainty of measurement

  5. Analysis of recordings from underwater controlled sources in the Pacific Ocean received by the International Monitoring System (IMS) of the Comprehensive Nuclear-Test-Ban Treaty Organization (CTBTO)

    Science.gov (United States)

    Yamada, Tomoaki; Zampolli, Mario; Haralabus, Georgios; Heaney, Kevin; Prior, Mark; Isse, Takeshi

    2016-04-01

    Controlled impulsive scientific underwater sound sources in the Northwestern Pacific were observed at two IMS hydroacoustic stations in the Pacific Ocean. Although these experiments were conducted with the aim of studying the physical properties of the plate boundaries inside the Earth, they are also suitable for the investigation of long range underwater acoustic detections. In spite of the fact that the energy of these controlled impulsive scientific sources is significantly smaller than that of nuclear explosions, the signals were obtained by IMS hydrophone stations thousands of kilometres away and also by distant ocean bottom instruments operated by various Institutes, such as the Earthquake Research Institute, University of Tokyo. These experiments provide calibrated (yield, time, location) long-range acoustic transmissions, which enable one to examine the physics of long-range acoustic propagation and to verify the capabilities of the CTBTO IMS network to detect even small explosions.The two IMS stations used are H03 (Juan Fernandez Island, Chile) off the coast of Chile in the Southeastern Pacific and H11 (Wake Island, USA) in the Western Pacific. Both stations consist of two triplets of hydrophones in the SOFAR channel, which monitor the oceans for signs of nuclear explosions. H03 detected low-yield explosions above flat terrain at distances of 15,000 km across the Pacific as well as explosions above the landward slope off the coast of Japan at distances above 16,000 km across the Pacific. These records showed that source signatures, such as short duration and bubble pulses, were preserved over the long propagation distances. It was found that the observed maximum amplitudes from each source exhibit order of magnitude variations even when the yield and detonation depth are the same. The experimental data and transmission loss simulations suggest that bathymetric features around the sources and between the sources and the receivers are the main causes for

  6. Quality management system of Saraykoy Nuclear Research and Training center

    International Nuclear Information System (INIS)

    Gurellier, R.; Akchay, S.; Zararsiz, S.

    2014-01-01

    Full text : Technical competence and national/international acceptance of independency of laboratories is ensured by going through accreditations. It provides decreasing the risk of a slowdown in international trade due to unnecessary repetition of testing and analyses. It also eliminates the cost of additional experiments and analyses. Saraykoy Nuclear Research and Training Center (SANAEM) has performed intensive studies to establish an effective and well-functioning QMS (Quality Management System) by full accordance with the requirements of ISO/IEC 17025, since the begining of 2006. Laboratories, especially serving to public health studies and important trade duties require urgent accreditation. In this regard, SANAEM has established a quality management system and performed accreditation studies

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

    Science.gov (United States)

    Arnon, Shlomi; Kedar, Debbie

    2009-03-01

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

  8. OceanVideoLab: A Tool for Exploring Underwater Video

    Science.gov (United States)

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

    2016-02-01

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

  9. Development of a computer system at La Hague center

    International Nuclear Information System (INIS)

    Mimaud, Robert; Malet, Georges; Ollivier, Francis; Fabre, J.-C.; Valois, Philippe; Desgranges, Patrick; Anfossi, Gilbert; Gentizon, Michel; Serpollet, Roger.

    1977-01-01

    The U.P.2 plant, built at La Hague Center is intended mainly for the reprocessing of spent fuels coming from (as metal) graphite-gas reactors and (as oxide) light-water, heavy-water and breeder reactors. In each of the five large nuclear units the digital processing of measurements was dealt with until 1974 by CAE 3030 data processors. During the period 1974-1975 a modern industrial computer system was set up. This system, equipped with T 2000/20 material from the Telemecanique company, consists of five measurement acquisition devices (for a total of 1500 lines processed) and two central processing units (CPU). The connection of these two PCU (Hardware and Software) enables an automatic connection of the system either on the first CPU or on the second one. The system covers, at present, data processing, threshold monitoring, alarm systems, display devices, periodical listing, and specific calculations concerning the process (balances etc), and at a later stage, an automatic control of certain units of the Process [fr

  10. Center for Advanced Biofuel Systems (CABS) Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Kutchan, Toni M. [Donald Danforth Plant Science Center, St. Louis, MO (United States)

    2015-12-02

    One of the great challenges facing current and future generations is how to meet growing energy demands in an environmentally sustainable manner. Renewable energy sources, including wind, geothermal, solar, hydroelectric, and biofuel energy systems, are rapidly being developed as sustainable alternatives to fossil fuels. Biofuels are particularly attractive to the U.S., given its vast agricultural resources. The first generation of biofuel systems was based on fermentation of sugars to produce ethanol, typically from food crops. Subsequent generations of biofuel systems, including those included in the CABS project, will build upon the experiences learned from those early research results and will have improved production efficiencies, reduced environmental impacts and decreased reliance on food crops. Thermodynamic models predict that the next generations of biofuel systems will yield three- to five-fold more recoverable energy products. To address the technological challenges necessary to develop enhanced biofuel systems, greater understanding of the non-equilibrium processes involved in solar energy conversion and the channeling of reduced carbon into biofuel products must be developed. The objective of the proposed Center for Advanced Biofuel Systems (CABS) was to increase the thermodynamic and kinetic efficiency of select plant- and algal-based fuel production systems using rational metabolic engineering approaches grounded in modern systems biology. The overall strategy was to increase the efficiency of solar energy conversion into oils and other specialty biofuel components by channeling metabolic flux toward products using advanced catalysts and sensible design:1) employing novel protein catalysts that increase the thermodynamic and kinetic efficiencies of photosynthesis and oil biosynthesis; 2) engineering metabolic networks to enhance acetyl-CoA production and its channeling towards lipid synthesis; and 3) engineering new metabolic networks for the

  11. Development of a component centered fault monitoring and diagnosis knowledge based system for space power system

    Science.gov (United States)

    Lee, S. C.; Lollar, Louis F.

    1988-01-01

    The overall approach currently being taken in the development of AMPERES (Autonomously Managed Power System Extendable Real-time Expert System), a knowledge-based expert system for fault monitoring and diagnosis of space power systems, is discussed. The system architecture, knowledge representation, and fault monitoring and diagnosis strategy are examined. A 'component-centered' approach developed in this project is described. Critical issues requiring further study are identified.

  12. Information System Success Model for Customer Relationship Management System in Health Promotion Centers

    Science.gov (United States)

    Choi, Wona; Rho, Mi Jung; Park, Jiyun; Kim, Kwang-Jum; Kwon, Young Dae

    2013-01-01

    Objectives Intensified competitiveness in the healthcare industry has increased the number of healthcare centers and propelled the introduction of customer relationship management (CRM) systems to meet diverse customer demands. This study aimed to develop the information system success model of the CRM system by investigating previously proposed indicators within the model. Methods The evaluation areas of the CRM system includes three areas: the system characteristics area (system quality, information quality, and service quality), the user area (perceived usefulness and user satisfaction), and the performance area (personal performance and organizational performance). Detailed evaluation criteria of the three areas were developed, and its validity was verified by a survey administered to CRM system users in 13 nationwide health promotion centers. The survey data were analyzed by the structural equation modeling method, and the results confirmed that the model is feasible. Results Information quality and service quality showed a statistically significant relationship with perceived usefulness and user satisfaction. Consequently, the perceived usefulness and user satisfaction had significant influence on individual performance as well as an indirect influence on organizational performance. Conclusions This study extends the research area on information success from general information systems to CRM systems in health promotion centers applying a previous information success model. This lays a foundation for evaluating health promotion center systems and provides a useful guide for successful implementation of hospital CRM systems. PMID:23882416

  13. Information system success model for customer relationship management system in health promotion centers.

    Science.gov (United States)

    Choi, Wona; Rho, Mi Jung; Park, Jiyun; Kim, Kwang-Jum; Kwon, Young Dae; Choi, In Young

    2013-06-01

    Intensified competitiveness in the healthcare industry has increased the number of healthcare centers and propelled the introduction of customer relationship management (CRM) systems to meet diverse customer demands. This study aimed to develop the information system success model of the CRM system by investigating previously proposed indicators within the model. THE EVALUATION AREAS OF THE CRM SYSTEM INCLUDES THREE AREAS: the system characteristics area (system quality, information quality, and service quality), the user area (perceived usefulness and user satisfaction), and the performance area (personal performance and organizational performance). Detailed evaluation criteria of the three areas were developed, and its validity was verified by a survey administered to CRM system users in 13 nationwide health promotion centers. The survey data were analyzed by the structural equation modeling method, and the results confirmed that the model is feasible. Information quality and service quality showed a statistically significant relationship with perceived usefulness and user satisfaction. Consequently, the perceived usefulness and user satisfaction had significant influence on individual performance as well as an indirect influence on organizational performance. This study extends the research area on information success from general information systems to CRM systems in health promotion centers applying a previous information success model. This lays a foundation for evaluating health promotion center systems and provides a useful guide for successful implementation of hospital CRM systems.

  14. Operating The Central Process Systems At Glenn Research Center

    Science.gov (United States)

    Weiler, Carly P.

    2004-01-01

    As a research facility, the Glenn Research Center (GRC) trusts and expects all the systems, controlling their facilities to run properly and efficiently in order for their research and operations to occur proficiently and on time. While there are many systems necessary for the operations at GRC, one of those most vital systems is the Central Process Systems (CPS). The CPS controls operations used by GRC's wind tunnels, propulsion systems lab, engine components research lab, and compressor, turbine and combustor test cells. Used widely throughout the lab, it operates equipment such as exhausters, chillers, cooling towers, compressors, dehydrators, and other such equipment. Through parameters such as pressure, temperature, speed, flow, etc., it performs its primary operations on the major systems of Electrical Dispatch (ED), Central Air Dispatch (CAD), Central Air Equipment Building (CAEB), and Engine Research Building (ERB). In order for the CPS to continue its operations at Glenn, a new contract must be awarded. Consequently, one of my primary responsibilities was assisting the Source Evaluation Board (SEB) with the process of awarding the recertification contract of the CPS. The job of the SEB was to evaluate the proposals of the contract bidders and then to present their findings to the Source Selecting Official (SSO). Before the evaluations began, the Center Director established the level of the competition. For this contract, the competition was limited to those companies classified as a small, disadvantaged business. After an industry briefing that explained to qualified companies the CPS and type of work required, each of the interested companies then submitted proposals addressing three components: Mission Suitability, Cost, and Past Performance. These proposals were based off the Statement of Work (SOW) written by the SEB. After companies submitted their proposals, the SEB reviewed all three components and then presented their results to the SSO. While the

  15. Scientific and educational center "space systems and technology"

    Science.gov (United States)

    Kovalev, I. V.; Loginov, Y. Y.; Zelenkov, P. V.

    2015-10-01

    The issues of engineers training in the aerospace university on the base of Scientific and Educational Center "Space Systems and Technology" are discussed. In order to improve the quality of education in the Siberian State Aerospace University the research work of students, as well as the practice- oriented training of engineers are introduced in the educational process. It was made possible as a result of joint efforts of university with research institutes of the Russian Academy of Science and industrial enterprises. The university experience in this area promotes the development of a new methods and forms of educational activities, including the project-oriented learning technologies, identifying promising areas of specialization and training of highly skilled engineers for aerospace industry and other institutions. It also allows you to coordinate the work of departments and other units of the university to provide the educational process in workshops and departments of the industrial enterprises in accordance with the needs of the target training. Within the framework of scientific and education center the students perform researches, diploma works and master's theses; the postgraduates are trained in advanced scientific and technical areas of enterprise development.

  16. Underwater iceberg geometry

    National Research Council Canada - National Science Library

    Buckley, T. J

    1985-01-01

    ... basis for estimation iceberg draft. Factors affecting performance of an acoustic iceberg mapping system including frequency versus range and resolution, angle of incidence and beam bendering are investigated...

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

    Science.gov (United States)

    Veiga, Santiago; Roig, Andreu

    2016-01-01

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

  18. 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...

  19. Technology Selection for Offshore Underwater Small Modular Reactors

    OpenAIRE

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

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Zheping Yan

    2013-01-01

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

  1. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

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

  2. Development of underwater robot for taking off marine life

    International Nuclear Information System (INIS)

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

    1983-01-01

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

  3. A Validation Process for Underwater Localization Algorithms

    Directory of Open Access Journals (Sweden)

    Marc Hildebrandt

    2014-09-01

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

  4. AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL

    Directory of Open Access Journals (Sweden)

    Tao Zhang

    2015-12-01

    Full Text Available This paper studies an underwater positioning algorithm based on the interactive assistance of a strapdown inertial navigation system (SINS and LBL, and this algorithm mainly includes an optimal correlation algorithm with aided tracking of an SINS/Doppler velocity log (DVL/magnetic compass pilot (MCP, a three-dimensional TDOA positioning algorithm of Taylor series expansion and a multi-sensor information fusion algorithm. The final simulation results show that compared to traditional underwater positioning algorithms, this scheme can not only directly correct accumulative errors caused by a dead reckoning algorithm, but also solves the problem of ambiguous correlation peaks caused by multipath transmission of underwater acoustic signals. The proposed method can calibrate the accumulative error of the AUV position more directly and effectively, which prolongs the underwater operating duration of the AUV.

  5. AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL

    Science.gov (United States)

    Zhang, Tao; Chen, Liping; Li, Yao

    2015-01-01

    This paper studies an underwater positioning algorithm based on the interactive assistance of a strapdown inertial navigation system (SINS) and LBL, and this algorithm mainly includes an optimal correlation algorithm with aided tracking of an SINS/Doppler velocity log (DVL)/magnetic compass pilot (MCP), a three-dimensional TDOA positioning algorithm of Taylor series expansion and a multi-sensor information fusion algorithm. The final simulation results show that compared to traditional underwater positioning algorithms, this scheme can not only directly correct accumulative errors caused by a dead reckoning algorithm, but also solves the problem of ambiguous correlation peaks caused by multipath transmission of underwater acoustic signals. The proposed method can calibrate the accumulative error of the AUV position more directly and effectively, which prolongs the underwater operating duration of the AUV. PMID:26729120

  6. AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL.

    Science.gov (United States)

    Zhang, Tao; Chen, Liping; Li, Yao

    2015-12-30

    This paper studies an underwater positioning algorithm based on the interactive assistance of a strapdown inertial navigation system (SINS) and LBL, and this algorithm mainly includes an optimal correlation algorithm with aided tracking of an SINS/Doppler velocity log (DVL)/magnetic compass pilot (MCP), a three-dimensional TDOA positioning algorithm of Taylor series expansion and a multi-sensor information fusion algorithm. The final simulation results show that compared to traditional underwater positioning algorithms, this scheme can not only directly correct accumulative errors caused by a dead reckoning algorithm, but also solves the problem of ambiguous correlation peaks caused by multipath transmission of underwater acoustic signals. The proposed method can calibrate the accumulative error of the AUV position more directly and effectively, which prolongs the underwater operating duration of the AUV.

  7. Marine underwater in submarine

    International Nuclear Information System (INIS)

    Demarthon, F.; Dupuy-Maury, F.

    2004-01-01

    This dossier summarizes the 50 years of the French history of submarine nuclear propulsion. It presents the respective missions of the different types of submarines (dissuasion, protection), the inside structure, the maintenance works, the reactor and propulsion system, the new generation of nuclear submarines and the facilities for the on-shore testing of the reactor components. (J.S.)

  8. Small Radioisotope Power System Testing at NASA Glenn Research Center

    Science.gov (United States)

    Dugala, Gina; Bell, Mark; Oriti, Salvatore; Fraeman, Martin; Frankford, David; Duven, Dennis

    2013-01-01

    In April 2009, NASA Glenn Research Center (GRC) formed an integrated product team (IPT) to develop a Small Radioisotope Power System (SRPS) utilizing a single Advanced Stirling Convertor (ASC) with passive balancer. A single ASC produces approximately 80 We making this system advantageous for small distributed lunar science stations. The IPT consists of Sunpower, Inc., to provide the single ASC with a passive balancer, The Johns Hopkins University Applied Physics Laboratory (JHUAPL) to design an engineering model Single Convertor Controller (SCC) for an ASC with a passive balancer, and NASA GRC to provide technical support to these tasks and to develop a simulated lunar lander test stand. The single ASC with a passive balancer, simulated lunar lander test stand, and SCC were delivered to GRC and were tested as a system. The testing sequence at GRC included SCC fault tolerance, integration, electromagnetic interference (EMI), vibration, and extended operation testing. The SCC fault tolerance test characterized the SCCs ability to handle various fault conditions, including high or low bus power consumption, total open load or short circuit, and replacing a failed SCC card while the backup maintains control of the ASC. The integrated test characterized the behavior of the system across a range of operating conditions, including variations in cold-end temperature and piston amplitude, including the emitted vibration to both the sensors on the lunar lander and the lunar surface. The EMI test characterized the AC and DC magnetic and electric fields emitted by the SCC and single ASC. The vibration test confirms the SCCs ability to control the single ASC during launch. The extended operation test allows data to be collected over a period of thousands of hours to obtain long term performance data of the ASC with a passive balancer and the SCC. This paper will discuss the results of each of these tests.

  9. Joint Space Operations Center (JSpOC) Mission System (JMS)

    Science.gov (United States)

    Morton, M.; Roberts, T.

    2011-09-01

    US space capabilities benefit the economy, national security, international relationships, scientific discovery, and our quality of life. Realizing these space responsibilities is challenging not only because the space domain is increasingly congested, contested, and competitive but is further complicated by the legacy space situational awareness (SSA) systems approaching end of life and inability to provide the breadth of SSA and command and control (C2) of space forces in this challenging domain. JMS will provide the capabilities to effectively employ space forces in this challenging domain. Requirements for JMS were developed based on regular, on-going engagement with the warfighter. The use of DoD Architecture Framework (DoDAF) products facilitated requirements scoping and understanding and transferred directly to defining and documenting the requirements in the approved Capability Development Document (CDD). As part of the risk reduction efforts, the Electronic System Center (ESC) JMS System Program Office (SPO) fielded JMS Capability Package (CP) 0 which includes an initial service oriented architecture (SOA) and user defined operational picture (UDOP) along with force status, sensor management, and analysis tools. Development efforts are planned to leverage and integrate prototypes and other research projects from Defense Advanced Research Projects Agency, Air Force Research Laboratories, Space Innovation and Development Center, and Massachusetts Institute of Technology/Lincoln Laboratories. JMS provides a number of benefits to the space community: a reduction in operational “transaction time” to accomplish key activities and processes; ability to process the increased volume of metric observations from new sensors (e.g., SBSS, SST, Space Fence), as well as owner/operator ephemerides thus enhancing the high accuracy near-real-time catalog, and greater automation of SSA data sharing supporting collaboration with government, civil, commercial, and foreign

  10. Scalable DDoS Mitigation System for Data Centers

    Directory of Open Access Journals (Sweden)

    Zdenek Martinasek

    2015-01-01

    Full Text Available Distributed Denial of Service attacks (DDoS have been used by attackers for over two decades because of their effectiveness. This type of the cyber-attack is one of the most destructive attacks in the Internet. In recent years, the intensity of DDoS attacks has been rapidly increasing and the attackers combine more often different techniques of DDoS to bypass the protection. Therefore, the main goal of our research is to propose a DDoS solution that allows to increase the filtering capacity linearly and allows to protect against the combination of attacks. The main idea is to develop the DDoS defense system in the form of a portable software image that can be installed on the reserve hardware capacities. During a DDoS attack, these servers will be used as filters of this DDoS attack. Our solution is suitable for data centers and eliminates some lacks of commercial solutions. The system employs modular DDoS filters in the form of special grids containing specific protocol parameters and conditions.

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

    Directory of Open Access Journals (Sweden)

    Pshikhopov Vyacheslav

    2015-01-01

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

  12. The advantages of reliability centered maintenance for standby safety systems

    International Nuclear Information System (INIS)

    Dam, R.F.; Ayazzudin, S.; Nickerson, J.H.; DeLong, A.I.

    2002-01-01

    Full text: On standby safety systems, nuclear plants have to balance the requirements of demonstrating the reliability of each system, while maintaining the system and plant availability. With the goal of demonstrating statistical reliability, these systems have extensive testing programs, which often makes the system unavailable and this can impact the plant capacity. The inputs to the process are often safety and regulatory related, resulting in programs that provide a high level of scrutiny on the systems being considered. In such cases, the value of the application of a maintenance optimization strategy, such as Reliability Centered Maintenance (RCM), is questioned. Part of the question stems from the use of the word 'Reliability' in RCM, which implies a level of redundancy when applied to a system maintenance program driven by reliability requirements. A deeper look at the RCM process, however, shows that RCM has the goal of ensuring that the system operates 'reliably' through the application of an integrated maintenance strategy. This is a subtle, but important distinction. Although the system reliability requirements are an important part of the strategy evaluation, RCM provides a broader context where testing is only one part of an overall strategy focused on ensuring that component function is maintained through a combination of monitoring technologies (including testing), predictive techniques, and intrusive maintenance strategies. Each strategy is targeted to identify known component degradation mechanisms. The conclusion is that a maintenance program driven by reliability requirements will tend to have testing defined at a frequency intended to support the needed statistics. The testing demonstrates that the desired function is available today. Maintenance driven by functional requirements and known failure causes, as developed through an RCM assessment, will have frequencies tied to industry experience with components and rely on a higher degree of

  13. Electrohydroelastic dynamics of macro-fiber composites for underwater energy harvesting from base excitation

    Science.gov (United States)

    Shahab, S.; Erturk, A.

    2014-04-01

    Low-power electronic systems are used in various underwater applications ranging from naval sensor networks to ecological monitoring for sustainability. In this work, underwater base excitation of cantilevers made of Macro-Fiber Composite (MFC) piezoelectric structures is explored experimentally and theoretically to harvest energy for such wireless electronic components toward enabling self-powered underwater systems. Bimorph cantilevers made of MFCs with different length-to-width ratios and same thickness are tested in air and under water to characterize the change in natural frequency and damping with a focus on the fundamental bending mode. The real and imaginary parts of hydrodynamic frequency response functions are identified and corrected based on this set of experiments. An electrohydroelastic model is developed and experimentally validated for predicting the power delivered to an electrical load as well as the shunted underwater vibration response under base excitation. Variations of the electrical power output with excitation frequency and load resistance are obtained for different length-to-width ratios. Underwater power density results are reported and compared with their in-air counterparts. Specifically a nonlinear dependence of the power density to the cantilever width is reported for energy harvesting from underwater base excitation.

  14. 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.

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

    International Nuclear Information System (INIS)

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

    2007-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-07-01

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

  17. Nonlinear underwater robot controller design with adaptive disturbance prediction

    Directory of Open Access Journals (Sweden)

    Xin Songa

    2011-08-01

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

  18. 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.

  19. Underwater Robotics, Anyone?: A Competition for High School and College Students

    Science.gov (United States)

    Bettinni, Richard

    2004-01-01

    In this article, the author describes how his students competed in the Annual Remote-Operated Underwater Vehicle (ROV) Competition, sponsored by the Marine Advanced Technology Education Center of Monterey, California, in 2003. He describes how the Lyndhurst High School robotics team, which was composed of his students, learned a lot and had a…

  20. Mitigation of stress corrosion cracking in pressurized water reactor (PWR) piping systems using the mechanical stress improvement process (MSIPR) or underwater laser beam welding

    International Nuclear Information System (INIS)

    Rick, Grendys; Marc, Piccolino; Cunthia, Pezze; Badlani, Manu

    2009-01-01

    A current issue facing pressurized water reactors (PWRs) is primary water stress corrosion cracking (PWSCC) of bi metallic welds. PWSCC in a PWR requires the presence of a susceptible material, an aggressive environment and a tensile stress of significant magnitude. Reducing the potential for SCC can be accomplished by eliminating any of these three elements. In the U.S., mitigation of susceptible material in the pressurizer nozzle locations has largely been completed via the structural weld overlay (SWOL) process or NuVision Engineering's Mechanical Stress Improvement Process (MSIP R) , depending on inspectability. The next most susceptible locations in Westinghouse designed power plants are the Reactor Vessel (RV) hot leg nozzle welds. However, a full SWOL Process for RV nozzles is time consuming and has a high likelihood of in process weld repairs. Therefore, Westinghouse provides two distinctive methods to mitigate susceptible material for the RV nozzle locations depending on nozzle access and utility preference. These methods are the MSIP and the Underwater Laser Beam Welding (ULBW) process. MSIP applies a load to the outside diameter of the pipe adjacent to the weld, imposing plastic strains during compression that are not reversed after unloading, thus eliminating the tensile stress component of SCC. Recently, Westinghouse and NuVision successfully applied MSIP on all eight RV nozzles at the Salem Unit 1 power plant. Another option to mitigate SCC in RV nozzles is to place a barrier between the susceptible material and the aggressive environment. The ULBW process applies a weld inlay onto the inside pipe diameter. The deposited weld metal (Alloy 52M) is resistant to PWSCC and acts as a barrier to prevent primary water from contacting the susceptible material. This paper provides information on the approval and acceptance bases for MSIP, its recent application on RV nozzles and an update on ULBW development

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

    Science.gov (United States)

    Yang, T. C.

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

  2. The Effects of Fluidic Loading on Underwater Contact Sensing with Robotic Fins and Beams.

    Science.gov (United States)

    Kahn, Jeff C; Tangorra, James L

    2016-01-01

    As robots become more involved in underwater operations, understanding underwater contact sensing with compliant systems is fundamental to engineering useful haptic interfaces and vehicles. Despite knowledge of contact sensation in air, little is known about contact sensing underwater and the impact of fluid on both the robotic probe and the target object. The objective of this work is to understand the effects of fluidic loading, fin webbing, and target object geometry on strain sensation within compliant robotic fins and beams during obstacle contact. General descriptions of obstacle contact were sought for strain measurements in fins and beams. Multiple phases of contact were characterized where the robot, fluid, and object interact to affect sensory signals. Unlike in air, the underwater structure-fluid-structure interaction (SFSI) caused changes to strain in each phase of contact. The addition of webbing to beams created a mechanical coupling between adjacent beams, which changed contact strains. Complex obstacle geometries tended to make contact less apparent and caused stretch in fins. This work demonstrates several effects of fluidic loading on strain sensing with compliant robotic beams and fins as they contact obstacles in air and underwater, and provides guidance for future work in underwater active sensing with compliant manipulators.

  3. 20 CFR 670.530 - Are Job Corps centers required to maintain a student accountability system?

    Science.gov (United States)

    2010-04-01

    ... student accountability system? 670.530 Section 670.530 Employees' Benefits EMPLOYMENT AND TRAINING... accountability system? Yes, each Job Corps center must establish and operate an effective system to account for... student absence. Each center must operate its student accountability system according to requirements and...

  4. 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.

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

    Science.gov (United States)

    2017-06-01

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

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

    Science.gov (United States)

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

    2017-11-01

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

  7. In-air and underwater hearing of the cormorant

    DEFF Research Database (Denmark)

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

    Numerous studies have mapped the hearing abilities of birds in air but currently there is little or no data on how diving birds hear or react to sound under water. Therefore, it is unknown whether the ears and auditory system of diving birds are adapted to underwater hearing. In the present study...... 10 cm under water in a large water filled-tank while being artificially ventilated. ABR-responses to calibrated tone bursts produced by a woofer and an underwater speaker, respectively, were measured at different intensities and frequencies to obtain hearing threshold values in air and under water......Hz) under water. Generally, the cormorant ear was not very sensitive to sound, neither in air nor under water. The hearing abilities in water, however, were better than what would have been expected for a purely in-air adapted ear. (Supported by the Carlsberg Foundation 2009_01_0292 and the Danish Council...

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

    Directory of Open Access Journals (Sweden)

    Yin Zhao

    2015-01-01

    Full Text Available Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed control strategy is then proposed based on the sliding mode variable structure of fuzzy reaching law, according to nonlinearity and external variable load of the vehicle speed control system. Sliding mode variable structure control theory for the nonlinear system allows an improved control effect for movements in “sliding mode” when compared with conventional control. The fuzzy control theory is also introduced, weakening output chattering caused by the sliding mode control switchover while producing high output stability. Matlab mathematical simulation and practical test verification indicate the speed control method as effective in obtaining accurate control results, thus inferring strong practical significance for engineering applications.

  9. Underwater Grass Comeback Helps Chesapeake Bay

    Science.gov (United States)

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

  10. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

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

  11. Sensor network architectures for monitoring underwater pipelines.

    Science.gov (United States)

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

    2011-01-01

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

  12. Autonomous Underwater Vehicle Thermoelectric Power Generation

    Science.gov (United States)

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

    2013-07-01

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

  13. 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.)

  14. Underwater noise levels in UK waters

    OpenAIRE

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

    2016-01-01

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

  15. Underwater gait analysis in Parkinson's disease.

    Science.gov (United States)

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

    2017-02-01

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

  16. It is time to talk about people: a human-centered healthcare system

    Directory of Open Access Journals (Sweden)

    Borgi Lea

    2010-11-01

    Full Text Available Abstract Examining vulnerabilities within our current healthcare system we propose borrowing two tools from the fields of engineering and design: a Reason's system approach 1 and b User-centered design 23. Both approaches are human-centered in that they consider common patterns of human behavior when analyzing systems to identify problems and generate solutions. This paper examines these two human-centered approaches in the context of healthcare. We argue that maintaining a human-centered orientation in clinical care, research, training, and governance is critical to the evolution of an effective and sustainable healthcare system.

  17. 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.

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

    Science.gov (United States)

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

    2017-01-01

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

  19. 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.)

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

    Science.gov (United States)

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

    2013-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Il-Kwon Park

    2003-01-01

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

  2. 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.

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

    Directory of Open Access Journals (Sweden)

    Javier Zazo

    2016-12-01

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

  4. 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.

  5. Human-centered design of the human-system interfaces of medical equipment: thyroid uptake system

    International Nuclear Information System (INIS)

    Monteiro, Jonathan K.R.; Farias, Marcos S.; Santos, Isaac J.A. Luquetti; Monteiro, Beany G.

    2013-01-01

    Technology plays an important role in modern medical centers, making healthcare increasingly complex, relying on complex technical equipment. This technical complexity is particularly noticeable in the nuclear medicine. Poorly design human-system interfaces can increase the risks for human error. The human-centered approach emphasizes the development of the equipment with a deep understanding of the users activities, current work practices, needs and abilities of the users. An important concept of human-centered design is that the ease-of-use of the equipment can be ensured only if users are actively incorporated in all phases of the life cycle of design process. Representative groups of users are exposed to the equipment at various stages in development, in a variety of testing, evaluation and interviewing situations. The users feedback obtained is then used to refine the design, with the result serving as input to the next interaction of design process. The limits of the approach are that the users cannot address any particular future needs without prior experience or knowledge about the equipment operation. The aim of this paper is to present a methodological framework that contributes to the design of the human-system interfaces, through an approach related to the users and their activities. A case study is described in which the methodological framework is being applied in development of new human-system interfaces of the thyroid uptake system. (author)

  6. Competence Center for Miniaturised Monitoring and Intervention Systems MOTIV.

    Science.gov (United States)

    Meyer, J U; Müller, G; Schmidt, J; Cappius, H J

    2002-01-01

    In the national Competence Center, the whole value chain, from the idea to the development of a product ready for the market, is brought together. MOTIV has underlined three focus point: It wants to improve the therapy and therapy control, to develop intelligent microimplants and to create innovative telematic home healthcare concepts.

  7. Space Operations Center system analysis. Volume 3, book 2: SOC system definition report, revision A

    Science.gov (United States)

    1982-01-01

    The Space Operations Center (SOC) orbital space station program operations are described. A work breakdown structure for the general purpose support equipment, construction and transportation support, and resupply and logistics support systems is given. The basis for the design of each element is presented, and a mass estimate for each element supplied. The SOC build-up operation, construction, flight support, and satellite servicing operations are described. Detailed programmatics and cost analysis are presented.

  8. EM-Based High Speed Wireless Sensor Networks for Underwater Surveillance and Target Tracking

    Directory of Open Access Journals (Sweden)

    Kumudu Munasinghe

    2017-01-01

    Full Text Available Underwater Wireless Sensor Networks (UWSNs are considered as tangible, low cost solution for underwater surveillance and exploration. Existing acoustic wave-based UWSN systems fail to meet the growing demand for fast data rates required in military operations, oil/gas exploration, and oceanographic data collection. Electromagnetic (EM wave-based communication systems, on the other hand, have great potential for providing high speed data rates in such scenarios. This paper will (1 discuss the challenges faced in the utilization of EM waves for the design of tactical underwater surveillance systems and (2 evaluate several EM wave-based three-dimensional (3D UWSN architectures differing in topologies and/or operation principles on the performance of localization and target tracking. To the best of our knowledge, this is the first of its kind in the field of underwater communications where underwater surveillance techniques for EM wave-based high speed UWSNs have been investigated. Thus, this will be a major step towards achieving future high speed UWSNs.

  9. 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.

  10. 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...... for distance estimation, the sensor offers three dimensional interpretation of the environment. This is obtained by triangulation of points extracted from the image using the Hough Transform. We evaluate the system in simulation and by physical proof-of-concept experiments on an OpenROV platform...

  11. Evaluating energy saving system of data centers based on AHP and fuzzy comprehensive evaluation model

    Science.gov (United States)

    Jiang, Yingni

    2018-03-01

    Due to the high energy consumption of communication, energy saving of data centers must be enforced. But the lack of evaluation mechanisms has restrained the process on energy saving construction of data centers. In this paper, energy saving evaluation index system of data centers was constructed on the basis of clarifying the influence factors. Based on the evaluation index system, analytical hierarchy process was used to determine the weights of the evaluation indexes. Subsequently, a three-grade fuzzy comprehensive evaluation model was constructed to evaluate the energy saving system of data centers.

  12. Staff roster for 1979: National Center for Analysis of Energy Systems

    Energy Technology Data Exchange (ETDEWEB)

    1980-01-01

    This publication is a compilation of resumes from the current staff of the National Center for Analysis of Energy Systems. The Center, founded in January 1976, is one of four areas within the Department of Energy and Environment at Brookhaven National Laboratory. The emphasis of programs at the Center is on energy policy and planning studies at the regional, national, and international levels, involving quantitative, interdisciplinary studies of the technological, economic, social, and environmental aspects of energy systems. To perform these studies the Center has assembled a staff of experts in the areas of science, technology, economics planning, health and safety, information systems, and quantitative analysis.

  13. System analysis for the Huntsville Operational Support Center distributed computer system

    Science.gov (United States)

    Ingels, F. M.; Mauldin, J.

    1984-01-01

    The Huntsville Operations Support Center (HOSC) is a distributed computer system used to provide real time data acquisition, analysis and display during NASA space missions and to perform simulation and study activities during non-mission times. The primary purpose is to provide a HOSC system simulation model that is used to investigate the effects of various HOSC system configurations. Such a model would be valuable in planning the future growth of HOSC and in ascertaining the effects of data rate variations, update table broadcasting and smart display terminal data requirements on the HOSC HYPERchannel network system. A simulation model was developed in PASCAL and results of the simulation model for various system configuraions were obtained. A tutorial of the model is presented and the results of simulation runs are presented. Some very high data rate situations were simulated to observe the effects of the HYPERchannel switch over from contention to priority mode under high channel loading.

  14. Center of mass movement estimation using an ambulatory measurement system

    NARCIS (Netherlands)

    Schepers, H. Martin; van Asseldonk, Edwin H.F.; Buurke, Jaap; Veltink, Petrus H.; Bussmann, J.B.J; Horemans, H.L.D.; Hurkmans, H.L.P.

    2008-01-01

    Human body movement analysis is done in so-called 'gait-laboratories' where several gait variables are estimated by measurement systems such as optical position measurement systems, EMG or force plates. The accuracy of the ambulatory system is verified by comparing it to an optical reference system

  15. 20 CFR 670.535 - Are Job Corps centers required to establish behavior management systems?

    Science.gov (United States)

    2010-04-01

    ... behavior management systems? 670.535 Section 670.535 Employees' Benefits EMPLOYMENT AND TRAINING... Activities and Center Operations § 670.535 Are Job Corps centers required to establish behavior management... behavior management system, according to procedures established by the Secretary. The behavior management...

  16. Heat pump centered integrated community energy systems: system development. Georgia Institute of Technology final report

    Energy Technology Data Exchange (ETDEWEB)

    Wade, D.W.; Trammell, B.C.; Dixit, B.S.; McCurry, D.C.; Rindt, B.A.

    1979-12-01

    Heat Pump Centered-Integrated Community Energy Systems (HP-ICES) show the promise of utilizing low-grade thermal energy for low-quality energy requirements such as space heating and cooling. The Heat Pump - Wastewater Heat Recovery (HP-WHR) scheme is one approach to an HP-ICES that proposes to reclaim low-grade thermal energy from a community's wastewater effluent. This report develops the concept of an HP-WHR system, evaluates the potential performance and economics of such a system, and examines the potential for application. A thermodynamic performance analysis of a hypothetical system projects an overall system Coefficient of Performance (C.O.P.) of from 2.181 to 2.264 for waste-water temperatures varying from 50/sup 0/F to 80/sup 0/F. Primary energy source savings from the nationwide implementation of this system is projected to be 6.0 QUADS-fuel oil, or 8.5 QUADS - natural gas, or 29.7 QUADS - coal for the period 1980 to 2000, depending upon the type and mix of conventional space conditioning systems which could be displaced with the HP-WHR system. Site-specific HP-WHR system designs are presented for two application communities in Georgia. Performance analyses for these systems project annual cycle system C.O.P.'s of 2.049 and 2.519. Economic analysis on the basis of a life cycle cost comparison shows one site-specific system design to be cost competitive in the immediate market with conventional residential and light commercial HVAC systems. The second site-specific system design is shown through a similar economic analysis to be more costly than conventional systems due mainly to the current low energy costs for natural gas. It is anticipated that, as energy costs escalate, this HP-WHR system will also approach the threshold of economic viability.

  17. From product centered design to value centered design: understanding the value-system

    DEFF Research Database (Denmark)

    Randmaa, Merili; Howard, Thomas J.; Otto, T.

    Product design has focused on different parameters through history- design for usability, design for manufacturing, design for assembly etc. Today, as the products get bundled with service, it is important to interconnect product, service and business model design to create synergy effect and off...... value is usually a co-creation process, where customers, suppliers and manufacturers all have their part. This paper describes a paradigm shift towards value-based thinking and proposes a new methodology for understanding and analysing the value system....... more value for the customer for less eford. Value and understanding the value-system needs to be in the focus of business strategy. Value can be created, exchanged and perceived. It can be tangible (physical products, money) or intangible (information, experience, relationships, service). Creating...

  18. The role of smart traffic centers in regional system operations : a Hampton Roads case study.

    Science.gov (United States)

    2005-01-01

    The objectives of this study were to define the role of smart traffic centers (STCs) in regional systems operations and to help identify performance measures for monitoring the performance of STCs in the scope of regional systems operations. Without ...

  19. Baselining the New GSFC Information Systems Center: The Foundation for Verifiable Software Process Improvement

    Science.gov (United States)

    Parra, A.; Schultz, D.; Boger, J.; Condon, S.; Webby, R.; Morisio, M.; Yakimovich, D.; Carver, J.; Stark, M.; Basili, V.; hide

    1999-01-01

    This paper describes a study performed at the Information System Center (ISC) in NASA Goddard Space Flight Center. The ISC was set up in 1998 as a core competence center in information technology. The study aims at characterizing people, processes and products of the new center, to provide a basis for proposing improvement actions and comparing the center before and after these actions have been performed. The paper presents the ISC, goals and methods of the study, results and suggestions for improvement, through the branch-level portion of this baselining effort.

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

    Directory of Open Access Journals (Sweden)

    Fabrício A. Magalhaes

    2013-12-01

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

  1. Unifying Human Centered Design and Systems Engineering for Human Systems Integration

    Science.gov (United States)

    Boy, Guy A.; McGovernNarkevicius, Jennifer

    2013-01-01

    Despite the holistic approach of systems engineering (SE), systems still fail, and sometimes spectacularly. Requirements, solutions and the world constantly evolve and are very difficult to keep current. SE requires more flexibility and new approaches to SE have to be developed to include creativity as an integral part and where the functions of people and technology are appropriately allocated within our highly interconnected complex organizations. Instead of disregarding complexity because it is too difficult to handle, we should take advantage of it, discovering behavioral attractors and the emerging properties that it generates. Human-centered design (HCD) provides the creativity factor that SE lacks. It promotes modeling and simulation from the early stages of design and throughout the life cycle of a product. Unifying HCD and SE will shape appropriate human-systems integration (HSI) and produce successful systems.

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

    Directory of Open Access Journals (Sweden)

    Donatas Bagočius

    2017-09-01

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

  3. 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

  4. Implementing the patient-centered medical home in complex adaptive systems: Becoming a relationship-centered patient-centered medical home.

    Science.gov (United States)

    Flieger, Signe Peterson

    This study explores the implementation experience of nine primary care practices becoming patient-centered medical homes (PCMH) as part of the New Hampshire Citizens Health Initiative Multi-Stakeholder Medical Home Pilot. The purpose of this study is to apply complex adaptive systems theory and relationship-centered organizations theory to explore how nine diverse primary care practices in New Hampshire implemented the PCMH model and to offer insights for how primary care practices can move from a structural PCMH to a relationship-centered PCMH. Eighty-three interviews were conducted with administrative and clinical staff at the nine pilot practices, payers, and conveners of the pilot between November and December 2011. The interviews were transcribed, coded, and analyzed using both a priori and emergent themes. Although there is value in the structural components of the PCMH (e.g., disease registries), these structures are not enough. Becoming a relationship-centered PCMH requires attention to reflection, sensemaking, learning, and collaboration. This can be facilitated by settings aside time for communication and relationship building through structured meetings about PCMH components as well as the implementation process itself. Moreover, team-based care offers a robust opportunity to move beyond the structures to focus on relationships and collaboration. (a) Recognize that PCMH implementation is not a linear process. (b) Implementing the PCMH from a structural perspective is not enough. Although the National Committee for Quality Assurance or other guidelines can offer guidance on the structural components of PCMH implementation, this should serve only as a starting point. (c) During implementation, set aside structured time for reflection and sensemaking. (d) Use team-based care as a cornerstone of transformation. Reflect on team structures and also interactions of the team members. Taking the time to reflect will facilitate greater sensemaking and learning and

  5. Information systems performance evaluation, introducing a two-level technique: Case study call centers

    Directory of Open Access Journals (Sweden)

    Hesham A. Baraka

    2015-03-01

    The objective of this paper was to introduce a new technique that can support decision makers in the call centers industry to evaluate, and analyze the performance of call centers. The technique presented is derived from the research done on measuring the success or failure of information systems. Two models are mainly adopted namely: the Delone and Mclean model first introduced in 1992 and the Design Reality Gap model introduced by Heeks in 2002. Two indices are defined to calculate the performance of the call center; the success index and the Gap Index. An evaluation tool has been developed to allow call centers managers to evaluate the performance of their call centers in a systematic analytical approach; the tool was applied on 4 call centers from different areas, simple applications such as food ordering, marketing, and sales, technical support systems, to more real time services such as the example of emergency control systems. Results showed the importance of using information systems models to evaluate complex systems as call centers. The models used allow identifying the dimensions for the call centers that are facing challenges, together with an identification of the individual indicators in these dimensions that are causing the poor performance of the call center.

  6. Routing strategies for underwater gliders

    Science.gov (United States)

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

    2009-02-01

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

  7. Constraint based scheduling for the Goddard Space Flight Center distributed Active Archive Center's data archive and distribution system

    Science.gov (United States)

    Short, Nick, Jr.; Bedet, Jean-Jacques; Bodden, Lee; Boddy, Mark; White, Jim; Beane, John

    1994-01-01

    The Goddard Space Flight Center (GSFC) Distributed Active Archive Center (DAAC) has been operational since October 1, 1993. Its mission is to support the Earth Observing System (EOS) by providing rapid access to EOS data and analysis products, and to test Earth Observing System Data and Information System (EOSDIS) design concepts. One of the challenges is to ensure quick and easy retrieval of any data archived within the DAAC's Data Archive and Distributed System (DADS). Over the 15-year life of EOS project, an estimated several Petabytes (10(exp 15)) of data will be permanently stored. Accessing that amount of information is a formidable task that will require innovative approaches. As a precursor of the full EOS system, the GSFC DAAC with a few Terabits of storage, has implemented a prototype of a constraint-based task and resource scheduler to improve the performance of the DADS. This Honeywell Task and Resource Scheduler (HTRS), developed by Honeywell Technology Center in cooperation the Information Science and Technology Branch/935, the Code X Operations Technology Program, and the GSFC DAAC, makes better use of limited resources, prevents backlog of data, provides information about resources bottlenecks and performance characteristics. The prototype which is developed concurrently with the GSFC Version 0 (V0) DADS, models DADS activities such as ingestion and distribution with priority, precedence, resource requirements (disk and network bandwidth) and temporal constraints. HTRS supports schedule updates, insertions, and retrieval of task information via an Application Program Interface (API). The prototype has demonstrated with a few examples, the substantial advantages of using HTRS over scheduling algorithms such as a First In First Out (FIFO) queue. The kernel scheduling engine for HTRS, called Kronos, has been successfully applied to several other domains such as space shuttle mission scheduling, demand flow manufacturing, and avionics communications

  8. Shape optimisation of an underwater Bernoulli gripper

    Science.gov (United States)

    Flint, Tim; Sellier, Mathieu

    2015-11-01

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

  9. Underwater radiated noise from modern commercial ships.

    Science.gov (United States)

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

    2012-01-01

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

  10. Calibration and Characterization of Autonomous Recorders Used in the Measurement of Underwater Noise.

    Science.gov (United States)

    Hayman, Gary; Robinson, Stephen; Lepper, Paul

    2016-01-01

    The use of autonomous recorders is motivated by the need to monitor underwater noise, such as in response to the requirements of the European Union Marine Strategy Framework Directive. The performance of these systems is a crucial factor governing the quality of the measured data, providing traceability for future underwater noise-monitoring programs aimed at the protection of the marine environment from anthropogenic noise. In this paper, a discussion is presented of measurement methodologies for the key acoustic performance characteristics of the recorders, including self-noise, dynamic range, and the absolute sensitivity as a function of frequency of the hydrophone and recorder system.

  11. Research on key technology of prognostic and health management for autonomous underwater vehicle

    Science.gov (United States)

    Zhou, Zhi

    2017-12-01

    Autonomous Underwater Vehicles (AUVs) are non-cable and autonomous motional underwater robotics. With a wide range of activities, it can reach thousands of kilometers. Because it has the advantages of wide range, good maneuverability, safety and intellectualization, it becomes an important tool for various underwater tasks. How to improve diagnosis accuracy of the AUVs electrical system faults, and how to repair AUVs by the information are the focus of navy in the world. In turn, ensuring safe and reliable operation of the system has very important significance to improve AUVs sailing performance. To solve these problems, in the paper the prognostic and health management(PHM) technology is researched and used to AUV, and the overall framework and key technology are proposed, such as data acquisition, feature extraction, fault diagnosis, failure prediction and so on.

  12. Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters

    Directory of Open Access Journals (Sweden)

    Zool H. Ismail

    2014-01-01

    Full Text Available This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces.

  13. 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.

  14. 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.

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

    Directory of Open Access Journals (Sweden)

    Zhi-Lin Zeng

    2014-01-01

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

  16. Tunnel radio communications system at Stanford Linear Accelerator Center

    Energy Technology Data Exchange (ETDEWEB)

    Struven, W.C.

    1980-07-01

    A unique single frequency, dual daisy chain tunnel radio communication system has been developed for use in our new Positron-Electron Storage Ring. Communications are possible between portables in the underground ring and between a portable in the ring and all control rooms on the site. The system is designed as a wide band facility and therefore can carry many simplex and duplex transmissions. This system utilizes TV twinlead as a distributed antenna and repeater amplifiers to cover more than 7000 feet of underground tunnel. The design philosophy, tests and initial design are discussed and contrasted with the final implementation of the system. Future uses of the system are discussed.

  17. NASA Langley Research Center's distributed mass storage system

    Science.gov (United States)

    Pao, Juliet Z.; Humes, D. Creig

    1993-01-01

    There is a trend in institutions with high performance computing and data management requirements to explore mass storage systems with peripherals directly attached to a high speed network. The Distributed Mass Storage System (DMSS) Project at NASA LaRC is building such a system and expects to put it into production use by the end of 1993. This paper presents the design of the DMSS, some experiences in its development and use, and a performance analysis of its capabilities. The special features of this system are: (1) workstation class file servers running UniTree software; (2) third party I/O; (3) HIPPI network; (4) HIPPI/IPI3 disk array systems; (5) Storage Technology Corporation (STK) ACS 4400 automatic cartridge system; (6) CRAY Research Incorporated (CRI) CRAY Y-MP and CRAY-2 clients; (7) file server redundancy provision; and (8) a transition mechanism from the existent mass storage system to the DMSS.

  18. Aquatic Acoustic Metrics Interface Utility for Underwater Sound Monitoring and Analysis

    Science.gov (United States)

    Ren, Huiying; Halvorsen, Michele B.; Deng, Zhiqun Daniel; Carlson, Thomas J.

    2012-01-01

    Fishes and marine mammals may suffer a range of potential effects from exposure to intense underwater sound generated by anthropogenic activities such as pile driving, shipping, sonars, and underwater blasting. Several underwater sound recording (USR) devices have been built to acquire samples of the underwater sound generated by anthropogenic activities. Software becomes indispensable for processing and analyzing the audio files recorded by these USRs. In this paper, we provide a detailed description of a new software package, the Aquatic Acoustic Metrics Interface (AAMI), specifically designed for analysis of underwater sound recordings to provide data in metrics that facilitate evaluation of the potential impacts of the sound on aquatic animals. In addition to the basic functions, such as loading and editing audio files recorded by USRs and batch processing of sound files, the software utilizes recording system calibration data to compute important parameters in physical units. The software also facilitates comparison of the noise sound sample metrics with biological measures such as audiograms of the sensitivity of aquatic animals to the sound, integrating various components into a single analytical frame. The features of the AAMI software are discussed, and several case studies are presented to illustrate its functionality. PMID:22969353

  19. An Improved Dark Channel-Based Algorithm for Underwater Image Restoration

    Science.gov (United States)

    Chen, Po-Fang; Guo, Jun-Kai; Sung, Chia-Chi; Chang, Herng-Hua

    Underwater imaging is crucial to a wide variety of research and realistic applications in marine biology, water fauna identification and assessment, archaeology, mine detection, oceanic mapping, and autonomous underwater robotics. However, due to specific propagation properties of light in water such as absorption and scattering as well as unstable environment such as light changing and water turbidness, the images captured are highly disturbed with low contrast, blurring, darkness, and color diminishing. This paper proposes a new underwater image restoration algorithm that consists of three major phases: haze removal, color correction, and contrast enhancement. To estimate the transmission coefficient function, we first compute the dark channel map, which is the set of "dark" pixels having very low intensity values in at least one RGB color channel. To accommodate the blue color distortion phenomenon, the red channel value is excluded from the calculation if the peak histogram intensity is smaller than a specified threshold. To optimize the medium transmission map, we adopt the matting Laplacian matrix associated with the sparse linear system to generate a cost function, followed by the guided filtering method to accelerate the computation. Finally, the contrast limited adaptive histogram equalization method is used to enhance the contrast while maintaining the color fidelity. We have applied this new approach to a wide variety of underwater images. Experimental results indicated that this new method is of potential in facilitating the interpretation and perception of underwater images in the fields of ocean engineering, ocean biology, and ocean science.

  20. 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.

  1. Aquatic Acoustic Metrics Interface Utility for Underwater Sound Monitoring and Analysis

    Directory of Open Access Journals (Sweden)

    Thomas J. Carlson

    2012-05-01

    Full Text Available Fishes and marine mammals may suffer a range of potential effects from exposure to intense underwater sound generated by anthropogenic activities such as pile driving, shipping, sonars, and underwater blasting. Several underwater sound recording (USR devices have been built to acquire samples of the underwater sound generated by anthropogenic activities. Software becomes indispensable for processing and analyzing the audio files recorded by these USRs. In this paper, we provide a detailed description of a new software package, the Aquatic Acoustic Metrics Interface (AAMI, specifically designed for analysis of underwater sound recordings to provide data in metrics that facilitate evaluation of the potential impacts of the sound on aquatic animals. In addition to the basic functions, such as loading and editing audio files recorded by USRs and batch processing of sound files, the software utilizes recording system calibration data to compute important parameters in physical units. The software also facilitates comparison of the noise sound sample metrics with biological measures such as audiograms of the sensitivity of aquatic animals to the sound, integrating various components into a single analytical frame. The features of the AAMI software are discussed, and several case studies are presented to illustrate its functionality.

  2. 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.

  3. 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.

  4. Constrained Multi-Body Dynamics for Modular Underwater Robots — Theory and Experiments

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens

    2018-01-01

    This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most significant dynamics. The proposed modelling method is based on active constraint...

  5. Convention Center Management: A Systems Analysis & Design Course Project

    Science.gov (United States)

    Guidry, Brandi N.; Totaro, Michael W.

    2011-01-01

    A challenge faced by many instructors of systems analysis and design courses is the selection or development of projects that provide challenging, yet suitable, learning experiences for the students. Employing a system development project case in undergraduate MIS courses offers students a multitude of opportunities to experientially examine…

  6. An optical laser device for mapping 3D geometry of underwater karst structures: first tests in the Ox BelHa system, Yucatan, Mexico; Un dispositivo laser optico para la cartografia 3D de la geometria de estructuras karsticas submarinas: primeros resultados en el sistema de Ox BelHa, Yucatan, Mexico

    Energy Technology Data Exchange (ETDEWEB)

    Schiller, A.; Renard, P.

    2016-07-01

    In the course of extended hydrological studies in the coastal Karst plain of Yucatan, near the town of Tulum amongst others, a novel laser scanning device was developed and applied for the acquisition of the 3d-geometry of ground water conduits. The method is derived from similar industrial systems and for the first time adapted to the specific measurement conditions in underwater cave systems. The device projects a laser line over the whole perimeter at a certain position. This line represents the intersection of a plane with the cave walls. The line is imaged with a wide angle camera system. Through proper design and calibration of the device it is possible to derive the true scale geometry of the perimeter via special image processing techniques. By acquiring regularly spaced images it is possible to reconstruct the true scale and 3 d-shape of a tunnel through the incorporation of location and attitude data. In a first test in the Ox Bel Ha under-water cave system, about 800 metres of tunnels have been scanned down to water depths of 20 metres. The raw data is further interpolated using the ODSIM-algorithm in order to delineate the 3D geometry of the cave system. The method provides easy, operable acquisition of the 3-D geometry of caves in clear water with superior resolution and speed and significantly facilitates the measurement in underwater tunnels as well as in dry tunnels. The data gathered represents crucial input to the study of the state, dynamics and genesis of the complex karst water regime. (Author)

  7. Heat-pump-centered integrated community energy systems: system development summary

    Energy Technology Data Exchange (ETDEWEB)

    Calm, J.M.

    1980-02-01

    An introduction to district heating systems employing heat pumps to enable use of low-temperature energy sources is presented. These systems operate as thermal utilities to provide space heating and may also supply space cooling, service-water heating, and other thermal services. Otherwise-wasted heat from industrial and commercial processes, natural sources including solar and geothermal heat, and heat stored on an annual cycle from summer cooling may be effectively utilized by the systems described. These sources are abundant, and their use would conserve scarce resources and reduce adverse environmental impacts. More than one-quarter of the energy consumed in the United States is used to heat and cool buildings and to heat service water. Natural gas and oil provide approximately 83% of this energy. The systems described show potential to reduce net energy consumption for these services by 20 to 50% and to allow fuel substitution with less-scarce resources not practical in smaller, individual-building systems. Seven studies performed for the system development phase of the Department of Energy's Heat-Pump-Centered Integrated Community Energy Systems Project and to related studies are summarized. A concluding chapter tabulates data from these separately published studies.

  8. Heat pump centered integrated community energy systems: system development. Georgia Institute of Technology interim report

    Energy Technology Data Exchange (ETDEWEB)

    Wade, D W; Trammel, B C; Dixit, B S; McCurry, D C; Rindt, B A

    1979-02-01

    Heat Pump Centered-Integrated Community Energy Systems (HP-ICES) show the promise of utilizing low-grade thermal energy for low-quality energy requirements such as space heating and cooling. The Heat Pump - Wastewater Heat Recovery (HP-WHR) scheme is one approach to an HP-ICES that proposes to reclaim low-grade thermal energy from a community's wastewater effluent. The concept of an HP-WHR system is developed, the potential performance and economics of such a system is evaluated and the potential for application is examined. A thermodynamic performance analysis of a hypothetical system projects an overall system coefficient of performance (C.O.P.) of from 2.181 to 2.264 for wastewater temperatures varying from 50/sup 0/F to 80/sup 0/F. Primary energy source savings from the implementation of this system is projected to be 5.014 QUADS, or the energy equivalent of 687 millions tons of coal, from 1980 to the year 2000. Economic analysis shows the HP-WHR scheme to be cost-competitive, on the basis of a net present value life cycle cost comparison, with conventional residential and light commercial HVAC systems.

  9. Recent developments in underwater repair welding

    International Nuclear Information System (INIS)

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

    2001-01-01

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

  10. 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.

  11. Annual Adaptive Management Report for Compensatory Mitigation at Keyport Lagoon: Mitigation of Pier B Development at the Bremerton Naval Facilities - Compensatory Mitigation at Keyport Lagoon - Naval Underwater Warfare Center Division - Keyport, Washington

    Energy Technology Data Exchange (ETDEWEB)

    Vavrinec, John; Borde, Amy B.; Woodruff, Dana L.; Brandenberger, Jill M.; Thom, Ronald M.; Wright, Cynthia L.; Cullinan, Valerie I.

    2012-06-01

    Unites States Navy capital improvement projects are designed to modernize and improve mission capacity. Such capital improvement projects often result in unavoidable environmental impacts by increasing over-water structures, which results in a loss of subtidal habitat within industrial areas of Navy bases. In the Pacific Northwest, compensatory mitigation often targets alleviating impacts to Endangered Species Act-listed salmon species. The complexity of restoring large systems requires limited resources to target successful and more coordinated mitigation efforts to address habitat loss and improvements in water quality that will clearly contribute to an improvement at the site scale and can then be linked to a cumulative net ecosystem improvement.

  12. Virtual Reality Training System for a Submarine Command Center

    National Research Council Canada - National Science Library

    Maxwell, Douglas B

    2008-01-01

    The invention as disclosed is a system that uses a combined real and virtual display interaction methodology to generate the visual appearance of submarine combat control rooms and allow interaction...

  13. 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

  14. Underwater noise from offshore oil production vessels.

    Science.gov (United States)

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

    2013-06-01

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

  15. The Security Operations Center as a Basis for Automated Bank System Adaptive Protection

    OpenAIRE

    D. O. Kovalev; N. G. Miloslavskaya

    2010-01-01

    Different automated bank systems adaptive protection implementations are discussed. The necessity for migration from independent adaptive systems to collaborative adaptive systems based on security operations center (SOC) is explained. The description and working principles of automated bank system security based on SOC are provided.

  16. The Security Operations Center as a Basis for Automated Bank System Adaptive Protection

    Directory of Open Access Journals (Sweden)

    D. O. Kovalev

    2010-03-01

    Full Text Available Different automated bank systems adaptive protection implementations are discussed. The necessity for migration from independent adaptive systems to collaborative adaptive systems based on security operations center (SOC is explained. The description and working principles of automated bank system security based on SOC are provided.

  17. A Spatial Reference Grid for Real-Time Autonomous Underwater Modeling using 3-D Sonar

    Energy Technology Data Exchange (ETDEWEB)

    Auran, P.G.

    1996-12-31

    The offshore industry has recognized the need for intelligent underwater robotic vehicles. This doctoral thesis deals with autonomous underwater vehicles (AUVs) and concentrates on a data representation for real-time image formation and analysis. Its main objective is to develop a 3-D image representation suitable for autonomous perception objectives underwater, assuming active sonar as the main sensor for perception. The main contributions are: (1) A dynamical image representation for 3-D range data, (2) A basic electronic circuit and software system for 3-D sonar sampling and amplitude thresholding, (3) A model for target reliability, (4) An efficient connected components algorithm for 3-D segmentation, (5) A method for extracting general 3-D geometrical representations from segmented echo clusters, (6) Experimental results of planar and curved target modeling. 142 refs., 120 figs., 10 tabs.

  18. 20-meter underwater wireless optical communication link with 1.5 Gbps data rate.

    Science.gov (United States)

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

    2016-10-31

    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.

  19. 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. NEMD study for supercavitation mechanism with underwater object

    International Nuclear Information System (INIS)

    Gong Bozhi; Zhang Bingjian; Zhang Hui

    2008-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Sergio Taraglio

    2015-07-01

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

  2. Intention and Usage of Computer Based Information Systems in Primary Health Centers

    Science.gov (United States)

    Hosizah; Kuntoro; Basuki N., Hari

    2016-01-01

    The computer-based information system (CBIS) is adopted by almost all of in health care setting, including the primary health center in East Java Province Indonesia. Some of softwares available were SIMPUS, SIMPUSTRONIK, SIKDA Generik, e-puskesmas. Unfortunately they were most of the primary health center did not successfully implemented. This…

  3. Meeting the Demand for College Student Concerns in College Counseling Centers: Evaluating a Clinical Triage System

    Science.gov (United States)

    Hardy, Jennifer A.; Weatherford, Ryan D.; Locke, Benjamin D.; DePalma, Natalie Hernandez; D'Iuso, Nadia T.

    2011-01-01

    University counseling centers, experiencing an imbalance between student demand and available resources, respond in various ways. The current mixed-method study evaluated one university counseling center transitioning from a wait-list system to a triage method of managing demand. Significant reductions in wait time and increase in attendance were…

  4. System analysis for the Huntsville Operation Support Center distributed computer system

    Science.gov (United States)

    Ingels, F. M.

    1986-01-01

    A simulation model of the NASA Huntsville Operational Support Center (HOSC) was developed. This simulation model emulates the HYPERchannel Local Area Network (LAN) that ties together the various computers of HOSC. The HOSC system is a large installation of mainframe computers such as the Perkin Elmer 3200 series and the Dec VAX series. A series of six simulation exercises of the HOSC model is described using data sets provided by NASA. The analytical analysis of the ETHERNET LAN and the video terminals (VTs) distribution system are presented. An interface analysis of the smart terminal network model which allows the data flow requirements due to VTs on the ETHERNET LAN to be estimated, is presented.

  5. Underwater noise in an impacted environment can affect Guiana dolphin communication.

    Science.gov (United States)

    Bittencourt, Lis; Lima, Isabela M S; Andrade, Luciana G; Carvalho, Rafael R; Bisi, Tatiana L; Lailson-Brito, José; Azevedo, Alexandre F

    2017-01-30

    This study focused on whistles produced by Guiana dolphin under different noise conditions in Guanabara Bay, southeastern Brazil. Recording sessions were performed with a fully calibrated recording system. Whistles and underwater noise levels registered during two behavioral states were compared separately between two areas. Noise levels differed between the two areas across all frequencies. Whistle duration differed between areas and was negatively correlated with noise levels. Whistling rate was positively correlated with noise levels, showing that whistling rate was higher in noisier conditions. Results demonstrated that underwater noise influenced Guiana dolphin acoustic behavior. Copyright © 2016 Elsevier Ltd. All rights reserved.

  6. Self-reconfiguration of Modular Underwater Robots using an Energy Heuristic

    DEFF Research Database (Denmark)

    Furno, Lidia; Blanke, Mogens; Galeazzi, Roberto

    2017-01-01

    to limitations from dimensions of passable corridors for an underwater maintenance task, for supplemental instrumentation that is available on a particular robot, or as remedial action if one robot in a cluster suffers from malfunction. Being crucial for autonomous underwater vehicles, energy consumed......This paper investigates self-reconfiguration of a modular robotic system, which consists of a cluster of modular vehicles that can attach to each other by a connection mechanism. Thereby, they can form a desired morphology to meet task specific requirements. Reconfiguration can be needed due...

  7. Intelligent adaptive systems an interaction-centered design perspective

    CERN Document Server

    Hou, Ming; Burns, Catherine

    2014-01-01

    A synthesis of recent research and developments on intelligent adaptive systems from the HF (human factors) and HCI (human-computer interaction) domains, this book provides integrated design guidance and recommendations for researchers and system developers. It addresses a recognized lack of integration between the HF and HCI research communities, which has led to inconsistencies between the research approaches adopted, and a lack of exploitation of research from one field by the other. The book establishes design guidance through the review of conceptual frameworks, analytical methodologies,

  8. A Systemic, Student-Centered Study of University Service.

    Science.gov (United States)

    Brenders, David A.; Hope, Peter; Ninnan, Abraham

    1999-01-01

    Discusses the methods and findings of the student focus project, a six-month study of student perceptions of service at a large university in Brisbane, Australia. Analysis of 24 focus groups identified "malignant bureaucracy" and the "balkanization of information" as systemic factors negatively influencing student perceptions…

  9. 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

  10. Prediction-based manufacturing center self-adaptive demand side energy optimization in cyber physical systems

    Science.gov (United States)

    Sun, Xinyao; Wang, Xue; Wu, Jiangwei; Liu, Youda

    2014-05-01

    Cyber physical systems(CPS) recently emerge as a new technology which can provide promising approaches to demand side management(DSM), an important capability in industrial power systems. Meanwhile, the manufacturing center is a typical industrial power subsystem with dozens of high energy consumption devices which have complex physical dynamics. DSM, integrated with CPS, is an effective methodology for solving energy optimization problems in manufacturing center. This paper presents a prediction-based manufacturing center self-adaptive energy optimization method for demand side management in cyber physical systems. To gain prior knowledge of DSM operating results, a sparse Bayesian learning based componential forecasting method is introduced to predict 24-hour electric load levels for specific industrial areas in China. From this data, a pricing strategy is designed based on short-term load forecasting results. To minimize total energy costs while guaranteeing manufacturing center service quality, an adaptive demand side energy optimization algorithm is presented. The proposed scheme is tested in a machining center energy optimization experiment. An AMI sensing system is then used to measure the demand side energy consumption of the manufacturing center. Based on the data collected from the sensing system, the load prediction-based energy optimization scheme is implemented. By employing both the PSO and the CPSO method, the problem of DSM in the manufacturing center is solved. The results of the experiment show the self-adaptive CPSO energy optimization method enhances optimization by 5% compared with the traditional PSO optimization method.

  11. 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

  12. Factors Affecting Innovation Within Aeronautical Systems Center (ASC) Organizations - An inductive Study

    National Research Council Canada - National Science Library

    Feil, Eric

    2003-01-01

    .... This thesis analyzed data collected during the 2002 Chief of Staff of the Air Force Organizational Climate Survey to identify factors that affect innovation within Aeronautical Systems Center (ASC) organizations...

  13. Climate Prediction Center (CPC) NCEP-Global Forecast System (GFS) Precipitation Forecast Product

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The Global Forecast System (GFS) forecast precipitation data at 37.5km resolution is created at the NOAA Climate Prediction Center for the purpose of near real-time...

  14. Louisville region demonstration of travel management coordination center : system pre-deployment preparation.

    Science.gov (United States)

    2013-03-01

    The purpose of the Greater Louisville Region Demonstration of Travel Management Coordination Center (TMCC): System Pre-Deploy-ment Preparation grant was to further phased implementation of the regions TMCC design by focusing on two major component...

  15. Top scientific research center deploys Zambeel Aztera (TM) network storage system in high performance environment

    CERN Multimedia

    2002-01-01

    " The National Energy Research Scientific Computing Center (NERSC) at Lawrence Berkeley National Laboratory has implemented a Zambeel Aztera storage system and software to accelerate the productivity of scientists running high performance scientific simulations and computations" (1 page).

  16. Human-Centered Command and Control of Future Autonomous Systems

    Science.gov (United States)

    2013-06-01

    fbo . or·~· .wlw:le ~diffetently!OCIDO’fKI-t Att~to••ncon~ Rn .. ntot.....ln ..... ntaf!Mt~om..,....tlom ~-diffffently(loullv)tocO<TeCtmt~Y...J. M. (2011). Display and Interface Design: Subtle Science, Exact Art. CRC Press, Boca Raton, FL. Billings, C. E. (1996). Aviation Automation: The... Aviation Psychology. Fleet Forces Command (2008). Fleet Unmanned Aircraft Systems Concept of Operations. Naval Network Warfare Command, 31 July 2008

  17. Nuclear Energy Center Site Survey, 1975. Part II. The U.S. electric power system and the potential role of nuclear energy centers

    International Nuclear Information System (INIS)

    1976-01-01

    Information related to Nuclear Energy Centers (NEC) in the U.S. is presented concerning the U.S. electric power system today; electricity demand history and forecasts; history and forecasts of the electric utility industry; regional notes; the status, history, and forecasts of the nuclear role; power plant siting problems and practices; nuclear facilities siting problems and practices; origin and evolution of the nuclear energy center concept; conceptualized description of nuclear energy centers; potential role of nuclear energy centers; assumptions, criteria, and bases; typical evolution of a nuclear energy center; and the nuclear fuel cycle

  18. Development and User Research of a Smart Bedside Station System toward Patient-Centered Healthcare System.

    Science.gov (United States)

    Yoo, Sooyoung; Lee, Kee-Hyuck; Baek, Hyunyoung; Ryu, Borim; Chung, Eunja; Kim, Kidong; Yi, Jay Chaeyong; Park, Soo Beom; Hwang, Hee

    2015-09-01

    User experience design that reflects real-world application and aims to support suitable service solutions has arisen as one of the current issues in the medical informatics research domain. The Smart Bedside Station (SBS) is a screen that is installed on the bedside for the personal use and provides a variety of convenient services for the patients. Recently, bedside terminal systems have been increasingly adopted in hospitals due to the rapid growth of advanced technology in healthcare at the point of care. We designed user experience (UX) research to derive users' unmet needs and major functions that are frequently used in the field. To develop the SBS service, a service design methodology, the Double Diamond Design Process Model, was undertaken. The problems or directions of the complex clinical workflow of the hospital, the requirements of stakeholders, and environmental factors were identified through the study. The SBS system services provided to patients were linked to the hospital's main services or to related electronic medical record (EMR) data. Seven key services were derived from the results of the study. The primary services were as follows: Bedside Check In and Out, Bedside Room Service, Bedside Scheduler, Ready for Rounds, My Medical Chart, Featured Healthcare Content, and Bedside Community. This research developed a patient-centered SBS system with improved UX using service design methodology applied to complex and technical medical services, providing insights to improve the current healthcare system.

  19. Mines and Underwater IEDs in U.S. Ports and Waterways: Context, Threats, Challenges, and Solutions

    Science.gov (United States)

    2008-01-01

    the military sealift that undergirds war plans.10 Mines and underwater IEDs are easy to acquire or build, and they are cheap , ranging from a few tens...Minefields can be seeded by anything that flies or floats. And again, crude but effective mines are cheap , easy to stockpile, and easily concealed in...Greenspan, Lead Shield III and Mine Warfare Homeland De- fense: Observations, Analyses, and Recommen- dations, CRM D0013240.2/Final (Alexandria, Va.: Center

  20. Detection of Underwater UXOs in Mud

    Science.gov (United States)

    2013-04-01

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

  1. Adaptive turbo equalization for underwater acoustic communication

    NARCIS (Netherlands)

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

    2013-01-01

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

  2. 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

  3. 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

  4. 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.

  5. Applying systems engineering to implement an evidence-based intervention at a community health center.

    Science.gov (United States)

    Tu, Shin-Ping; Feng, Sherry; Storch, Richard; Yip, Mei-Po; Sohng, HeeYon; Fu, Mingang; Chun, Alan

    2012-11-01

    Impressive results in patient care and cost reduction have increased the demand for systems-engineering methodologies in large health care systems. This Report from the Field describes the feasibility of applying systems-engineering techniques at a community health center currently lacking the dedicated expertise and resources to perform these activities.

  6. A bioinspired elastin-based protein for a cytocompatible underwater adhesive.

    Science.gov (United States)

    Brennan, M Jane; Kilbride, Bridget F; Wilker, Jonathan J; Liu, Julie C

    2017-04-01

    The development of adhesives that can be applied and create strong bonds underwater is a significant challenge for materials engineering. When the adhesive is intended for biomedical applications, further criteria, such as biocompatibility, must be met. Current biomedical adhesive technologies do not meet these needs. In response, we designed a bioinspired protein system that shows promise to achieve biocompatible underwater adhesion coupled with environmentally responsive behavior that is "smart" - that is, it can be tuned to suit a specific application. The material, ELY 16 , is constructed from an elastin-like polypeptide (ELP) that can be produced in high yields from Escherichia coli and can coacervate in response to environmental factors such as temperature, pH, and salinity. To confer wet adhesion, we utilized design principles from marine organisms such as mussels and sandcastle worms. When expressed, ELY 16 is rich in tyrosine. Upon modification with the tyrosinase enzyme to form mELY 16 , the tyrosine residues are converted to 3,4-dihydroxyphenylalanine (DOPA). Both ELY 16 and mELY 16 exhibit cytocompatibility and significant dry adhesion strength (>2 MPa). Modification with DOPA increases protein adsorption to glass and provides moderate adhesion strength (∼240 kPa) in a highly humid environment. Furthermore, this ELP exhibits a tunable phase transition behavior that can be formulated to coacervate in physiological conditions and provides a convenient mechanism for application underwater. Finally, mELY 16 possesses significantly higher adhesion strength in dry, humid, and underwater environments compared with a commercially available fibrin sealant. To our knowledge, mELY 16 provides the strongest bonds of any rationally designed protein when used completely underwater, and its high yields make it more viable for commercial application compared to natural adhesive proteins. In conclusion, this ELP shows great potential to be a new "smart" underwater

  7. Psoriasis in systemic lupus erythematosus: a single-center experience.

    Science.gov (United States)

    Tselios, Konstantinos; Yap, Kristy Su-Ying; Pakchotanon, Rattapol; Polachek, Ari; Su, Jiandong; Urowitz, Murray B; Gladman, Dafna D

    2017-04-01

    The coexistence of psoriasis with systemic lupus erythematosus (SLE) has been reported in limited case series, raising hypotheses about shared pathogenetic mechanisms. Nevertheless, important differences regarding treatment do exist. The aim of the present study was to determine the prevalence and characteristics of psoriasis in a defined cohort of lupus patients. Patients with psoriasis were retrieved from the University of Toronto Lupus Clinic from its inception in 1970 up to 2015. Charts were hand-searched to collect information concerning demographic, clinical, and therapeutic variables. Patients were matched with non-psoriasis lupus patients to identify the impact of supervening psoriasis on lupus activity, damage accrual, and venous thromboembolic (VTEs) and cardiovascular events (CVEs). Psoriasis was diagnosed in 63 patients (49 females, 14 males) for a prevalence of 3.46% (63/1823). The male-to-female ratio was significantly higher in non-psoriasis patients (0.286 vs. 0.138, p = 0.017). Plaque psoriasis was the most prominent type (55/63, 87.3%) whereas three patients had pustular disease; one had psoriatic arthritis. Nine patients (14.3%) were administered systemic treatment with methotrexate (n = 5), azathioprine (n = 1), ustekinumab (n = 3), and etanercept (n = 1). Psoriasis was definitely deteriorated by hydroxychloroquine in one patient. There was no significant impact of psoriasis on disease activity, damage accrual, VTEs, and CVEs. The prevalence of psoriasis was twice as high as that of the general Canadian population in this lupus cohort. Plaque psoriasis was the most prominent subtype, and topical treatment was adequate in the majority of patients. Supervening psoriasis had no significant impact on lupus activity and damage accrual.

  8. Single Center Experience with the AngioVac Aspiration System

    Energy Technology Data Exchange (ETDEWEB)

    Salsamendi, Jason, E-mail: jsalsamendi@med.miami.edu; Doshi, Mehul, E-mail: mdoshi@med.miami.edu; Bhatia, Shivank, E-mail: sbhatia1@med.miami.edu [University of Miami Miller School of Medicine/Jackson Memorial Hospital, Department of Vascular and Interventional Radiology (United States); Bordegaray, Matthew, E-mail: matthewbordegaray@gmail.com [University of Miami Miller School of Medicine/Jackson Memorial Hospital, Department Radiology (United States); Arya, Rahul, E-mail: rahul.arya@jhsmiami.org [University of Miami Miller School of Medicine/Jackson Memorial Hospital, Department of Vascular and Interventional Radiology (United States); Morton, Connor, E-mail: cmorton@med.miami.edu [University of Miami Miller School of Medicine (United States); Narayanan, Govindarajan, E-mail: gnarayanan@med.miami.edu [University of Miami Miller School of Medicine/Jackson Memorial Hospital, Department of Vascular and Interventional Radiology (United States)

    2015-08-15

    PurposeThe AngioVac catheter system is a mechanical suction device designed for removal of intravascular material using extracorporeal veno-venous bypass circuit. The purpose of this study is to present the outcomes in patients treated with the AngioVac aspiration system and to discuss its efficacy in different vascular beds.Materials and MethodsA retrospectively review was performed of seven patients treated with AngioVac between October 2013 and December 2014. In 6/7 cases, the AngioVac cannula was inserted percutaneously and the patient was placed on veno-venous bypass. In one of the cases, the cannula was inserted directly into the Fontan circuit after sternotomy and the patient was maintained on cardiopulmonary bypass. Thrombus location included iliocaval (2), SVC (1), pulmonary arteries (1), Fontan circuit and Glenn shunt with pulmonary artery extension (1), right atrium (1), and IVC with renal vein extension (1).ResultsThe majority of thrombus (50–95 %) was removed in 5/7 cases, and partial thrombus removal (<50 %) was confirmed in 2/7 cases. Mean follow-up was 205 days (range 64–403 days). All patients were alive at latest follow-up. Minor complications included three neck hematomas in two total patients. No major complications occurred.ConclusionAngioVac is a useful tool for acute thrombus removal in the large vessels. The setup and substantial cost may limit its application in straightforward cases. More studies are needed to establish the utility of AngioVac in treatment of intravascular and intracardiac material.

  9. Dismantling of JPDR reactor internals by underwater plasma arc cutting technique using robotic manipulator

    International Nuclear Information System (INIS)

    Yokota, M.

    1988-01-01

    The actual dismantling of JPDR started on December 4, 1986. As of now, equipment that surrounds the reactor has mostly been removed to provide working space in reactor containment prior to the dismantling of reactor internals. Some reactor internals have been successfully dismantled using the underwater arc cutting system with a robotic manipulator during the period of January to March 1988. The cutting system is composed of an underwater plasma arc cutting device and a robotic manipulator. The cut off reactor internals were core spray block, feedwater sparger and stabilizers for fuel upper grid tube. The plasma arc cutting device was developed to dismantle the reactor internals underwater. It mainly consists of a plasma torch, power and gas supply systems for the torch, and by-product treatment systems. It has the cutting ability of 130 mm thickness stainless steel underwater. The robotic manipulator has seven degrees of freedom of movement, enabling it to move in almost the same way as the arm of a human being. The arm of the robot is mounted on a supporting device which is suspended by three chains from the support structure set on a service floor. A plasma torch is griped by the robotic hand; its position to the structure to be cut is controlled from a remote control room, about 100 meters outside the reactor containment

  10. Underwater EVA training in the WETF with astronaut Robert L. Stewart

    Science.gov (United States)

    1983-01-01

    Underwater extravehicular activity (EVA) training in the weightless environment training facility (WETF) with astronaut Robert L. Stewart. Stewart is simulating a planned EVA using the mobile foot restraint device and a one-G version of the Canadian-built remote manipulator system.

  11. Optical Module Front-End for a Neutrino Underwater Telescope PMT interface

    CERN Document Server

    Lo Presti, D; Caponetto, L

    2007-01-01

    A proposal for a new system to capture signals in the Optical Module (OM) of an Underwater Neutrino Telescope is described. It concentrates on the problem of power consumption in relation to precision. In particular, a solution for the interface between the photomultiplier (PMT) and the front-end electronics is presented.

  12. Scheduled MAC in Beacon Overlay Networks for Underwater Localization and Time-Synchronization

    NARCIS (Netherlands)

    van Kleunen, W.A.P.; Meratnia, Nirvana; Havinga, Paul J.M.

    2011-01-01

    In this article we introduce a MAC protocol designed for underwater localization and time-synchronisation. The MAC protocol assumes a network of static reference nodes and allows blind nodes to be localized by listening-only to the beacon messages. Such a system is known to be very scalable. We show

  13. Impact of configuration management system of computer center on support of scientific projects throughout their lifecycle

    Science.gov (United States)

    Bogdanov, A. V.; Iuzhanin, N. V.; Zolotarev, V. I.; Ezhakova, T. R.

    2017-12-01

    In this article the problem of scientific projects support throughout their lifecycle in the computer center is considered in every aspect of support. Configuration Management system plays a connecting role in processes related to the provision and support of services of a computer center. In view of strong integration of IT infrastructure components with the use of virtualization, control of infrastructure becomes even more critical to the support of research projects, which means higher requirements for the Configuration Management system. For every aspect of research projects support, the influence of the Configuration Management system is being reviewed and development of the corresponding elements of the system is being described in the present paper.

  14. Impact of configuration management system of computer center on support of scientific projects throughout their lifecycle

    International Nuclear Information System (INIS)

    Bogdanov, A.V.; Yuzhanin, N.V.; Zolotarev, V.I.; Ezhakova, T.R.

    2017-01-01

    In this article the problem of scientific projects support throughout their lifecycle in the computer center is considered in every aspect of support. Configuration Management system plays a connecting role in processes related to the provision and support of services of a computer center. In view of strong integration of IT infrastructure components with the use of virtualization, control of infrastructure becomes even more critical to the support of research projects, which means higher requirements for the Configuration Management system. For every aspect of research projects support, the influence of the Configuration Management system is reviewed and development of the corresponding elements of the system is described in the present paper.

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

    KAUST Repository

    Debont, Matthew

    2011-11-01

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

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

    Science.gov (United States)

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

    2007-09-01

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

  17. Studying fish near ocean energy devices using underwater video

    Energy Technology Data Exchange (ETDEWEB)

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

    2017-09-18

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

  18. Spectral analysis of underwater explosions in the Dead Sea

    Science.gov (United States)

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

    1998-08-01

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

  19. Underwater Light Regimes in Rivers from Multiple Measurement Approaches

    Science.gov (United States)

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

    2017-12-01

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

  20. Polar Grid Navigation Algorithm for Unmanned Underwater Vehicles.

    Science.gov (United States)

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

    2017-07-09

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

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

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2018-03-01

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

  2. An OFDM Receiver with Frequency Domain Diversity Combined Impulsive Noise Canceller for Underwater Network.

    Science.gov (United States)

    Saotome, Rie; Hai, Tran Minh; Matsuda, Yasuto; Suzuki, Taisaku; Wada, Tomohisa

    2015-01-01

    In order to explore marine natural resources using remote robotic sensor or to enable rapid information exchange between ROV (remotely operated vehicles), AUV (autonomous underwater vehicle), divers, and ships, ultrasonic underwater communication systems are used. However, if the communication system is applied to rich living creature marine environment such as shallow sea, it suffers from generated Impulsive Noise so-called Shrimp Noise, which is randomly generated in time domain and seriously degrades communication performance in underwater acoustic network. With the purpose of supporting high performance underwater communication, a robust digital communication method for Impulsive Noise environments is necessary. In this paper, we propose OFDM ultrasonic communication system with diversity receiver. The main feature of the receiver is a newly proposed Frequency Domain Diversity Combined Impulsive Noise Canceller. The OFDM receiver utilizes 20-28 KHz ultrasonic channel and subcarrier spacing of 46.875 Hz (MODE3) and 93.750 Hz (MODE2) OFDM modulations. In addition, the paper shows Impulsive Noise distribution data measured at a fishing port in Okinawa and at a barge in Shizuoka prefectures and then proposed diversity OFDM transceivers architecture and experimental results are described. By the proposed Impulsive Noise Canceller, frame bit error rate has been decreased by 20-30%.

  3. A novel method to optimize the wavelength for underwater free-space optical communications

    Science.gov (United States)

    Neuner, Burton; Pascoguin, B. Melvin

    2014-10-01

    Wirelessly transmitting large volumes of information at high data rates underwater is becoming increasingly important for such applications as environmental monitoring and petroleum exploration and maintenance. Underwater free-space optical (FSO) communication addresses the aforementioned need by providing wireless high-data-rate links. Visible light transmission through seawater typically peaks in the blue-green spectrum (475 nm-575 nm), but local clarity conditions, which are dynamic, strongly influence the actual maximum. We describe the development of a new laser-wavelength auto-selection algorithm and system for optimized underwater FSO communication. This system has the potential to improve underwater optical link reliability for high-data-rate communications. First, we describe the laser system and water tube setup for performing optical experiments. Next, we present research on recreating various seawater types (from clear to turbid) in the laboratory using particle suspensions and dye, which will enable wavelength-dependent transmission tests. Finally, we show experimental results from optical water tube tests, and describe the development of the autoselection algorithm.

  4. An OFDM Receiver with Frequency Domain Diversity Combined Impulsive Noise Canceller for Underwater Network

    Directory of Open Access Journals (Sweden)

    Rie Saotome

    2015-01-01

    Full Text Available In order to explore marine natural resources using remote robotic sensor or to enable rapid information exchange between ROV (remotely operated vehicles, AUV (autonomous underwater vehicle, divers, and ships, ultrasonic underwater communication systems are used. However, if the communication system is applied to rich living creature marine environment such as shallow sea, it suffers from generated Impulsive Noise so-called Shrimp Noise, which is randomly generated in time domain and seriously degrades communication performance in underwater acoustic network. With the purpose of supporting high performance underwater communication, a robust digital communication method for Impulsive Noise environments is necessary. In this paper, we propose OFDM ultrasonic communication system with diversity receiver. The main feature of the receiver is a newly proposed Frequency Domain Diversity Combined Impulsive Noise Canceller. The OFDM receiver utilizes 20–28 KHz ultrasonic channel and subcarrier spacing of 46.875 Hz (MODE3 and 93.750 Hz (MODE2 OFDM modulations. In addition, the paper shows Impulsive Noise distribution data measured at a fishing port in Okinawa and at a barge in Shizuoka prefectures and then proposed diversity OFDM transceivers architecture and experimental results are described. By the proposed Impulsive Noise Canceller, frame bit error rate has been decreased by 20–30%.

  5. Veterans Affairs Information Technology: Management Attention Needed to Improve Critical System Modernizations, Consolidate Data Centers, and Retire Legacy Systems

    Science.gov (United States)

    2017-02-07

    Veterans Affairs, Volume 1: Integrated Report (Washington, D.C.: Sept. 1, 2015). This assessment was conducted in response to a requirement in the Veterans...VETERANS AFFAIRS INFORMATION TECHNOLOGY Management Attention Needed to Improve Critical System Modernizations...Management Attention Needed to Improve Critical System Modernizations, Consolidate Data Centers, and Retire Legacy Systems What GAO Found GAO

  6. Experimental demonstration of MIMO-OFDM underwater wireless optical communication

    Science.gov (United States)

    Song, Yuhang; Lu, Weichao; Sun, Bin; Hong, Yang; Qu, Fengzhong; Han, Jun; Zhang, Wei; Xu, Jing

    2017-11-01

    In this paper, we propose and experimentally demonstrate a multiple-input multiple-output orthogonal frequency division multiplexing (MIMO-OFDM) underwater wireless optical communication (UWOC) system, with a gross bit rate of 33.691 Mb/s over a 2-m water channel using low-cost blue light-emitting-diodes (LEDs) and 10-MHz PIN photodiodes. The system is capable of realizing robust data transmission within a relatively large reception area, leading to relaxed alignment requirement for UWOC. In addition, we have compared the system performance of repetition coding OFDM (RC-OFDM), Alamouti-OFDM and multiple-input single-output OFDM (MISO-OFDM) in turbid water. Results show that the Alamouti-OFDM UWOC is more resistant to delay than the RC-OFDM-based system.

  7. Reactor Power for Large Displacement Autonomous Underwater Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    McClure, Patrick Ray [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Reid, Robert Stowers [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Poston, David Irvin [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Dasari, Venkateswara Rao [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2016-08-24

    This is a PentaChart on reactor power for large displacement autonomous underwater vehicles. Currently AUVs use batteries or combinations of batteries and fuel cells for power. Battery/fuel cell technology is limited by duration. Batteries and cell fuels are a good match for some missions, but other missions could benefit greatly by a longer duration. The goal is the following: to design nuclear systems to power an AUV and meet design constraints including non-proliferation issues, power level, size constraints, and power conversion limitations. The action plan is to continue development of a range of systems for terrestrial systems and focus on a system for Titan Moon as alternative to Pu-238 for NASA.

  8. Evolution of the Systems Engineering Education Development (SEED) Program at NASA Goddard Space Flight Center

    Science.gov (United States)

    Bagg, Thomas C., III; Brumfield, Mark D.; Jamison, Donald E.; Granata, Raymond L.; Casey, Carolyn A.; Heller, Stuart

    2003-01-01

    The Systems Engineering Education Development (SEED) Program at NASA Goddard Space Flight Center develops systems engineers from existing discipline engineers. The program has evolved significantly since the report to INCOSE in 2003. This paper describes the SEED Program as it is now, outlines the changes over the last year, discusses current status and results, and shows the value of human systems and leadership skills for practicing systems engineers.

  9. Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results

    OpenAIRE

    Wei Peng Lin; Cheng Siong Chin; Leonard Chin Wai Looi; Jun Jie Lim; Elvin Min Ee Teh

    2015-01-01

    Control systems prototyping is usually constrained by model complexity, embedded system configurations, and interface testing. The proposed control system prototyping of a remotely-operated vehicle (ROV) with a docking hoop (DH) to recover an autonomous underwater vehicle (AUV) named AUVDH using a combination of software tools allows the prototyping process to be unified. This process provides systematic design from mechanical, hydrodynamics, dynamics modelling, control system design, and sim...

  10. Decomposition of algebraic sets and applications to weak centers of cubic systems

    Science.gov (United States)

    Chen, Xingwu; Zhang, Weinian

    2009-10-01

    There are many methods such as Gröbner basis, characteristic set and resultant, in computing an algebraic set of a system of multivariate polynomials. The common difficulties come from the complexity of computation, singularity of the corresponding matrices and some unnecessary factors in successive computation. In this paper, we decompose algebraic sets, stratum by stratum, into a union of constructible sets with Sylvester resultants, so as to simplify the procedure of elimination. Applying this decomposition to systems of multivariate polynomials resulted from period constants of reversible cubic differential systems which possess a quadratic isochronous center, we determine the order of weak centers and discuss the bifurcation of critical periods.

  11. Experimental Measurements of Temporal Dispersion for Underwater Laser Communications and Imaging

    Science.gov (United States)

    Cochenour, Brandon Michael

    ) at which multiple scattering and temporal dispersion are observed, while finer details of the scattering phase function shape are related to the amount of temporal dispersion that occurs. 3. Consistent with intuition, temporal dispersion is increased while increasing the receiver field-of-view when observing the light field at the beam axis. This is due to the collection of non-scattered, minimally scattered, and multiply scattered light. Observation of the light field far from the beam axis also results in increased temporal dispersion relative to on-axis observation, as only multiply scattered light is collected. However, no additional temporal dispersion is induced by widening the receiver field-of-view at these off-axis locations. This is contrary to the current conventional understanding, and illustrates the interdependence of geometry, system configuration, and environmental characteristics. 4. The experimental results are used to establish operational limits for underwater optical communication links with regard to sensitivity, dynamic range, and bandwidth. Establishing these bounds, particularly as they relate to channel bandwidth, have typically not be possible due to the previous lack of experimental evidence. 5. The intensity distribution of high frequency modulated light exhibits an effective 'angular narrowing' relative to non-modulated light. This result was theoretically predicted over 40 years ago, and experimentally verified for the first time in this work. This phenomenon is then exploited as a method to improve the resolution of underwater laser imaging systems. These results provide an improved understanding of temporal and spatial dispersion, as well as their relationship to each other. Understanding how both environmental and sensor properties effect spatial and temporal impairments are essential for optimizing the operating range and bandwidth of underwater laser communication links, or the range, resolution, and reliability of underwater laser

  12. Limit cycles bifurcated from a center in a three dimensional system

    Directory of Open Access Journals (Sweden)

    Bo Sang

    2016-04-01

    Full Text Available Based on the pseudo-division algorithm, we introduce a method for computing focal values of a class of 3-dimensional autonomous systems. Using the $\\epsilon^1$-order focal values computation, we determine the number of limit cycles bifurcating from each component of the center variety (obtained by Mahdi et al. It is shown that at most four limit cycles can be bifurcated from the center with identical quadratic perturbations and that the bound is sharp.

  13. Test bed control center design concept for Tank Waste Retrieval Manipulator Systems

    International Nuclear Information System (INIS)

    Sundstrom, E.; Draper, J.V.; Fausz, A.

    1995-01-01

    This paper describes the design concept for the control center for the Single Shell Tank Waste Retrieval Manipulator System test bed and the design process behind the concept. The design concept supports all phases of the test bed mission, including technology demonstration, comprehensive system testing, and comparative evaluation for further development and refinement of the TWRMS for field operations

  14. Description of the surface water filtration and ozone treatment system at the Northeast Fishery Center

    Science.gov (United States)

    A water filtration and ozone disinfection system was installed at the U.S. Fish and Wildlife Service's Northeast Fishery Center in Lamar, Pennsylvania to treat a surface water supply that is used to culture sensitive and endangered fish. The treatment system first passes the surface water through dr...

  15. A User-Centered Cooperative Information System for Medical Imaging Diagnosis.

    Science.gov (United States)

    Gomez, Enrique J.; Quiles, Jose A.; Sanz, Marcos F.; del Pozo, Francisco

    1998-01-01

    Presents a cooperative information system for remote medical imaging diagnosis. General computer-supported cooperative work (CSCW) problems addressed are definition of a procedure for the design of user-centered cooperative systems (conceptual level); and improvement of user feedback and optimization of the communication bandwidth in highly…

  16. CFD and FEM Model of an Underwater Vehicle Propeller

    Directory of Open Access Journals (Sweden)

    Chruściel Tadeusz

    2014-10-01

    Full Text Available Within the framework of the project for design and optimization of the Remotely Operated Vehicle (ROV, research on its propulsion has been carried out. Te entire project was supported by CFD and FEM calculations taking into account the characteristics of the underwater vehicle. One of the tasks was to optimize the semi-open duct for horizontal propellers, which provided propulsion and controllability in horizontal plane. In order to create a measurable model of this task it was necessary to analyze numerical methodology of propeller design, along with the structure of a propellers with nozzles and contra-rotating propellers. It was confronted with theoretical solutions which included running of the analyzed propeller near an underwater vehicle. Also preliminary qualitative analyses of a simplified system with contra-rotating propellers and a semi-open duct were carried out. Te obtained results enabled to make a decision about the ROVs duct form. Te rapid prototyping SLS (Selective Laser Sintering method was used to fabricate a physical model of the propeller. As a consequence of this, it was necessary to verify the FEM model of the propeller, which based on the load obtained from the CFD model. Te article contains characteristics of the examined ROV, a theoretical basis of propeller design for the analyzed cases, and the results of CFD and FEM simulations.

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

    Science.gov (United States)

    Plamondon, N; Nahon, M

    2009-09-01

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

  18. A trajectory tracking controller for an underwater hexapod vehicle

    International Nuclear Information System (INIS)

    Plamondon, N; Nahon, M

    2009-01-01

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

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

    Science.gov (United States)

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-09-01

    Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA). The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.

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

    Directory of Open Access Journals (Sweden)

    Daijin Li

    2015-05-01

    Full Text Available Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs is discussed. And a one-dimensional model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA. The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.

  1. Robust adaptive control of underwater vehicles: A comparative study

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1996-01-01

    Full Text Available Robust adaptive control of underwater vehicles in 6 DOF is analysed in the context of measurement noise. The performance of the adaptive control laws of Sadegh and Harowitz (1990 and Slotine and Benedetto (1990 are compared. Both these schemes require that all states are measured, that is the velocities and positions in surge, sway, heave, roll, pitch and yaw. However, for underwater vehicles it is difficult to measure the linear velocities whereas angular velocity measurements can be obtained by using a 3 axes angular rate sensor. This problem is addressed by designing a nonlinear observer for linear velocity state estimation. The proposed observer requires that the position and the attitude are measured, e.g. by using a hydroacoustic positioning system for linear positions, two gyros for roll and pitch and a compass for yaw. In addition angular rate measurements will be assumed available from a 3-axes rate sensor or a state estimator. It is also assumed that the measurement rate is limited to 2 Hz for all the sensors. Simulation studies with a 3 DOF AUV model are used to demonstrate the convergence and robustness of the adaptive control laws and the velocity state observer.

  2. Trajectory-Based Visual Localization in Underwater Surveying Missions

    Directory of Open Access Journals (Sweden)

    Antoni Burguera

    2015-01-01

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

  3. 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...

  4. 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.

  5. 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.

  6. A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing

    CERN Document Server

    Gelin, Chrystel

    2013-01-01

    Dead-Reckoning aided with Doppler velocity measurement has been the most common method for underwater navigation for small vehicles. Unfortunately DR requires frequent position recalibrations and underwater vehicle navigation systems are limited to periodic position update when they surface. Finally standard Global Positioning System (GPS) receivers are unable to provide the rate or precision required when used on a small vessel. To overcome this, a low cost high rate motion measurement system for an Unmanned Surface Vehicle (USV) with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. The proposed data fusion technique integrates the sensors and develops an embeddable software package, using real time data fusion method...

  7. 77 FR 67348 - Privacy Act of 1974; System of Records-Alternative Dispute Resolution (ADR) Center Case Tracking...

    Science.gov (United States)

    2012-11-09

    ... paper files in filing cabinets and electronically on a computerized tracking system, and in an email... Privacy Act of 1974; System of Records--Alternative Dispute Resolution (ADR) Center Case Tracking System... (ADR) Center Case Tracking System.'' DATES: Submit your comments on this proposed altered system of...

  8. Evaluating trauma center structural performance: The experience of a Canadian provincial trauma system

    Directory of Open Access Journals (Sweden)

    Lynne Moore

    2013-01-01

    Full Text Available Background: Indicators of structure, process, and outcome are required to evaluate the performance of trauma centers to improve the quality and efficiency of care. While periodic external accreditation visits are part of most trauma systems, a quantitative indicator of structural performance has yet to be proposed. The objective of this study was to develop and validate a trauma center structural performance indicator using accreditation report data. Materials and Methods: Analyses were based on accreditation reports completed during on-site visits in the Quebec trauma system (1994-2005. Qualitative report data was retrospectively transposed onto an evaluation grid and the weighted average of grid items was used to quantify performance. The indicator of structural performance was evaluated in terms of test-retest reliability (kappa statistic, discrimination between centers (coefficient of variation, content validity (correlation with accreditation decision, designation level, and patient volume and forecasting (correlation between visits performed in 1994-1999 and 1998-2005. Results: Kappa statistics were >0.8 for 66 of the 73 (90% grid items. Mean structural performance score over 59 trauma centers was 47.4 (95% CI: 43.6-51.1. Two centers were flagged as outliers and the coefficient of variation was 31.2% (95% CI: 25.5% to 37.6%, showing good discrimination. Correlation coefficients of associations with accreditation decision, designation level, and volume were all statistically significant (r = 0.61, -0.40, and 0.24, respectively. No correlation was observed over time (r = 0.03. Conclusion: This study demonstrates the feasibility of quantifying trauma center structural performance using accreditation reports. The proposed performance indicator shows good test-retest reliability, between-center discrimination, and construct validity. The observed variability in structural performance across centers and over-time underlines the importance of

  9. Close-Range Tracking of Underwater Vehicles Using Light Beacons

    Science.gov (United States)

    Bosch, Josep; Gracias, Nuno; Ridao, Pere; Istenič, Klemen; Ribas, David

    2016-01-01

    This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time. PMID:27023547

  10. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

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

  11. 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)

  12. 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.)

  13. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

    Farcas, Adrian [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom); Thompson, Paul M. [Lighthouse Field Station, Institute of Biological and Environmental Sciences, University of Aberdeen, Cromarty IV11 8YL (United Kingdom); Merchant, Nathan D., E-mail: nathan.merchant@cefas.co.uk [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)

    2016-02-15

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

  14. Ocean Research Enabled by Underwater Gliders

    Science.gov (United States)

    Rudnick, Daniel L.

    2016-01-01

    Underwater gliders are autonomous underwater vehicles that profile vertically by changing their buoyancy and use wings to move horizontally. Gliders are useful for sustained observation at relatively fine horizontal scales, especially to connect the coastal and open ocean. In this review, research topics are grouped by time and length scales. Large-scale topics addressed include the eastern and western boundary currents and the regional effects of climate variability. The accessibility of horizontal length scales of order 1 km allows investigation of mesoscale and submesoscale features such as fronts and eddies. Because the submesoscales dominate vertical fluxes in the ocean, gliders have found application in studies of biogeochemical processes. At the finest scales, gliders have been used to measure internal waves and turbulent dissipation. The review summarizes gliders' achievements to date and assesses their future in ocean observation.

  15. Underwater Sensor System 2009 Field Trial Report

    Science.gov (United States)

    2011-03-01

    2011 © Sa majesté la reine , représentée par le ministre de la Défense nationale, 2011 DRDC Atlantic TM 2010-241 i Abstract This...décrit les progrès accomplis en fonction des objectifs des essais sur le terrain et vise à constituer une référence pour le campement de Gascoyne...Les essais ont été effectués dans le cadre des activités liées au projet de démonstration de technologies (PDT) de surveillance du Nord. Le document

  16. Use of acoustic systems for underwater archaeology

    Digital Repository Service at National Institute of Oceanography (India)

    Vora, K.H.

    stream_size 2 stream_content_type text/plain stream_name J_Mar_Archaeol_2_71.pdf.txt stream_source_info J_Mar_Archaeol_2_71.pdf.txt Content-Encoding ISO-8859-1 Content-Type text/plain; charset=ISO-8859-1 ...

  17. Underwater Munitions Expert System: Preliminary Design Report

    Science.gov (United States)

    2015-08-21

    refraction ,   shoaling  waves  are   constrained   to...measurement   error  for  these  bathymetric  surveys.    In  Figure  3.8a,   the  boundaries  of  spatial  cells,  based...knowledge,   such   as   prevalence  of  the  longshore  current.    For  the  current  UnMES  implementation,  a

  18. Underwater Simultaneous EMI and Magnetometer System (USEMS)

    Science.gov (United States)

    2011-02-01

    15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT Same as Report (SAR) 18. NUMBER OF PAGES 45 19a. NAME OF RESPONSIBLE...Geometrics $3500 Inclinometers and cabling Advanced Geomechanics $4000 Diveplanes and hydraulics Various $5000 Rotary positioning sensors Penny

  19. VIRTUAL COGNITIVE CENTERS AS INTELLIGENT SYSTEMS FOR MANAGEMENT INFORMATION SUPPORT OF REGIONAL SECURITY

    Directory of Open Access Journals (Sweden)

    A. V. Masloboev

    2014-03-01

    Full Text Available The paper deals with engineering problems and application perspectives of virtual cognitive centers as intelligent systems for information support of interagency activities in the field of complex security management of regional development. A research prototype of virtual cognitive center for regional security management in crisis situations, implemented as hybrid cloud service based on IaaS architectural framework with the usage of multi-agent and web-service technologies has been developed. Virtual cognitive center is a training simulator software system and is intended for solving on the basis of distributed simulation such problems as: strategic planning and forecasting of risk-sustainable development of regional socioeconomic systems, agents of management interaction specification synthesis for regional components security in different crisis situations within the planning stage of joint anti-crisis actions.

  20. A MAC protocol for underwater sensors networks

    OpenAIRE

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

    2015-01-01

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

  1. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    Science.gov (United States)

    2016-09-20

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

  2. Underwater suction device for irradiated materials

    International Nuclear Information System (INIS)

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

    1982-01-01

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

  3. Tethered Antennas for Unmanned Underwater Vehicles

    Science.gov (United States)

    2009-04-27

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

  4. MEDITERRANEAN: Underwater neutrinos get off the ground

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    Now funded is the initial stage of NESTOR, an imaginative new programme for a dedicated underwater neutrino astroparticle physics laboratory. Located in the international waters off the southernmost corner of continental Europe near the town of Pylos in S.W. Greece, NESTOR (NEutrinos from Supernovae and TeV sources Ocean Range) recalls the wise king of Pylos who counselled the Greeks during the Trojan war, an excellent tradition for new scientific goals of detecting neutrinos

  5. Role of Confined Water in Underwater Adhesion

    Science.gov (United States)

    Dhinojwala, Ali

    Surface bound water is a strong deterrent for forming strong bonds between two surfaces underwater and expelling that bound water is important for strong adhesion. I will discuss examples of different strategies used by geckos, spiders, and mussels to handle this last layer of bound water. Recent results using infrared-visible sum frequency generation spectroscopy to probe the structure of this bound water will be discussed. National Science Foundation.

  6. Obstacle avoidance in underwater glider path planning

    OpenAIRE

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

    2012-01-01

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

  7. Research on Operational Aspects of Large Autonomous Underwater Glider Fleets

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

    This program supported research on the operational and management issues stemming from application of large fleets of autonomous underwater gliders to oceanographic research and rapid environmental...

  8. 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...

  9. Automatic stabilization of underwater robots in the time manipulation operations

    International Nuclear Information System (INIS)

    Filaretov, V.F.; Koval, E.V.

    1994-01-01

    When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects

  10. 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...

  11. Underwater Acoustic Target Tracking: A Review.

    Science.gov (United States)

    Luo, Junhai; Han, Ying; Fan, Liying

    2018-01-02

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

  12. Underwater Noise Modelling of Wave Energy Devices

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-07-01

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

  13. Transportable Payload Operations Control Center reusable software: Building blocks for quality ground data systems

    Science.gov (United States)

    Mahmot, Ron; Koslosky, John T.; Beach, Edward; Schwarz, Barbara

    1994-01-01

    The Mission Operations Division (MOD) at Goddard Space Flight Center builds Mission Operations Centers which are used by Flight Operations Teams to monitor and control satellites. Reducing system life cycle costs through software reuse has always been a priority of the MOD. The MOD's Transportable Payload Operations Control Center development team established an extensive library of 14 subsystems with over 100,000 delivered source instructions of reusable, generic software components. Nine TPOCC-based control centers to date support 11 satellites and achieved an average software reuse level of more than 75 percent. This paper shares experiences of how the TPOCC building blocks were developed and how building block developer's, mission development teams, and users are all part of the process.

  14. 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.

  15. Robotic Visual Tracking of Relevant Cues in Underwater Environments with Poor Visibility Conditions

    Directory of Open Access Journals (Sweden)

    Alejandro Maldonado-Ramírez

    2016-01-01

    Full Text Available Using visual sensors for detecting regions of interest in underwater environments is fundamental for many robotic applications. Particularly, for an autonomous exploration task, an underwater vehicle must be guided towards features that are of interest. If the relevant features can be seen from the distance, then smooth control movements of the vehicle are feasible in order to position itself close enough with the final goal of gathering visual quality images. However, it is a challenging task for a robotic system to achieve stable tracking of the same regions since marine environments are unstructured and highly dynamic and usually have poor visibility. In this paper, a framework that robustly detects and tracks regions of interest in real time is presented. We use the chromatic channels of a perceptual uniform color space to detect relevant regions and adapt a visual attention scheme to underwater scenes. For the tracking, we associate with each relevant point superpixel descriptors which are invariant to changes in illumination and shape. The field experiment results have demonstrated that our approach is robust when tested on different visibility conditions and depths in underwater explorations.

  16. Underwater 3D Reconstruction Based on Geometric Transformation of Sonar and Depth Information

    Science.gov (United States)

    Dong, Mingjie; Chou, Wusheng; Yao, Guodong

    2017-10-01

    3D reconstruction is of vital importance to detect and monitor the underwater environment. A method based on geometric transformation of mechanical scanning sonar and depth information is proposed, in which the point cloud data from sonar and depth gauge are acquired to reconstruct the underwater 3D environment. However, noise and interference can affect the measurement of sonar, and movement of sonar during measurement can lead to distortion of the received data. Meanwhile, translation and rotation movement of sonar head may happen when ROV dives which can lead to different body reference coordinates of different scanning. To solve this, pre-processing and motion compensation are implemented at first, and underwater matching correction algorithm is used to calculate the translation and rotation of the sonar head. Then the inverse operation is implemented to convert the scan data of every depth into the same coordinate reference system. Finally, surface reconstruction of point clouds from sonar the depth information are used to reconstruct underwater environment based on MLS (Moving Least Square Method) using PCL (Point Cloud Library). Water tank experiments verify the effectiveness of the proposed method.

  17. Task analysis and structure scheme for center manager station in large container inspection system

    International Nuclear Information System (INIS)

    Li Zheng; Gao Wenhuan; Wang Jingjin; Kang Kejun; Chen Zhiqiang

    1997-01-01

    LCIS works as follows: the accelerator generates beam pulses which are formed into fan shape; the scanning system drags a lorry with a container passing through the beam in constant speed; the detector array detects the beam penetrating the lorry; the projection data acquisition system reads the projections and completes an inspection image of the lorry. All these works are controlled and synchronized by the center manage station. The author will describe the process of the projection data acquisition in scanning mode and the methods of real-time projection data processing. the task analysis and the structure scheme of center manager station is presented

  18. Approach to training the trainer at the Bell System Training Center

    International Nuclear Information System (INIS)

    Housley, E.A.; Stevenson, J.L.

    1981-01-01

    The major activity of the Bell System Training Center is to develop and deliver technical training. Experts in various technical areas are selected as course developers or instructors, usually on rotational assignments. Through a series of workshops, described in this paper, combined with coaching, use of job aids and working with more experienced peers, they become competent developers or instructors. There may be similarities between the mission of the Bell System Training Center and other contexts where criticality of job performance and technical subject matter are training characteristics

  19. Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control

    Directory of Open Access Journals (Sweden)

    Ricardo Pérez-Alcocer

    2016-01-01

    Full Text Available This paper presents a vision-based navigation system for an autonomous underwater vehicle in semistructured environments with poor visibility. In terrestrial and aerial applications, the use of visual systems mounted in robotic platforms as a control sensor feedback is commonplace. However, robotic vision-based tasks for underwater applications are still not widely considered as the images captured in this type of environments tend to be blurred and/or color depleted. To tackle this problem, we have adapted the lαβ color space to identify features of interest in underwater images even in extreme visibility conditions. To guarantee the stability of the vehicle at all times, a model-free robust control is used. We have validated the performance of our visual navigation system in real environments showing the feasibility of our approach.

  20. An efficient method to measure reliability of underwater acoustic communication links

    Directory of Open Access Journals (Sweden)

    Roee Diamant

    2016-04-01

    Full Text Available We consider the problem of evaluating the reliability of underwater acoustic communication (UWAC systems. Reliability is a requirement for any communication system and is often defined as the probability to achieve a target bit error rate. Evaluation of system reliability is often performed empirically by conducting a large number of measurements. However, for UWAC, where experiments are expensive and time-consuming, not much data is available to perform such a reliability check. Based on the assumption that the long delay spread is the dominant characteristic of the underwater acoustic channel and for a given channel model, we offer a relaxed practical approach to evaluate the reliability of an UWAC system. As a test case, we show reliability results for the multiple input multiple output (MIMO code division multiple access (CDMA communication system.

  1. Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis.

    Science.gov (United States)

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

    2016-01-01

    Action sport cameras (ASC) are currently adopted mainly for entertainment purposes but their uninterrupted technical improvements, in correspondence of cost decreases, are going to disclose them for three-dimensional (3D) motion analysis in sport gesture study and athletic performance evaluation quantitatively. Extending this technology to sport analysis however still requires a methodologic step-forward to making ASC a metric system, encompassing ad-hoc camera setup, image processing, feature tracking, calibration and 3D reconstruction. Despite traditional laboratory analysis, such requirements become an issue when coping with both indoor and outdoor motion acquisitions of athletes. In swimming analysis for example, the camera setup and the calibration protocol are particularly demanding since land and underwater cameras are mandatory. In particular, the underwater camera calibration can be an issue affecting the reconstruction accuracy. In this paper, the aim is to evaluate the feasibility of ASC for 3D underwater analysis by focusing on camera setup and data acquisition protocols. Two GoPro Hero3+ Black (frequency: 60Hz; image resolutions: 1280×720/1920×1080 pixels) were located underwater into a swimming pool, surveying a working volume of about 6m3. A two-step custom calibration procedure, consisting in the acquisition of one static triad and one moving wand, carrying nine and one spherical passive markers, respectively, was implemented. After assessing camera parameters, a rigid bar, carrying two markers at known distance, was acquired in several positions within the working volume. The average error upon the reconstructed inter-marker distances was less than 2.5mm (1280×720) and 1.5mm (1920×1080). The results of this study demonstrate that the calibration of underwater ASC is feasible enabling quantitative kinematic measurements with accuracy comparable to traditional motion capture systems.

  2. Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis.

    Directory of Open Access Journals (Sweden)

    Gustavo R D Bernardina

    Full Text Available Action sport cameras (ASC are currently adopted mainly for entertainment purposes but their uninterrupted technical improvements, in correspondence of cost decreases, are going to disclose them for three-dimensional (3D motion analysis in sport gesture study and athletic performance evaluation quantitatively. Extending this technology to sport analysis however still requires a methodologic step-forward to making ASC a metric system, encompassing ad-hoc camera setup, image processing, feature tracking, calibration and 3D reconstruction. Despite traditional laboratory analysis, such requirements become an issue when coping with both indoor and outdoor motion acquisitions of athletes. In swimming analysis for example, the camera setup and the calibration protocol are particularly demanding since land and underwater cameras are mandatory. In particular, the underwater camera calibration can be an issue affecting the reconstruction accuracy. In this paper, the aim is to evaluate the feasibility of ASC for 3D underwater analysis by focusing on camera setup and data acquisition protocols. Two GoPro Hero3+ Black (frequency: 60Hz; image resolutions: 1280×720/1920×1080 pixels were located underwater into a swimming pool, surveying a working volume of about 6m3. A two-step custom calibration procedure, consisting in the acquisition of one static triad and one moving wand, carrying nine and one spherical passive markers, respectively, was implemented. After assessing camera parameters, a rigid bar, carrying two markers at known distance, was acquired in several positions within the working volume. The average error upon the reconstructed inter-marker distances was less than 2.5mm (1280×720 and 1.5mm (1920×1080. The results of this study demonstrate that the calibration of underwater ASC is feasible enabling quantitative kinematic measurements with accuracy comparable to traditional motion capture systems.

  3. Forced underwater laminar flows with active magnetohydrodynamic metamaterials

    Science.gov (United States)

    Culver, Dean; Urzhumov, Yaroslav

    2017-12-01

    Theory and practical implementations for wake-free propulsion systems are proposed and proven with computational fluid dynamic modeling. Introduced earlier, the concept of active hydrodynamic metamaterials is advanced by introducing magnetohydrodynamic metamaterials, structures with custom-designed volumetric distribution of Lorentz forces acting on a conducting fluid. Distributions of volume forces leading to wake-free, laminar flows are designed using multivariate optimization. Theoretical indications are presented that such flows can be sustained at arbitrarily high Reynolds numbers. Moreover, it is shown that in the limit Re ≫102 , a fixed volume force distribution may lead to a forced laminar flow across a wide range of Re numbers, without the need to reconfigure the force-generating metamaterial. Power requirements for such a device are studied as a function of the fluid conductivity. Implications to the design of distributed propulsion systems underwater and in space are discussed.

  4. The LANSCE (Los Alamos Neutron Scattering Center) target data collection system

    International Nuclear Information System (INIS)

    Kernodle, A.K.

    1989-01-01

    The Los Alamos Neutron Scattering Center (LANSCE) Target Data Collection System is the result of an effort to provide a base of information from which to draw conclusions on the performance and operational condition of the overall LANSCE target system. During the conceptualization of the system, several goals were defined. A survey was made of both custom-made and off-the-shelf hardware and software that were capable of meeting these goals. The first stage of the system was successfully implemented for the LANSCE run cycle 52. From the operational experience gained thus far, it appears that the LANSCE Target Data Collection System will meet all of the previously defined requirements

  5. Design of a Mission Data Storage and Retrieval System for NASA Dryden Flight Research Center

    Science.gov (United States)

    Lux, Jessica; Downing, Bob; Sheldon, Jack

    2007-01-01

    The Western Aeronautical Test Range (WATR) at the NASA Dryden Flight Research Center (DFRC) employs the WATR Integrated Next Generation System (WINGS) for the processing and display of aeronautical flight data. This report discusses the post-mission segment of the WINGS architecture. A team designed and implemented a system for the near- and long-term storage and distribution of mission data for flight projects at DFRC, providing the user with intelligent access to data. Discussed are the legacy system, an industry survey, system operational concept, high-level system features, and initial design efforts.

  6. Relative position calibration of multi-LDS in shaft center measurement system

    Science.gov (United States)

    Wang, Lei; Wang, Zhong; Fu, Luhua; Zhao, Yan; Liu, Changjie

    2018-01-01

    In the center measuring device consisting of a plurality of laser triangular displacement sensors (LDS) for coaxiality measurement of shaft, it fits the center coordinate of the shaft by obtaining the coordinates of the outer contour, this poses a higher requirement for the relative position calibration accuracy of the multi-LDS. Aiming at the positional relationship between multi-LDS, the CMM is leaded into the calibration of the center measuring device. Randomly moves a standard column and reading the length values of multi-LDS, combined with the known center coordinates of the column from CMM, to establish the over-determined nonlinear equations, the angle and starting position of the laser beam of each LDS in the measuring device are calculated. The experiment result indicates that measuring uncertainty of the system is 30 μm, this proved the validity and feasibility of the multi-LDS center measuring device in the use of coaxiality measurement of shaft. As a result, it is found that the proposed calibration method is accuracy to the multi-LDS center measuring device and can be implemented easily.

  7. Innovation in user-centered skills and performance improvement for sustainable complex service systems.

    Science.gov (United States)

    Karwowski, Waldemar; Ahram, Tareq Z

    2012-01-01

    In order to leverage individual and organizational learning and to remain competitive in current turbulent markets it is important for employees, managers, planners and leaders to perform at high levels over time. Employee competence and skills are extremely important matters in view of the general shortage of talent and the mobility of employees with talent. Two factors emerged to have the greatest impact on the competitiveness of complex service systems: improving managerial and employee's knowledge attainment for skills, and improving the training and development of the workforce. This paper introduces the knowledge-based user-centered service design approach for sustainable skill and performance improvement in education, design and modeling of the next generation of complex service systems. The rest of the paper cover topics in human factors and sustainable business process modeling for the service industry, and illustrates the user-centered service system development cycle with the integration of systems engineering concepts in service systems. A roadmap for designing service systems of the future is discussed. The framework introduced in this paper is based on key user-centered design principles and systems engineering applications to support service competitiveness.

  8. Cartographic Encounters at the Bureau of Indian Affairs Geographic Information System Center of Calculation

    Science.gov (United States)

    Palmer, Mark H.

    2012-01-01

    The centering processes of geographic information system (GIS) development at the United States Bureau of Indian Affairs (BIA) was an extension of past cartographic encounters with American Indians through the central control of geospatial technologies, uneven development of geographic information resources, and extension of technically dependent…

  9. National High School Center Early Warning System Tool v2.0: Technical Manual

    Science.gov (United States)

    National High School Center, 2011

    2011-01-01

    The Early Warning System (EWS) Tool v2.0 is a Microsoft Excel-based tool developed by the National High School Center at the American Institutes for Research in collaboration with Matrix Knowledge Group. The tool enables schools, districts, and states to identify students who may be at risk of dropping out of high school and to monitor these…

  10. The Sun: A Star at the Center of Our Solar System

    Science.gov (United States)

    Adams, Mitzi L.

    2016-01-01

    There is a star at the center of our solar system! But what is a star? How do stars work? What are the characteristics of our Sun and how are these traits different from other stars? How does the Sun compare to stars such as Betelgeuse and Rigel? "Will the Sun end its life with a bang or a whimper?"

  11. Lightcurve Analysis of Hilda Asteroids at the Center for Solar System Studies: 2017 October-December

    Science.gov (United States)

    Warner, Brian D.; Stephens, Robert D.; Coley, Daniel R.

    2018-04-01

    Lightcurves for 12 Hilda asteroids were obtained at the Center for Solar System Studies (CS3) from 2017 October-December. Preliminary shape and spin axis models are given for seven of the Hildas: 958 Asplinda, 1439 Vogita, 1539 Oterma, 2483 Guinevere, 3561 Devine, 4317 Garibaldi, and 17428 Charleroi. These will serve as good starting points for future modeling.

  12. Measuring Malaysia School Resource Centers' Standards through iQ-PSS: An Online Management Information System

    Science.gov (United States)

    Zainudin, Fadzliaton; Ismail, Kamarulzaman

    2010-01-01

    The Ministry of Education has come up with an innovative way to monitor the progress of 9,843 School Resource Centers (SRCs) using an online management information system called iQ-PSS (Quality Index of SRC). This paper aims to describe the data collection method and analyze the current state of SRCs in Malaysia and explain how the results can be…

  13. Joint Logistics Systems Center’s Financial Statements for FY 1993

    Science.gov (United States)

    1994-06-24

    243,954,744). The Defense Pinance and Accounting Service - Denver Center uses the Departmental OnLine Accounting and Reporting System ( DOLARS ) to...consolidate and prepare JLSC’s financial reports. DOLARS uses an Air Force unique general ledger structure. These Notes to the Financial Statements of the

  14. Successful Incorporation of Performance Based Payments for Trauma Center Readiness Costs into the Georgia Trauma System.

    Science.gov (United States)

    Ashley, Dennis W; Nicholas, Jeffrey M; Dente, Christopher J; Johns, Tracy J; Garlow, Laura E; Solomon, Gina; Abston, Dena; Ferdinand, Colville H

    2017-09-01

    As quality and outcomes have moved to the fore front of medicine in this era of healthcare reform, a state trauma system Performance Based Payments (PBP) program has been incorporated into trauma center readiness funding. The purpose of this study was to evaluate the impact of a PBP on trauma center revenue. From 2010 to 2016, a percentage of readiness costs funding to trauma centers was placed in a PBP and withheld until the PBP criteria were completed. To introduce the concept, only three performance criteria and 10 per cent of readiness costs funding were tied to PBP in 2010. The PBP has evolved over the last several years to now include specific criteria by level of designation with an increase to 50 per cent of readiness costs funding being tied to PBP criteria. Final PBP distribution to trauma centers was based on the number of performance criteria completed. During 2016, the PBP criteria for Level I and II trauma centers included participation in official state meetings/conference calls, required attendance to American College of Surgeons state chapter meetings, Trauma Quality Improvement Program, registry reports, and surgeon participation in Peer Review Committee and trauma alert response times. Over the seven-year study period, $36,261,469 was available for readiness funds with $11,534,512 eligible for the PBP. Only $636,383 (6%) was withheld from trauma centers. A performance-based program was successfully incorporated into trauma center readiness funding, supporting state performance measures without adversely affecting the trauma center revenue. Future PBP criteria may be aligned to designation standards and clinical quality performance metrics.

  15. Designing a Knowledge Management System for Distributed Activities: A Human Centered Approach

    OpenAIRE

    Rinkus, Susan; Johnson-Throop, Kathy A.; Zhang, Jiajie

    2003-01-01

    In this study we use the principles of distributed cognition and the methodology of human-centered distributed information design to analyze a complex distributed human-computer system, identify its problems, and generate design requirements and implementation specifications of a replacement prototype for effective organizational memory and knowledge management. We argue that a distributed human-computer information system has unique properties, structures and processes that are best describe...

  16. Establishing vegetable agroforestry system research at AVRDC - The World Vegetable Center

    OpenAIRE

    Palada, Manuel C.; Wu, D.; Luther, G.C.

    2008-01-01

    Tree-crop interactions in agroforestry systems involving vegetable crops have not been studied extensively, for previous research in agroforestry focused on agronomic arable field crops. A vegetable agroforestry system was established at the World Vegetable Center (AVRDC) to study tree-crop interactions in alley cropping vegetables with tropical fruit trees in terms of competition and/or complementarity; to investigate the influence of tree crops on natural habitat and insect pest population ...

  17. Underwater Nuclear Fuel Disassembly and Rod Storage Process and Equipment Description. Volume II

    International Nuclear Information System (INIS)

    Viebrock, J.M.

    1981-09-01

    The process, equipment, and the demonstration of the Underwater Nuclear Fuel Disassembly and Rod Storage System are presented. The process was shown to be a viable means of increasing spent fuel pool storage density by taking apart fuel assemblies and storing the fuel rods in a denser fashion than in the original storage racks. The assembly's nonfuel-bearing waste is compacted and containerized. The report documents design criteria and analysis, fabrication, demonstration program results, and proposed enhancements to the system

  18. Application of acoustic, magnetic and electromagnetic systems in marine archaeology

    Digital Repository Service at National Institute of Oceanography (India)

    SubbaRaju, L.V.

    The importance of integrated geoscientific studies is reiterated for underwater archaeological exploration. Geophysical systems applied for the detection of artefacts, ancient places and underwater sites/objects are explained and detailed...

  19. Human‐Centered Design: Integrating Services & Systems Around People By Providing A Common Ground for Action

    DEFF Research Database (Denmark)

    Junginger, Sabine

    2014-01-01

    argue that human-centered design challenges the systems view of service engineers and service designers and requires them to reach out to each other. For this reason, I conclude that for these two disciplines, human-centered design provides a common ground for purposeful action: to arrive at the best......Service engineering and service design, though distinct in their origins, theories, concepts, methods and practices, share that they are both consequential productive arts for people who depend on their outcomes. The ideas, methods and practices of human‐centred design are therefore relevant...

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

    Indian Academy of Sciences (India)

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