Sample records for underwater unexploded ordnance
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National Oceanic and Atmospheric Administration, Department of Commerce — Unexploded ordnances are explosive weapons (bombs, bullets, shells, grenades, mines, etc.) that did not explode when they were employed and still pose a risk of...
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Bilukha, Oleg O; Brennan, Muireann; Anderson, Mark; Tsitsaev, Zaur; Murtazaeva, Eliza; Ibragimov, Ramzan
2007-01-01
Due to more than a decade of armed conflict and civil unrest, Chechnya is among the regions most affected by landmines and unexploded ordnance worldwide. The study was performed to assess the magnitude of injuries and deaths due to landmines and unexploded ordnance in Chechnya between 1994 and 2005 and to describe epidemiologic patterns and risk factors for these events. Surveillance data that included 3,021 civilian non-combatants injured by landmines and unexploded ordnance in Chechnya during 1994-2005 were analyzed. Local non-governmental organizations in collaboration with the United Nations Children's Fund conducted victim data collection using trained staff to interview victims or their families. Surveillance data were used to describe injury trends, victim demographics, injury types, risk behaviors, and types of explosives related to landmine and unexploded ordnance events. The largest number of injuries occurred in 2000 (716, injury rate 6.6 per 10,000) and 2001 (640, injury rate 5.9 per 10,000). One-quarter of all victims were younger than 18 years, and 19% were females. The case-fatality rate was 23%. Approximately 40% of victims were injured by landmines, 30% by unexploded ordnance, and 7% by booby traps. A large proportion of children and adults were injured while traveling or performing activities of economic necessity; 29% of children were injured while tampering with explosives or playing in a contaminated area. The proportion of victims with lower limb amputations was similar among children and adults (14% and 17%, respectively), whereas the proportion ofvictims with upper limb amputations was three times higher in children than in adults (12% and 4%, respectively). Most accidents that occurred while the victim was traveling or performing activities of economic necessity were caused by landmines, while most accidents that occurred while the victim was playing near an explosive device or tampering with it were caused by unexploded ordnance. Civilians
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Bilukha, Oleg O; Brennan, Muireann; Anderson, Mark
2008-01-01
Due to several decades of armed conflict and civil unrest, Afghanistan is one of the countries most affected by landmines and unexploded ordnance worldwide. The study was performed to assess the magnitude of injuries due to landmines and unexploded ordnance in Afghanistan during 2002-2006 and to describe epidemiological patterns and potential risk factors for these events. Surveillance data including 5,471 injuries caused by landmines and unexploded ordnance in Afghanistan during 2002-2006 were analyzed. The International Committee of the Red Cross collects data on such injuries from 490 reporting health facilities and volunteers throughout the country. These surveillance data were used to describe injury trends, victim demographics, injury types, risk behaviors, and explosive types related to landmine and unexploded ordnance accidents. The largest number of injuries (1,706) occurred in 2002. The number declined sharply to 1,049 injuries in 2003, and remained relatively stable with slight decline thereafter. Overall, 92% of victims were civilians, 91% were males, and 47% were children <18 years of age. The case-fatality ratio was 17%. Approximately 50% of all injuries were caused by unexploded ordnance and 42% by landmines. Among children, 65% of injuries were caused by unexploded ordnance and only 27% by landmines, whereas in adults, most injuries (56%) were caused by landmines. The most common risk behaviors among children were tending animals, playing, and tampering with explosive devices. In adults, most common risk behaviors were traveling, performing activities of economic necessity, and tampering with explosives. Twenty-eight percent of the surviving victims who received mine awareness training and 2% of those who did not receive such training reported that the area where event occurred was marked. The large number of injuries and high proportion of child victims suggest that clearance and risk education activities fall short of achieving their goals, and
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Energy Technology Data Exchange (ETDEWEB)
Smith, C.M.
2002-04-03
Several Department of Energy (DOE) laboratories have worked and/or are working on technologies that are applicable to the detection of landmines and/or unexploded ordnance. This report is a compilation of technical summaries for many of these technologies. For additional information on any technology, appropriate points of contact are provided for each technology.
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Detection of unexploded ordnance by PGNAA based borehole-logging
International Nuclear Information System (INIS)
John Kettler; RWTH-Aachen University, Aachen; Eric Mauerhofer; Marco Steinbusch
2013-01-01
The performance of a borehole-logging system, based on prompt-gamma-neutron-activation-analysis (PGNAA), for explosive detection was studied by Monte-Carlo simulations. The prompt gamma of nitrogen, which is a constituent of common explosive, was used to identify the unexploded ordnance (UXO). Our results show that the minimum counting time depends on the soil moisture, the cladding thickness and the explosive composition. In conjunction with the standard detection by magnetometry, the PGNAA is a promising analytical technique for definitive identification of deep buried UXOs. (author)
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First results: Robot mapping of areas contaminated by landmines and unexploded ordnance
DEFF Research Database (Denmark)
Jensen, Kjeld; Larsen, Leon Bonde; Olsen, Kent Stark
Landmines and unexploded ordnance are a se- rious threat to the life and livelihood in post conflict areas in many parts of the world. In addition to the many casual- ties each year, the inaccessible roads and loss of cultivated areas have a significant impact on the local economy. Many organisat...... simultaneously. The FroboMind architecture based on Robot Operating System (ROS) is used for robot control. Software components will be released as open-source for others to build upon.......Landmines and unexploded ordnance are a se- rious threat to the life and livelihood in post conflict areas in many parts of the world. In addition to the many casual- ties each year, the inaccessible roads and loss of cultivated areas have a significant impact on the local economy. Many...... organisations are running humanitarian demining projects to clear the contaminated areas. But progress is slow since mine clearance is a very time-consuming process, and there is no room for error since most existing techniques involves an operator on site. A number of research projects have demonstrated...
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Detection and identification of unexploded ordnance (UXO) by neutron interrogation
International Nuclear Information System (INIS)
Caffrey, A.J.; Hartwell, J.K.; Krebs, K.M.; McLaughlin, G.D.
1998-01-01
This document reviews the principle of operation and unexploded ordnance (UXO) signatures of the PINS Chemical Assay System, a prompt-gamma-ray neutron activation analysis (PGNAA) for the identification of recovered UXO. Two related low cost methods for buried landmine detection are also suggested. Nuclear methods may compliment existing search techniques to improve the overall probability of detection and to reduce the false positive rate of other technologies. In addition, nuclear methods are a proven method for identification of UXO such as landmines
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Joint Diagonalization Applied to the Detection and Discrimination of Unexploded Ordnance
2012-08-01
center (Das et al., 1990; Barrow and Nelson, 2001; Bell et al., 2001; Pasion and Oldenburg, 2001; Zhang et al., 2003; Smith and Mor- rison, 2004; Tarokh et...2011.01.007. Moyes, R., R. Lloyd, and R. McGrath, 2002, Explosive remnants of war: Unexploded ordnance and post-conflict communities: Landmine Action. Pasion ...detection and discrimination: Proceedings of SPIE, 7664, 766408, doi: 10.1117/12/850654. Shubitidze, F., J. P. Fernández, I. Shamatava, L. R. Pasion , B. E
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Unexploded ordnance issues at Aberdeen Proving Ground: Background information
Energy Technology Data Exchange (ETDEWEB)
Rosenblatt, D.H.
1996-11-01
This document summarizes currently available information about the presence and significance of unexploded ordnance (UXO) in the two main areas of Aberdeen Proving Ground: Aberdeen Area and Edgewood Area. Known UXO in the land ranges of the Aberdeen Area consists entirely of conventional munitions. The Edgewood Area contains, in addition to conventional munitions, a significant quantity of chemical-munition UXO, which is reflected in the presence of chemical agent decomposition products in Edgewood Area ground-water samples. It may be concluded from current information that the UXO at Aberdeen Proving Ground has not adversely affected the environment through release of toxic substances to the public domain, especially not by water pathways, and is not likely to do so in the near future. Nevertheless, modest but periodic monitoring of groundwater and nearby surface waters would be a prudent policy.
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Explosives Dissolved from Unexploded Ordnance
2011-10-01
DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited. 13. SUPPLEMENTARY NOTES The original document contains color...the Nalgene (red) and ordnance (black) tests. ................. 52 Figure 42. Measured calcium versus sulfate concentration for the six ordnance...soil profiles at locations of UXOs found in the field. Underlying weathered/unweathered bedrock and rock land not depicted. Source: USDA Web Soil Survey
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Safety of Transport and Disposal for Explosive Ordnance in Ports, Roadsteads and at Open Sea
Directory of Open Access Journals (Sweden)
Adam Cichocki
2017-06-01
Full Text Available In the article principles, pertaining to the safety of transport for explosives and unexploded ordnance of military origin and procedures that guarantee maximal effectiveness of the process of their neutralization, are presented. Since the end of the 2nd World War operations of neutralizing unexploded ordnance (UXO of that era that still lie in ports, roadsteads and coastal areas are continuously conducted. During that war the Polish coast was one of the major battlegrounds and till now unexploded ordnance are found either on the sea bed or along the coast. Various analyses state that searching the sea and the coastline for unexploded ordnance is a task still to be carried out in the foreseeable future.
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Bistatic scattering from submerged unexploded ordnance lying on a sediment.
Bucaro, J A; Simpson, H; Kraus, L; Dragonette, L R; Yoder, T; Houston, B H
2009-11-01
The broadband bistatic target strengths (TSs) of two submerged unexploded ordnance (UXO) targets have been measured in the NRL sediment pool facility. The targets-a 5 in. rocket and a 155 mm projectile-were among the targets whose monostatic TSs were measured and reported previously by the authors. Bistatic TS measurements were made for 0 degrees (target front) and 90 degrees (target side) incident source directions, and include both backscattered and forward scattered echo angles over a complete 360 degrees with the targets placed proud of the sediment surface. For the two source angles used, each target exhibits two strong highlights: a backscattered specular-like echo and a forward scattered response. The TS levels of the former are shown to agree reasonably well with predictions, based on scattering from rigid disks and cylinders, while the levels of the latter with predictions from radar cross section models, based on simple geometric optics appropriately modified. The bistatic TS levels observed for the proud case provide comparable or higher levels of broadband TS relative to free-field monostatic measurements. It is concluded that access to bistatic echo information in operations aimed at detecting submerged UXO targets could provide an important capability.
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Doll, William E.; Bell, David T.; Gamey, T. Jeffrey; Beard, Les P.; Sheehan, Jacob R.; Norton, Jeannemarie
2010-04-01
Over the past decade, notable progress has been made in the performance of airborne geophysical systems for mapping and detection of unexploded ordnance in terrestrial and shallow marine environments. For magnetometer systems, the most significant improvements include development of denser magnetometer arrays and vertical gradiometer configurations. In prototype analyses and recent Environmental Security Technology Certification Program (ESTCP) assessments using new production systems the greatest sensitivity has been achieved with a vertical gradiometer configuration, despite model-based survey design results which suggest that dense total-field arrays would be superior. As effective as magnetometer systems have proven to be at many sites, they are inadequate at sites where basalts and other ferrous geologic formations or soils produce anomalies that approach or exceed those of target ordnance items. Additionally, magnetometer systems are ineffective where detection of non-ferrous ordnance items is of primary concern. Recent completion of the Battelle TEM-8 airborne time-domain electromagnetic system represents the culmination of nearly nine years of assessment and development of airborne electromagnetic systems for UXO mapping and detection. A recent ESTCP demonstration of this system in New Mexico showed that it was able to detect 99% of blind-seeded ordnance items, 81mm and larger, and that it could be used to map in detail a bombing target on a basalt flow where previous airborne magnetometer surveys had failed. The probability of detection for the TEM-8 in the blind-seeded study area was better than that reported for a dense-array total-field magnetometer demonstration of the same blind-seeded site, and the TEM-8 system successfully detected these items with less than half as many anomaly picks as the dense-array total-field magnetometer system.
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Energy Technology Data Exchange (ETDEWEB)
Mitra, S. [Environmental Sciences Department, Brookhaven National Laboratory, Upton, NY 11973 and Nuclear Forensics R and D, Sandia National Laboratories, Albuquerque, NM 87185-0968 (United States)
2013-04-19
The associated-particle technique (APT) will be presented for some diverse applications that include on the one hand, analyzing the body composition of live sheep and on the other, identifying the fillers of unexploded ordnance (UXO). What began with proof-of-concept studies using a large laboratory based 14 MeV neutron generator of the 'associated-particle' type, soon became possible for the first time to measure total body protein, fat and water simultaneously in live sheep using a compact field deployable associated-particle sealed-tube neutron generator (APSTNG). This non-invasive technique offered the animal physiologist a tool to monitor the growth of an animal in response to new genetic, nutritional and pharmacologic methods for livestock improvement. While measurement of carbon (C), nitrogen (N) and oxygen (O) determined protein, fat and water because of the fixed stoichiometric proportions of these elements in these body components, the unique C/N and C/O ratios of high explosives revealed their identity in UXO. The algorithm that was developed and implemented to extract C, N and O counts from an APT generated gamma-ray spectrum will be presented together with the UXO investigations that involved preliminary proofof-concept studies and modeling with Monte Carlo produced synthetic spectra of 57-155 mm projectiles.
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A Probabilistic Cost Estimation Model for Unexploded Ordnance Removal
1999-09-01
clearance of the former Fort Ord costly and difficult [Meuser, and Szasz 1997]. Finally, soil type affects the maximum depth that ordnance...Correlated Random Variables from partially-specified Distributions." Management Science. 44(1998): 203- 218. Meuser, M, and A. Szasz . "Stakeholder
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A High-Performance Portable Transient Electro-Magnetic Sensor for Unexploded Ordnance Detection.
Wang, Haofeng; Chen, Shudong; Zhang, Shuang; Yuan, Zhiwen; Zhang, Haiyang; Fang, Dong; Zhu, Jun
2017-11-17
Portable transient electromagnetic (TEM) systems can be well adapted to various terrains, including mountainous, woodland, and other complex terrains. They are widely used for the detection of unexploded ordnance (UXO). As the core component of the portable TEM system, the sensor is constructed with a transmitting coil and a receiving coil. Based on the primary field of the transmitting coil and internal noise of the receiving coil, the design and testing of such a sensor is described in detail. Results indicate that the primary field of the transmitting coil depends on the diameter, mass, and power of the coil. A higher mass-power product and a larger diameter causes a stronger primary field. Reducing the number of turns and increasing the clamp voltage reduces the switch-off time of the transmitting current effectively. Increasing the cross-section of the wire reduces the power consumption, but greatly increases the coil's weight. The study of the receiving coil shows that the internal noise of the sensor is dominated by the thermal noise of the damping resistor. Reducing the bandwidth of the system and increasing the size of the coil reduces the internal noise effectively. The cross-sectional area and the distance between the sections of the coil have little effect on the internal noise. A less damped state can effectively reduce signal distortion. Finally, a portable TEM sensor with both a transmitting coil (constructed with a diameter, number of turns, and transmitting current of 0.5 m, 30, and 5 A, respectively) and a receiving coil (constructed with a length and resonant frequency of 5.6 cm and 50 kHz, respectively) was built. The agreement between experimental and calculated results confirms the theory used in the sensor design. The responses of an 82 mm mortar shell at different distances were measured and inverted by the differential evolution (DE) algorithm to verify system performance. Results show that the sensor designed in this study can not only
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A High-Performance Portable Transient Electro-Magnetic Sensor for Unexploded Ordnance Detection
Directory of Open Access Journals (Sweden)
Haofeng Wang
2017-11-01
Full Text Available Portable transient electromagnetic (TEM systems can be well adapted to various terrains, including mountainous, woodland, and other complex terrains. They are widely used for the detection of unexploded ordnance (UXO. As the core component of the portable TEM system, the sensor is constructed with a transmitting coil and a receiving coil. Based on the primary field of the transmitting coil and internal noise of the receiving coil, the design and testing of such a sensor is described in detail. Results indicate that the primary field of the transmitting coil depends on the diameter, mass, and power of the coil. A higher mass–power product and a larger diameter causes a stronger primary field. Reducing the number of turns and increasing the clamp voltage reduces the switch-off time of the transmitting current effectively. Increasing the cross-section of the wire reduces the power consumption, but greatly increases the coil’s weight. The study of the receiving coil shows that the internal noise of the sensor is dominated by the thermal noise of the damping resistor. Reducing the bandwidth of the system and increasing the size of the coil reduces the internal noise effectively. The cross-sectional area and the distance between the sections of the coil have little effect on the internal noise. A less damped state can effectively reduce signal distortion. Finally, a portable TEM sensor with both a transmitting coil (constructed with a diameter, number of turns, and transmitting current of 0.5 m, 30, and 5 A, respectively and a receiving coil (constructed with a length and resonant frequency of 5.6 cm and 50 kHz, respectively was built. The agreement between experimental and calculated results confirms the theory used in the sensor design. The responses of an 82 mm mortar shell at different distances were measured and inverted by the differential evolution (DE algorithm to verify system performance. Results show that the sensor designed in this
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A Wide Area Risk Assessment Framework for Underwater Military Munitions Response
Holland, K. T.; Calantoni, J.
2017-12-01
Our objective was to develop a prototype statistical framework supporting Wide Area Assessment and Remedial Investigation decisions relating to the risk of unexploded ordnance and other military munitions concentrated in underwater environments. Decision making involving underwater munitions is inherently complex due to the high degree of uncertainty in the environmental conditions that force munitions responses (burial, decay, migration, etc.) and associated risks to the public. The prototype framework provides a consistent approach to accurately delineating contaminated areas at underwater munitions sites through the estimation of most probable concentrations. We adapted existing deterministic models and environmental data services for use within statistical modules that allowed the estimation of munition concentration given historic site information and environmental attributes. Ultimately this risk surface can be used to evaluate costs associated with various remediation approaches (e.g. removal, monitoring, etc.). Unfortunately, evaluation of the assessment framework was limited due to the lack of enduser data services from munition site managers. Of the 450 U.S. sites identified as having potential contamination with underwater munitions, assessment of available munitions information (including historic firing or disposal records, and recent ground-truth munitions samples) indicated very limited information in the databases. Example data types include the most probable munition types, approximate firing / disposal dates and locations, and any supportive munition survey or sampling results. However the overall technical goal to integrate trained statistical belief networks with detailed geophysical knowledge of sites, of sensors and of the underwater environment was demonstrated and should allow probabilistic estimates of the most likely outcomes and tradeoffs while managing uncertainty associated with military munitions response.
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International Nuclear Information System (INIS)
Mitra, S.; Dioszegi, I.
2012-01-01
A novel gamma-ray spectral analysis method has been demonstrated to optimally extract the signals of the signature elements of explosives, carbon (C), nitrogen (N) and oxygen (O) from 57–155 mm projectiles following tagged neutron interrogation with 14 MeV neutrons. The method was implemented on Monte Carlo simulated, synthetic spectra of Unexploded Ordnance (UXO) that contained high explosive fillers (Composition B, TNT or Explosive D) within steel casings of appropriate thicknesses. The analysis technique defined three broad regions-of-interest (ROI) between 4–7.5 MeV of a spectrum and from a system of three equations for the three unknowns namely C, N and O, the maximum counts from each of these elements were extracted. Unlike conventional spectral analysis techniques, the present method included the Compton continuum under a spectrum. For a neutron output of ∼2×10 7 ns −1 and using four 12.7 cm diameter×12.7 cm NaI(Tl) detectors, the C/N and C/O gamma-ray counts ratios of the explosive fillers were vastly different from that of an inert substance like sand. Conversion of the counts ratios to elemental ratios could further discriminate the different types of explosive fillers. The interrogation time was kept at ten minutes for each projectile.
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Warren, Joseph K; Vlahos, Penny; Smith, Richard; Tobias, Craig
2018-07-01
Over the last century, unexploded ordnances have been disposed of in marine shelf systems because of a lack of cost-effective alternatives. Underwater unexploded ordnances have the potential to leak 2,4,6-trinitrotoluene (TNT) and 1,3,5-trinitro-1,3,5-triazine (RDX), commonly used chemical munitions, and contaminate local waters, biota, and sediments. The rate at which this contamination occurs in the environment is relatively unknown, and the cost- and time-prohibitive nature of sampling across sites makes mapping difficult. In the present study we assessed the efficacy of ethylene-vinyl acetate (EVA) for sampling relatively soluble munitions compounds over a range of environmental conditions (i.e., changes in temperature and salinity) and optimized the composition of the passive sampling polymer. The EVA sampler was able to successfully detect ambient concentrations of lingering munitions compounds from field sites containing unexploded ordnances. The sampler affinity for the munitions in terms of an EVA-water partition coefficient was greater than the standard octanol water values for each target compound. Partitioning of compounds onto EVA over the natural ranges of salinity did not change significantly, although uptake varied consistently and predictably with temperature. Increasing the vinyl acetate to ethylene ratio of the polymer corresponded to an increase in uptake capacity, consistent with enhanced dipole-dipole interactions between the munitions and the polymer. This sampler provides a cost-effective means to map and track leakage of unexploded ordnances both spatially and temporally. Environ Toxicol Chem 2018;37:1990-1997. © 2018 SETAC. © 2018 SETAC.
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Sigman, John B.; Barrowes, Benjamin E.; O'Neill, Kevin; Shubitidze, Fridon
2013-06-01
This paper details methods for automatic classification of Unexploded Ordnance (UXO) as applied to sensor data from the Spencer Range live site. The Spencer Range is a former military weapons range in Spencer, Tennessee. Electromagnetic Induction (EMI) sensing is carried out using the 5x5 Time-domain Electromagnetic Multi-sensor Towed Array Detection System (5x5 TEMTADS), which has 25 receivers and 25 co-located transmitters. Every transmitter is activated sequentially, each followed by measuring the magnetic field in all 25 receivers, from 100 microseconds to 25 milliseconds. From these data target extrinsic and intrinsic parameters are extracted using the Differential Evolution (DE) algorithm and the Ortho-Normalized Volume Magnetic Source (ONVMS) algorithms, respectively. Namely, the inversion provides x, y, and z locations and a time series of the total ONVMS principal eigenvalues, which are intrinsic properties of the objects. The eigenvalues are fit to a power-decay empirical model, the Pasion-Oldenburg model, providing 3 coefficients (k, b, and g) for each object. The objects are grouped geometrically into variably-sized clusters, in the k-b-g space, using clustering algorithms. Clusters matching a priori characteristics are identified as Targets of Interest (TOI), and larger clusters are automatically subclustered. Ground Truths (GT) at the center of each class are requested, and probability density functions are created for clusters that have centroid TOI using a Gaussian Mixture Model (GMM). The probability functions are applied to all remaining anomalies. All objects of UXO probability higher than a chosen threshold are placed in a ranked dig list. This prioritized list is scored and the results are demonstrated and analyzed.
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UXO Detector for Underwater Surveys Using Low-Frequency Sonar
2015-06-01
Oude Waalsdorperweg 63 The Hague The Netherlands 9. SPONSORING / MONITORING AGENCY NAME(S) AND ADDRESS(ES...remaining number of false alarms will be further reduced. The application of these two rules to the data shown in Figure 6-3, leads to removal of...Box 96864, 2509 JG The Hague , The Netherlands, +31 88 866 0902, alan.hunter@tno.nl Abstract: Detection of unexploded ordnance is challenging in the
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Underwater (UW) Unexploded Ordnance (UXO) Multi-Sensor Data Base (MSDB) Collection
2009-07-01
11 FIGURE 6 RTG SENSOR. FOUR SENSOR TRIADS ARE SHOWN, EACH WITH A 3-AXIS FLUXGATE MAGNETOMETER ...used by RTG to measure the gradients. Each triad includes a 3-axis fluxgate magnetometer and a set of feedback coils. The outputs of three triad...each with a 3-axis fluxgate magnetometer (internal, not clearly visible) and a set of 3 feedback coils. The upper triad 3-axis magnetometer
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Use of an UROV to develop 3-D optical models of submarine environments
Null, W. D.; Landry, B. J.
2017-12-01
The ability to rapidly obtain high-fidelity bathymetry is crucial for a broad range of engineering, scientific, and defense applications ranging from bridge scour, bedform morphodynamics, and coral reef health to unexploded ordnance detection and monitoring. The present work introduces the use of an Underwater Remotely Operated Vehicle (UROV) to develop 3-D optical models of submarine environments. The UROV used a Raspberry Pi camera mounted to a small servo which allowed for pitch control. Prior to video data collection, in situ camera calibration was conducted with the system. Multiple image frames were extracted from the underwater video for 3D reconstruction using Structure from Motion (SFM). This system provides a simple and cost effective solution to obtaining detailed bathymetry in optically clear submarine environments.
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Navy explosive ordnance disposal project: Optical ordnance system development. Final report
Energy Technology Data Exchange (ETDEWEB)
Merson, J.A.; Salas, F.J.; Helsel, F.M.
1996-03-01
An optical ordnance firing system consisting of a portable hand held solid state rod laser and an optically ignited detonator has been developed for use in explosive ordnance disposal (EOD) activities. Solid state rod laser systems designed to have an output of 150 mJ in a 500 microsecond pulse have been produced and evaluated. A laser ignited detonator containing no primary explosives has been designed and fabricated. The detonator has the same functional output as an electrically fired blasting cap. The optical ordnance firing system has demonstrated the ability to reliably detonate Comp C-4 through 1000 meters of optical fiber.
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An inexpensive underwater mine countermeasures simulator with real-time 3D after action review
Directory of Open Access Journals (Sweden)
Robert Stone
2016-10-01
Full Text Available This paper presents the results of a concept capability demonstration pilot study, the aim of which was to investigate how inexpensive gaming software and hardware technologies could be exploited in the development and evaluation of a simulator prototype for training Royal Navy mine clearance divers, specifically focusing on the detection and accurate reporting of the location and condition of underwater ordnance. The simulator was constructed using the Blender open source 3D modelling toolkit and game engine, and featured not only an interactive 3D editor for underwater scenario generation by instructors, but also a real-time, 3D After Action Review (AAR system for formative assessment and feedback. The simulated scenarios and AAR architecture were based on early human factors observations and briefings conducted at the UK's Defence Diving School (DDS, an organisation that provides basic military diving training for all Royal Navy and Army (Royal Engineers divers. An experimental pilot study was undertaken to determine whether or not basic navigational and mine detection components of diver performance could be improved as a result of exposing participants to the AAR system, delivered between simulated diving scenarios. The results suggest that the provision of AAR was accompanied by significant performance improvements in the positive identification of simulated underwater ordnance (in contrast to non-ordnance objects and on participants' description of their location, their immediate in-water or seabed context and their structural condition. Only marginal improvements were found with participants' navigational performance in terms of their deviation accuracies from a pre-programmed expert search path. Overall, this project contributes to the growing corpus of evidence supporting the development of simulators that demonstrate the value of exploiting open source gaming software and the significance of adopting established games design
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Interpreting Results from the Standardized UXO Test Sites
National Research Council Canada - National Science Library
May, Michael; Tuley, Michael
2007-01-01
...) and the Environmental Security Technology Certification Program (ESCTP) to complete a detailed analysis of the results of testing carried out at the Standardized Unexploded Ordnance (UXO) Test Sites...
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Neutron radiography of Apollo ordnance
International Nuclear Information System (INIS)
Golliher, K.G.
1983-01-01
Neutron radiography played an important role in the successful Apollo missions. Neutron radiography was used, for the first time, on a production basis to examine the internal details of ordnance devices employed in the Apollo Program. Ordnance devices ranged from charges which separated the massive booster stages to those which triggered the release of re-entry parachutes. Discussed are the early developments in neutron radiography and the conversion of this infant nondestructive technology into production capabilities. (Auth.)
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Advanced MTADS Classification for Detection and Discrimination of UXO
National Research Council Canada - National Science Library
Nelson, H
2003-01-01
...) for the detection and classification of buried unexploded ordnance. In order to increase the discrimination ability of the system, we have developed advanced analysis algorithms for the Electromagnetic Induction (EMI) sensor data...
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National Research Council Canada - National Science Library
Nelson, Carl V; Mendat, Deborah P; Huynh, Toan B; Ramac-Thomas, Liane C; Beaty, James D; Craig, Joseph N
2006-01-01
.... The 3DSMF is a time-domain (TD) electromagnetic induction (EMI) sensor configured with a three-axis magnetic field generator and three receivers that measures the multiple components of buried unexploded ordnance (UXO...
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National Research Council Canada - National Science Library
Foote, Eric
2006-01-01
.... One such practice may be prescribed or controlled burning, which is used on military training ranges for a variety of purposes including safety clearance prior to detection and demolition of unexploded ordnance (UXO...
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Underwater object classification using scattering transform of sonar signals
Saito, Naoki; Weber, David S.
2017-08-01
In this paper, we apply the scattering transform (ST)-a nonlinear map based off of a convolutional neural network (CNN)-to classification of underwater objects using sonar signals. The ST formalizes the observation that the filters learned by a CNN have wavelet-like structure. We achieve effective binary classification both on a real dataset of Unexploded Ordinance (UXOs), as well as synthetically generated examples. We also explore the effects on the waveforms with respect to changes in the object domain (e.g., translation, rotation, and acoustic impedance, etc.), and examine the consequences coming from theoretical results for the scattering transform. We show that the scattering transform is capable of excellent classification on both the synthetic and real problems, thanks to having more quasi-invariance properties that are well-suited to translation and rotation of the object.
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Military Munitions Waste Working Group report
International Nuclear Information System (INIS)
1993-01-01
This report presents the findings of the Military Munitions Waste Working Group in its effort to achieve the goals directed under the Federal Advisory Committee to Develop On-Site Innovative Technologies (DOIT Committee) for environmental restoration and waste management. The Military Munitions Waste Working Group identified the following seven areas of concern associated with the ordnance (energetics) waste stream: unexploded ordnance; stockpiled; disposed -- at known locations, i.e., disposal pits; discharged -- impact areas, unknown disposal sites; contaminated media; chemical sureties/weapons; biological weapons; munitions production; depleted uranium; and rocket motor and fuel disposal (open burn/open detonation). Because of time constraints, the Military Munitions Waste Working Group has focused on unexploded ordnance and contaminated media with the understanding that remaining waste streams will be considered as time permits. Contents of this report are as follows: executive summary; introduction; Military Munitions Waste Working Group charter; description of priority waste stream problems; shortcomings of existing approaches, processes and technologies; innovative approaches, processes and technologies, work force planning, training, and education issues relative to technology development and cleanup; criteria used to identify and screen potential demonstration projects; list of potential candidate demonstration projects for the DOIT committee decision/recommendation and appendices
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Military Munitions Waste Working Group report
Energy Technology Data Exchange (ETDEWEB)
1993-11-30
This report presents the findings of the Military Munitions Waste Working Group in its effort to achieve the goals directed under the Federal Advisory Committee to Develop On-Site Innovative Technologies (DOIT Committee) for environmental restoration and waste management. The Military Munitions Waste Working Group identified the following seven areas of concern associated with the ordnance (energetics) waste stream: unexploded ordnance; stockpiled; disposed -- at known locations, i.e., disposal pits; discharged -- impact areas, unknown disposal sites; contaminated media; chemical sureties/weapons; biological weapons; munitions production; depleted uranium; and rocket motor and fuel disposal (open burn/open detonation). Because of time constraints, the Military Munitions Waste Working Group has focused on unexploded ordnance and contaminated media with the understanding that remaining waste streams will be considered as time permits. Contents of this report are as follows: executive summary; introduction; Military Munitions Waste Working Group charter; description of priority waste stream problems; shortcomings of existing approaches, processes and technologies; innovative approaches, processes and technologies, work force planning, training, and education issues relative to technology development and cleanup; criteria used to identify and screen potential demonstration projects; list of potential candidate demonstration projects for the DOIT committee decision/recommendation and appendices.
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DEFF Research Database (Denmark)
Morgenstjerne, Axel; Karlsen, Brian; Larsen, Jan
2005-01-01
Independent Component Analysis (ICA) is applied to classify unexploded ordnance (UXO) on laboratory UXO test-field data, acquired by stand-off detection. The data are acquired by an Electromagnetic Induction Spectroscopy (EMIS) metal detector and a ground penetrating radar (GPR) detector. The metal...
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2013-08-15
... complete the removal of all invasive animal species. We will also develop and implement a plan for..., if necessary, efforts to remove invasive species. The number of vegetation plots and frequency of... safety of the refuge regarding the removal of unexploded ordnance. CCP Alternatives, Including Our...
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Design of an ultra-wideband ground-penetrating radar system using impulse radiating antennas
Rhebergen, J.B.; Zwamborn, A.P.M.; Giri, D.V.
1998-01-01
At TNO-FEL, one of the research programs is to explore the use of ultra-wideband (UWB) electromagnetic fields in a bi-static ground-penetrating radar (GPR) system for the detection, location and identification of buried items of unexploded ordnance (e.g. land mines). In the present paper we describe
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Design of an ultra-wideband ground-penetrating radar system using impulse radiating antennas
Rhebergen, J.B.; Zwamborn, A.P.M.; Giri, D.V.
1999-01-01
At TNO-FEL, one of the research programs is to explore the use of ultra-wideband (UWB) electromagnetic fields in a bi-static ground-penetrating radar (GPR) system for the detection, location and identification of buried items of unexploded ordnance (e.g. land mines). In the present paper we describe
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Field Sampling Plan for the Operable Units 6-05 and 10-04 Remedial Action, Phase IV
Energy Technology Data Exchange (ETDEWEB)
R. Wells
2006-11-14
This Field Sampling Plan outlines the collection and analysis of samples in support of Phase IV of the Waste Area Group 10, Operable Units 6-05 and 10-04 remedial action. Phase IV addresses the remedial actions to areas with the potential for unexploded ordnance at the Idaho National Laboratory Site. These areas include portions of the Naval Proving Ground, the Arco High-Altitude Bombing Range, and the Twin Buttes Bombing Range. The remedial action consists of removal and disposal of ordnance by high-order detonation, followed by sampling to determine the extent, if any, of soil that might have been contaminated by the detonation activities associated with the disposal of ordnance during the Phase IV activities and explosives during the Phase II activities.
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Jones, B. M.
2011-01-01
The detection and subsequent removal of land mines and unexploded ordnance (UXO) from many developing countries are slow, expensive, and dangerous tasks, but have the potential to improve the well-being of millions of people. Consequently, those involved with humanitarian mine and UXO clearance are actively searching for new and more efficient…
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Schultz, Gregory; Miller, Jonathan; Keranen, Joe
2013-06-01
Land reclamation efforts in post-conflict regions are often hampered by the presence of Unexploded Ordnance (UXO) or other Explosive Remnants of War (ERW). Surface geophysical methods, such as Electromagnetic Induction (EMI) and magnetometry, are typically applied to screen rehabilitation areas for UXO prior to excavation; however, the prevalence of innocuous magnetic clutter related to indigenous scrap, fragmentation, or geology can severely impede the progress and efficiency of these remediation efforts. Additionally, the variability in surface conditions and local topography necessitates the development of sensor technologies that can be applied to a range of sites including those that prohibit the use of vehicle-mounted or large array systems. We present a man-portable EMI sensor known as the Electromagnetic Packable Technology (EMPACT) system that features a multi-axis sensor configuration in a compact form factor. The system is designed for operation in challenging site conditions and can be used in low ground-standoff modes to detect small and low-metal content objects. The EMPACT acquires high spatial density, multi-axis data that enable high resolution of small objects. This high density data can also be used to provide characterization of target physical features, such as size, material content, and shape. We summarize the development of this system for humanitarian demining operations and present results from preliminary system evaluations against a range of target types. Specifically, we assess the general detection capabilities of the EMPACT system and we evaluate the potential for target classification based on analysis of data and target model features.
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Decision Support Tools for Munitions Response Performance Prediction and Risk Assessment
2016-09-01
Oldenburg. A discrimination algorithm for UXO using time domain electromagnetic induction . Journal of Environmental and Engineering Geophysics, 6:91...the course of a munitions response project. Unexploded ordnance (UXO), electromagnetic (EM), sensors, electromagnetic induction (EMI), data...approach defines a detection channel that is a linear combination of received channels. The weightings of received channels comprising the optimized
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Detection and Classification of UXO Using Unmanned Undersea Electromagnetic Sensing Platforms
Schultz, G.; Keranen, J.; McNinch, J.; Miller, J.
2017-12-01
Important seafloor applications, including mine countermeasures, unexploded ordnance (UXO) surveys, salvage, and underwater hazards, require the detection, geo-registration, and characterization of man-made targets on, or below, the seafloor. Investigations in littoral environments can be time-consuming and expensive due to the challenges of accurately tracking underwater assets, the difficulty of quick or effective site reconnaissance activities, high levels of clutter in nearshore areas, and lack of situational awareness and real-time feedback to operators. Consequently, a high payoff exists for effective methods using sensor and data fusion, feature extraction, and effective payload integration and deployment for improved assessments of littoral infrastructure. We present technology development and demonstration results from multiple technology research, development, and demonstration projects over the last 3 years that have been focused on advancing seafloor target detection, tracking, and classification for specific environmental and defense missions. We focus on challenges overcome in integrating and testing new miniaturized passive magnetic and controlled-source electromagnetic sensors on a variety of remotely and autonomously operated sensing platforms (ROVs, AUVs and bottom crawling systems). In particular, we present aspects of the design, development, and testing of array configurations of miniaturized atomic magnetometers/gradiometers and multi-dimensional electromagnetic (EM) sensor arrays. Results from nearshore (surf zone and marsh in North Carolina) and littoral experiments (bays and reef areas of Florida Gulf and Florida Keys) are presented.
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Detection of Buried Mines and Unexploded Ordnance (UXO)
National Research Council Canada - National Science Library
Heberlein, David; Balko, Bohdan; Chappell, Isaac; Biddle, John
2007-01-01
... [and/or their explosive-related compounds (ERCs)] concentrated in the top soil, and radiation techniques, which uses radiation to probe beneath the earth's surface to provide bulk detection of buried explosive devices...
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Detection of Buried Mines and Unexploded Ordnance (UXO)
2007-04-20
terahertz spectroscopy can be used at standoff distances but require a direct line of sight (DLOS) to the explosive. DLOS would only be applicable to...produces Nitrogen-14, which is a positron emitter. Positron annihilates an electron emitting two oppositely emitted γ-rays of 511 keV each. Detection of...half life of 10 min and no gamma rays emitted. Positron annihilates an electron emitting two oppositely emitted γ-rays of 511 keV each. Detection of
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Subsurface Electromagnetic Induction Imaging for Unexploded Ordnance Detection
2012-01-01
Baum, 1999; Pasion and Oldenburg, 2001). The EMI- response problem has been solved analytically for spheroids (Ao et al., 2002; Barrowes et al., 2004...components. We also have made explicit the fact that the polarizabilities are always positive ( Pasion et al., 2008); we impose this constraint in the...Wiley-Blackwell, Chichester, UK. Pasion , L.R., Oldenburg, D.W., 2001. A discrimination algorithm for UXO using time- domain electromagnetic induction
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Next Generation HeliMag UXO Mapping Technology
2010-01-01
Ancillary instrumentation records aircraft height above ground and attitude. A fluxgate magnetometer is used to allow for aeromagnetic compensation of... Magnetometer System WWII World War II WAA wide area assessment ACKNOWLEDGEMENTS This Next Generation HeliMag Unexploded Ordnance (UXO) Mapping...for deployment of seven total-field magnetometers on a Kevlar reinforced boom mounted on a Bell 206L helicopter. The objectives of this
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2010-01-15
... Importing Marine Mammals; Naval Explosive Ordnance Disposal School Training Operations Activities at Eglin...) for authorization to take marine mammals, by harassment, incidental to Naval Explosive Ordnance Disposal School (NEODS) training operations, military readiness activities, at Eglin AFB, FL from...
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2013-08-01
Security OSINT Open Source Intelligence UXO Unexploded Ordnance PAN National Action Party (Partido Acción Nacional) PGR Office of the...infor- 35 mation beyond that provided by open source intelligence ( OSINT ). Such information, and the military intelligence process behind it that...required to be at the unclassified, yet limited distribution/sensitive and non-restric- tion on use OSINT levels for law enforcement utilization
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2017-06-01
inputs USGS United States Geological Survey USLE Universal Soil Loss Equation USMA United States Military Academy UXO unexploded ordnance...Firing Ranges, rainfall factor in the USLE 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF a. REPORT b.ABSTRACT c. THlSPAGE ABSTRACT u u u u 18...NGVD). ................................... 25 Figure 10. Computed and Observed RDX Soil Concentrations at MMR Demo Area 2. ............. 27 Figure 11
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2012-04-30
... B harassment, incidental to Naval Explosive Ordnance Disposal School (NEODS) training operations at... Importing Marine Mammals; Naval Explosive Ordnance Disposal School Training Operations at Eglin Air Force... and the Issuance of Letters of Authorization to Take Marine Mammals, by Level B Harassment, Incidental...
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2010-10-01
... Marine Mammals, by Harassment, Incidental to Naval Explosive Ordnance Disposal School Training Operations... School Training Operations at Eglin Air Force Base, Florida AGENCY: National Marine Fisheries Service... authorization to take marine mammals, by Level B harassment, incidental to Naval Explosive Ordnance Disposal...
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High density thermite mixture for shaped charge ordnance disposal
Directory of Open Access Journals (Sweden)
Tamer Elshenawy
2017-10-01
Full Text Available The effect of thermite mixture based on aluminum and ferric oxides for ammunition neutralization has been studied and tested. Thermochemical calculations have been carried out for different percentage of Al using Chemical Equilibrium Code to expect the highest performance thermite mixture used for shaped charge ordnance disposal. Densities and enthalpy of different formulations have been calculated and demonstrated. The optimized thermite formulation has been prepared experimentally using cold iso-static pressing technique, which exhibited relatively high density and high burning rate thermite mixture. The produced green product compacted powder mixture was tested against small caliber shaped charge bomblet for neutralization. Theoretical and experimental results showed that the prepared thermite mixture containing 33% of aluminum as a fuel with ferric oxide can be successfully used for shaped charge ordnance disposal.
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2008-10-01
modeling operator and dobs is the observed data (details in Pasion 2007). Figure 42. Geometry of EM61HH-MK2 sensor. The transmitter and receiver...1979. Stochastic models, estimation, and control (Vol. 141). Pasion , L. R., 2007. Inversion of Time Domain Electromagnetic Data for the Detection of...Unexploded Ordnance. Ph.D. Thesis, The University of British Columbia. Pasion , L. R., Oldenburg, D. W., 2001. A Discrimination Algorithm for UXO
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A Regional Simulation to Explore Impacts of Resource Use and Constraints
2007-03-01
Cultivated crops (82) Business High intensity urban (24) Golf courses (73) Developed, high intensity (24) 29 Table 6. Export coefficients for N and...Sunahara, G., J. Hawari, G. Lotufo, and R. Kuperman (eds.) Ecotoxicology of Explosives and Unexploded Ordnance, CRC Press, Boca Raton, FL. 94...within urban areas. Pasture can be spectrally similar to 103 cultivated fields that have vegetative cover during the winter. Pixels of the clearcut
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Vortex Lattice UXO Mobility Model for Reef-Type Range Environments
2012-07-01
evolution around the UXO shape (nearfield processes). 1.1 BACKGROUND In January 2002, the Navy through its Pollution Abatement Ashore Program (now...Johnson, et al, 2002). Army requirements: A(1.6.a) Unexploded Ordnance (UXO) Screening, Detection and Discrimination, and A(1.6.b) Soil /Sediment...burial is achieved, when the scour burial mechanism vanishes and only farfield burial from bottom profile change can effect any subsequent burial
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China’s Ordnance Industry Under Modernization
Ding, Arthur
2010-01-01
China’s ordnance industry is undertaking industry-wide reform. The goal is to improve indigenous innovation capability so that the Chinese armed forces can obtain advanced weapon systems without reliance on foreign technology while at the same time making the industry responsible for its own financial performance. Restructuring has resulted in some gains, but indigenous innovation capability, as well as spin-on and spin-off, are still far in the future.
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Unexploded Ordnance: A Critical Review of Risk Assessment Methods
National Research Council Canada - National Science Library
MacDonald, Jacqueline
2004-01-01
.... While civilian fatalities from UXO explosions on U.S. soil have been rare, the risk of such accidents could increase substantially as more closed bases are transferred from military to civilian control...
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Electromagnetic Induction Sensing of UneXploded Ordnance with Pedemis
2012-10-22
Pasion , L. R., “A unified approach to uxo discrimination using the method of auxiliary sources,” tech. rep. (2006). [19] Barrowes, B. E., O’Neill, K...inversion and classification using advanced emi models,” (2010). SERDP-MR-1572. [27] Pasion , L., “Uxo discrimination using full coverage and cued
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Detection of Unexploded Ordnance Using Airborne LWIR Emissivity Signatures
2015-11-25
glass and wood, are spectrally distinct and would not appear as false alarms. Index Terms— Hyperspectral, Long Wave Infrared , Emissivity, Target...hyperspectral; radar). Because of previous successes using thermal infrared bands for UXO [3, 4] and landmine detection [5], this paper aims at...potential false alarms. They included materials made of rubber , cardboard, metal, wood, glass and plastic (Figure 1). 2.2. Laboratory LWIR signature
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A Probabilistic Cost Estimation Model for Unexploded Ordnance Removal
National Research Council Canada - National Science Library
Poppe, Peter
1999-01-01
...) contaminated sites that the services must decontaminate. Existing models for estimating the cost of UXO removal often require a high level of expertise and provide only a point estimate for the costs...
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Seismic-Acoustic Active Range Monitoring for Characterizing Low-Order Ordnance Detonation
National Research Council Canada - National Science Library
Anderson, Thomas S; Weale, Jason C
2006-01-01
.... The Distributed Sources focus area strives to characterize the level of contamination in range environments attributed to ordnance residue for the purpose of range management and environmental remediation...
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Neutralising ordnance with non-extending elements
Directory of Open Access Journals (Sweden)
Alexander I. Golodyaev
2014-04-01
Full Text Available The method of neutralising ordnance by rinsing explosive materials with a solution enables significant cost saving while reducing the risk pyrotechnic personnel is exposed to, especially during ammunition transport to recycling sites. Costs for necessary special equipment are minimal. The technology is easy to be automated using an electronic and remotely controlled drilling process which reduces the risk of explosion to the minimum. This demining method will prove effective especially for operations against guerrilla mine warfare.
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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.
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Utilization and reliability of nondestructive testing in ordnance
International Nuclear Information System (INIS)
Maranhao, M.; Alves, L.E.G.
1983-01-01
Information about nondestructive testing used in ordnance are presented. For propellants and breaking load ultrasonic testing and X-ray are used. For skyrocket propellants the X-ray is used to test the continuity of the explosive mass and the burn inhibiting agent. For rupture explosive, the X-ray is used to test the continuity of explosive mass. (E.G.) [pt
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International Nuclear Information System (INIS)
Callaway, Alexander; Quinn, Rory; Brown, Craig J.; Service, Matthew; Benetti, Sara
2011-01-01
Highlights: → Our samples are the first trace metal concentrations taken from the valley of Beaufort's Dyke. → There is no clear trend between concentrations of trace metals in Dyke and NMMP sediments. → Particle transport simulations show dispersal of trace metals from Beaufort's Dyke is possible. → Disposed ordnance may also contribute to contamination of surrounding areas. → These methods could help predict areas at risk of future trace metal contamination as a result of ordnance disposal. - Abstract: Beaufort's Dyke is a disused ordnance disposal ground within the North Channel of the Irish Sea. Over 1 million tonnes of ordnance were disposed of in the dyke over a 40 year period representing a substantial volume of trace metal pollutants introduced to the seabed. Utilising particle transport modelling software we simulated the potential transport of metal particles from Beaufort's Dyke over a 3 month period. This demonstrated that Beaufort's Dyke has the potential to act as a source for trace metal contamination to areas beyond the submarine valley. Trace metal analysis of sediments from the Dyke and surrounding National Marine Monitoring Programme areas demonstrate that the Dyke is not the most contaminated site in the region. Particle transport modelling enables the transport pathways of trace metal contaminants to be predicted. Implementation of the technique in other munitions disposal grounds will provide valuable information for the selection of monitoring stations.
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Phung, Tran Kim; Le, Viet; Husum, Hans
2012-07-01
The study examines the epidemiology of cluster weapon and land mine accidents in Quang Tri Province since the end of the Vietnam War. The province is located just south of the demarcation line and was the province most affected during the war. In 2009, a cross sectional household study was conducted in all nine districts of the province. During the study period of 1975-2009, 7,030 persons in the study area were exposed to unexploded ordnances (UXO) or land mine accidents, or 1.1% of the provincial population. There were 2,620 fatalities and 4,410 accident survivors. The study documents that the main problem is cluster weapons and other unexploded ordnances; only 4.3% of casualties were caused by land mines. The legacy of the war affects poor people the most; the accident rate was highest among villagers living in mountainous areas, ethnic minorities, and low-income families. The most common activities leading to the accidents were farming (38.6%), collecting scrap metal (11.2%), and herding of cattle (8.3%). The study documents that the people of the Quang Tri Province until this day have suffered heavily due to the legacy of war. Mine risk education programs should account for the epidemiological findings when future accident prevention programs are designed to target high-risk areas and activities.
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Thaut, Lane C; Murtha, Andrew S; Johnson, Anthony E; Roper, Jamie L
2018-05-01
The management of patients with impaled unexploded devices is rare in the civilian setting. However, as the lines of the traditional battlefield are blurred by modern warfare and terrorist activity, emergency providers should be familiar with facility protocols, plans, and contact information of their local resources for unexploded devices. A 44-year-old male sustained a close-proximity blast injury to his lower extremities while manipulating a mortar-type firework. He presented to the regional trauma center with an open, comminuted distal femur fracture and radiographic evidence of a potential explosive device in his thigh. His management was coordinated with the local Explosive Ordinance Disposal and the fire department. WHY SHOULD AN EMERGENCY PHYSICIAN BE AWARE OF THIS?: Explosive devices pose a grave threat when encountered. Familiarization with protocols to manage these patients can mitigate disaster. Emergency providers should expect and be prepared to coordinate care for these patients. Copyright © 2017 Elsevier Inc. All rights reserved.
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A Man-Portable Vector Sensor for Identification of Unexploded Ordnance
2011-08-24
Hanover data of Section III-B2, and Dr. L. Pasion , J. Jacobson, and H. Ngo of Sky Research and Dr. L.-P. Song of the University of British Columbia for...of equivalent dipole polarizabilities in situ,” IEEE Trans. Geosci. Remote Sens., vol. 43, no. 7, pp. 1490–1498, Jul. 2005. [27] L. R. Pasion and D. W...P. Song, F. Shubitidze, L. R. Pasion , D. W. Oldenburg, and S. D. Billings, “Computing transient electromagnetic responses of a metallic object using
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Physics based Prediction of Unexploded Ordnance Penetration in Granular Materials
2017-05-01
for the combined Finite-Discrete Element Method. The test data measured at the interrelated scales are used to benchmark corresponding grain...measured at the interrelated scales are used to benchmark corresponding grain-, continuum-, and system-scale discrete and finite element analysis...account for development of dynamic link libraries (DLLs), which can be functionally integrated (as modules) into the existing UXO PenDepth software
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Navy Ordnance Analysis of Business Area Efforts to Streamline Operations and Reduce Costs
National Research Council Canada - National Science Library
1997-01-01
.... The Navy reorganized this business area in 1993 in order to reduce costs and address various deficiencies in ordnance logistics management that were identified during Desert Shield/Desert Storm...
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Remedial Action Report for Operable Units 6-05 and 10-04, Phase III
Energy Technology Data Exchange (ETDEWEB)
R. P. Wells
2007-08-15
This Phase III remedial action report addresses the remediation of lead-contaminated soils found at the Security Training Facility STF-02 Gun Range at the Idaho National Laboratory Site. Phase I, consisting of developing and implementing institutional controls at Operble Unit 10-04 sites and developing and implementing Idaho National Laboratory Site-wide plans for both institutional controls and ecological monitoring, was addressed in a previous report. Phase II will remediate sites contaminated with trinitrotoluene and Royal Demolition Explosive. Phase IV will remediate hazards from unexploded ordnance.
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Directory of Open Access Journals (Sweden)
Xin Liu
2018-01-01
Full Text Available During the first-stage project of the main channel of Ningbo-Zhoushan Port’s Shipu Harbor, underwater shock waves were monitored. By analyzing a typical measured pressure time history curve, the characteristics of underwater shock waves in an engineering context were obtained. We obtained a traditional exponential attenuation formula for underwater shock waves based on the measured data, simplified the model of underwater drilling blasting based on engineering practice, deduced a revised formula for underwater shock wave peak overpressure on the basis of dimensional analysis, established a linear fitting model, and obtained the undetermined coefficients of the revised formula using a linear regression analysis. In addition, the accuracies of the two formulas used to predict underwater shock wave peak overpressure and the significance order of influence and influence mechanism of factors included in the revised formula on the underwater shock wave peak overpressure were discussed.
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Radiological assessment of depleted uranium migration offsite from an ordnance range
International Nuclear Information System (INIS)
Rynders, D.G.
1996-01-01
The military utilizes ordnance loaded with depleted uranium in order to maximize armor penetrating capabilities. These weapons are tested on open ranges where the weapons are fired through a cloth target and impact into the soil. This paper examines the potential environmental impact from use of depleted uranium in an open setting. A preliminary pathway analysis was performed to examine potential routes of exposure to nonhuman species in the vicinity and ultimately to man. Generic data was used in the study to estimate the isotopic mix and weight of the ordnance. Key factors in the analysis included analyzing the physics of weapon impact on soil, chemical changes in material upon impact, and mechanisms of offsite transport (including atmospheric and overland transport). Non-standard exposure scenarios were investigated, including the possibility of offsite contaminant transport due to range grassfires. Two radiological assessment codes, MEPAS (Multi media Environmental Pollutant Assessment System) and RESRAD were used to help analyze the scenarios
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Magnetic Multi-Scale Mapping to Characterize Anthropogenic Targets
Le Maire, P.; Munschy, M.
2017-12-01
The discovery of buried anthropic objects on construction sites can cause delays and/or dangers for workers and for the public. Indeed, every year 500 tons of Unexploded-ordnance are discovered in France. Magnetic measurements are useful to localize magnetized objects. Moreover, it is the cheapest geophysical method which does not impact environment and which is relatively fast to perform. Fluxgate magnetometers (three components) are used to measure magnetic properties bellow the ground. These magnetic sensors are not absolute, so they need to be calibrated before the onset of the measurements. The advantage is that they allow magnetic compensation of the equipment attached to the sensor. So the choice of this kind sensor gives the opportunity to install the equipment aboard different magnetized supports: boat, quad bike, unmanned aerial vehicle, aircraft,... Indeed, this methodology permits to perform magnetic mapping with different scale and different elevation above ground level. An old French aerial military plant was chosen to perform this multi-scale approach. The advantage of the site is that it contains a lot of different targets with variable sizes and depth, e.g. buildings, unexploded-ordnances of the two world wars, trenches, pipes,… By comparison between the different magnetic anomaly maps at different elevations some of the geometric parameters of the magnetic sources can be characterized. The comparison between measured maps at different elevations and the prolonged map highlights the maximum distance for the target's detection (figure).
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High density thermite mixture for shaped charge ordnance disposal
Tamer Elshenawy; Salah Soliman; Ahmed Hawass
2017-01-01
The effect of thermite mixture based on aluminum and ferric oxides for ammunition neutralization has been studied and tested. Thermochemical calculations have been carried out for different percentage of Al using Chemical Equilibrium Code to expect the highest performance thermite mixture used for shaped charge ordnance disposal. Densities and enthalpy of different formulations have been calculated and demonstrated. The optimized thermite formulation has been prepared experimentally using col...
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From Four to Two: Transformation of the Army Ordnance Officer and Warrant Officer Corps
National Research Council Canada - National Science Library
Napier, Joyce
2003-01-01
.... This study will examine how senior leaders within the Army and specifically the Ordnance Corps must change the officer and warrant officer force structure education system and leader development...
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National Research Council Canada - National Science Library
Shipley, Claude
1998-01-01
Formal training is one of the methods for development of strategic leaders. The development of strategic Ordnance leaders is rooted initially with an officer first becoming competent as a leader and knowledgeable in their technical skills...
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Design of underwater work systems
International Nuclear Information System (INIS)
Lovelace, R.B.
1980-01-01
In the near future, underwater vehicles will replace divers as the principal means for inspection and maintenance work. These vehicles will provide a maneuverable work platform for an underwater viewing system and manipulator/tool package. Some of the problems faced by the underwater designer, and some areas to consider in the design of an integrated underwater work system, are considered
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Observations of Munitions Mobility During a Nor'easter at Wallops Island
Swann, C.; Frank, D. P.; Braithwaite, E. F., III; Hagg, R. K.; Calantoni, J.
2017-12-01
Unexploded ordnance (or munitions) may migrate, bury, or become exposed over time, and may pose a hazard to both humans and environment. Understanding the behavior of munitions under various wave and current conditions is central to management and remediation of contaminated underwater sites. We embedded Inertial Measurement Units (IMUs) into inert replicas of large caliber munitions (81 mm - 155 mm), herein referred to as `smart munitions'. Several smart munitions were deployed in the field with IMUs logging at 16 Hz continuously. Simultaneously the local hydrodynamic conditions were monitored to correlate any resulting munitions mobility. Here, we present the response of the smart munitions to wave and current conditions observed during a nor'easter off the coast of Wallops Island, Virginia USA in about 10 m water depth. During the nor'easter, peak significant wave heights of 2.8 m were observed in 10 m water depth. Over a roughly 10-hour period, an 81 mm smart munition migrated approximately 206 ft in a net onshore direction. Displacement and heading of the migrated smart munition were estimated by divers during the recovery. Integration of the trajectory of motion for the smart munition using a custom signal processing algorithm was in good agreement with the diver measurements. Discussion will focus on the relationship of the local sediment type and the potential for munitions mobility.
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Shallow Water UXO Technology Demonstration Site Scoring Record No. 6
2007-03-01
ferrous, nonferrous , and mixed metals . The ferrous and nonferrous items have been further divided into three weight zones as presented in Table 1...items are present as well. The mixed- metals clutter is composed of scrap ordnance items or fragments that have both a ferrous and nonferrous ...underwater system using Geonics EM61 High Power (underwater coils) electromagnetic metal detectors (one transmitter coil, three receiver coils). The
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Unexploded Ordnance (UXO) Data Analysis System (DAS). Environmental Quality Technology Program
2009-09-01
is comprised of an EMI sensor, cesium (Cs) vapor magnetometer , fluxgate magnetometer , hand-held data acquisition computer, integrated power supply...Geometrics model 823A Cs vapor magnetometer . The fluxgate magnetometer is a Bartington model Mag-3MRN60, three- axis fluxgate magnetometer . The system...9. The ERDC hand-held Dual TFM/EMI with ArcSecond positioning system. During standard usage, the fluxgate magnetometer is used to provide the
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Taiwan's underwater cultural heritage documentation management
Tung, Y.-Y.
2015-09-01
Taiwan is an important trading and maritime channels for many countries since ancient time. Numerous relics lie underwater due to weather, wars, and other factors. In the year of 2006, Bureau of Cultural Heritage (BOCH) entrusted the Underwater Archaeological Team of Academia Sinica to execute the underwater archaeological investigation projects. Currently, we verified 78 underwater targets, with 78 site of those had been recognized as shipwrecks sites. Up to date, there is a collection of 638 underwater objects from different underwater archaeological sites. Those artefacts are distributed to different institutions and museums. As very diverse management methods/systems are applied for every individual institution, underwater cultural heritage data such as survey, excavation report, research, etc. are poorly organized and disseminated for use. For better communication regarding to Taiwan's underwater cultural heritage in every level, a universal format of documentation should be established. By comparing the existing checklist used in Taiwan with guidelines that are followed in other countries, a more intact and appropriate underwater cultural heritage condition documentation system can be established and adapted in Taiwan.
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Development of underwater laser cutting technology
International Nuclear Information System (INIS)
Sato, Seiichi; Inaba, Takanori; Inose, Koutarou; Matsumoto, Naoyuki; Sakakibara, Yuji
2015-01-01
In is desirable to use remote underwater device for the decommissioning work of highly radioactive components such as the nuclear internals from a view point of reducing the ranitidine exposure to the worker. Underwater laser cutting technology has advantages. First advantage in underwater laser cutting technology is that low reaction force during cutting, namely, remote operability is superior. Second point is that underwater laser cutting generates a little amount of secondary waste, because cutting kerf size is very small. Third point is that underwater laser cutting has low risk of the process delay, because device trouble is hard to happen. While underwater laser cutting has many advantages, the careful consideration in the safe treatment of the offgas which underwater laser cutting generates is necessary. This paper describes outline of underwater laser cutting technology developed by IHI Corporation (IHI) and that this technology is effective in various dismantling works in water. (author)
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Blind equalization for underwater communications
Blom, K.C.H.
2014-01-01
Underwater wireless (sensor) networks would vastly improve man's ability to explore and exploit remote aquatic environments. Despite underwater sensor and vehicle technology being relatively mature, underwater communications is still a major challenge. The most challenging characteristics of the
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Underwater wireless communication system
International Nuclear Information System (INIS)
Goh, J H; Shaw, A; Al-Shamma'a, A I
2009-01-01
Underwater communication has a range of applications including remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) communication and docking in the offshore industry. Current underwater transmission techniques is primarily utilise sound waves for large distance at lower frequencies and the velocity of sound in water is approximately 1500m/s the resultant communications have problems with multi-path propagation and low bandwidth problems. The use of electromagnetic (EM) techniques underwater has largely been overlooked because of the attenuation due to the conductivity of seawater. However, for short range applications, the higher frequencies and much higher velocity can prove advantageous. This paper will outline a project which will utilise recent investigations that demonstrate EM wave propagation up to the MHz frequency range is possible in seawater.
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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…
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Resources for Underwater Robotics Education
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…
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2017-06-01
FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor...techniques to determine the distances from each pixel to the camera. 14. SUBJECT TERMS unmanned undersea vehicles (UUVs), autonomous ... AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING Jake A. Jones Lieutenant Commander, United States Navy B.S
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2017-12-11
responsibility.(!) 62 Additionally, eme rgency physicians need to know how to manage a patient with 63 an impaled unexploded device. Improper...his leg during the explosion. He was evaluated by EMS in 76 the field where his limb was noted to be grossly unstable with a large anterior soft 77...including roadside 127 explosives, explosive formed projectile devices and suicide bombs .(S) 128 In the United States military medical literature
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Stability analysis of hybrid-driven underwater glider
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.
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ROV Based Underwater Blurred Image Restoration
Institute of Scientific and Technical Information of China (English)
LIU Zhishen; DING Tianfu; WANG Gang
2003-01-01
In this paper, we present a method of ROV based image processing to restore underwater blurry images from the theory of light and image transmission in the sea. Computer is used to simulate the maximum detection range of the ROV under different water body conditions. The receiving irradiance of the video camera at different detection ranges is also calculated. The ROV's detection performance under different water body conditions is given by simulation. We restore the underwater blurry images using the Wiener filter based on the simulation. The Wiener filter is shown to be a simple useful method for underwater image restoration in the ROV underwater experiments. We also present examples of restored images of an underwater standard target taken by the video camera in these experiments.
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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.
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2012-03-22
... bottlenose dolphins, by Level B harassment, incidental to Naval Explosive Ordnance Disposal School (NEODS... School Training Operations at Eglin Air Force Base, Florida AGENCY: National Marine Fisheries Service... Harassment Authorizations (IHAs) pursuant to section 101(a)(5)(D) of the MMPA for similar specified...
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International Nuclear Information System (INIS)
Ibarra, S.; Olson, D.L.
1992-01-01
A fundamental basis to understand the behavior of wet underwater welding of steel is introduced. Both the pyrometallurgical and physical metallurgy concepts are discussed. Modifications of welding consumables and practice are suggested. This chapter promotes further contributions of meatllurgical research to improve and promote wet underwater welding. (orig.)
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Colour reconstruction of underwater images
Hoth, Julian; Kowalczyk, Wojciech
2017-01-01
Objects look very different in the underwater environment compared to their appearance in sunlight. Images with correct colouring simplify the detection of underwater objects and may allow the use of visual SLAM algorithms developed for land-based robots underwater. Hence, image processing is required. Current algorithms focus on the colour reconstruction of scenery at diving depth where different colours can still be distinguished. At greater depth this is not the case. In this study it is i...
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Quantum imaging for underwater arctic navigation
Lanzagorta, Marco
2017-05-01
The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.
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Distributed Sensor Particles for Remote Fluorescence Detection of Trace Analytes: UXO/CW; TOPICAL
International Nuclear Information System (INIS)
SINGH, ANUP K.; GUPTA, ALOK; MULCHANDANI, ASHOK; CHEN, WILFRED; BHATIA, RIMPLE B.; SCHOENIGER, JOSEPH S.; ASHLEY, CAROL S.; BRINKER, C. JEFFREY; HANCE, BRADLEY G.; SCHMITT, RANDAL L.; JOHNSON, MARK S.; HARGIS JR. PHILIP J.; SIMONSON, ROBERT J.
2001-01-01
This report summarizes the development of sensor particles for remote detection of trace chemical analytes over broad areas, e.g residual trinitrotoluene from buried landmines or other unexploded ordnance (UXO). We also describe the potential of the sensor particle approach for the detection of chemical warfare (CW) agents. The primary goal of this work has been the development of sensor particles that incorporate sample preconcentration, analyte molecular recognition, chemical signal amplification, and fluorescence signal transduction within a ''grain of sand''. Two approaches for particle-based chemical-to-fluorescence signal transduction are described: (1) enzyme-amplified immunoassays using biocompatible inorganic encapsulants, and (2) oxidative quenching of a unique fluorescent polymer by TNT
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Wood,; Stephen,
2009-01-01
Autonomous Underwater Vehicles are only now being marketed as robust commercial vehicles for many industries, and of these vehicles underwater gliders are becoming the new tool for oceanographers. Satellites have provided scientists and marine specialists with measurements of the sea surface such as temperature since the late 1970s, and data via subsurface oceanographic moorings since the 1950's. As stated by David Smeed of the National Oceanography Centre, Southampton, England, that "gliders...
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International Nuclear Information System (INIS)
Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya
2002-01-01
As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)
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Theoretical Energy Release of Thermites, Intermetallics, and Combustible Metals
Energy Technology Data Exchange (ETDEWEB)
Fischer, S.H.; Grubelich, M.C.
1999-05-14
Thermite mixtures, intermetallic reactants, and metal fuels have long been used in pyrotechnic applications. Advantages of these systems typically include high energy density, high combustion temperature, and a wide range of gas production. They generally exhibit high temperature stability and possess insensitive ignition properties. For the specific applications of humanitarian demining and disposal of unexploded ordnance, these pyrotechnic formulations offer additional benefits. The combination of high thermal input with low brisance can be used to neutralize the energetic materials in mines and other ordnance without the "explosive" high-blast-pressure events that can cause extensive collateral damage to personnel, facilities, and the environment. In this paper, we review the applications, benefits, and characteristics of thermite mixtures, intermetallic reactants, and metal fuels. Calculated values for reactant density, heat of reaction (per unit mass and per unit volume), and reaction temperature (without and with consideration of phase changes and the variation of specific heat values) are tabulated. These data are ranked in several ways, according to density, heat of reaction, reaction temperature, and gas production.
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Underwater Acoustic Networking Techniques
Otnes, Roald; Casari, Paolo; Goetz, Michael; Husøy, Thor; Nissen, Ivor; Rimstad, Knut; van Walree, Paul; Zorzi, Michele
2012-01-01
This literature study presents an overview of underwater acoustic networking. It provides a background and describes the state of the art of all networking facets that are relevant for underwater applications. This report serves both as an introduction to the subject and as a summary of existing protocols, providing support and inspiration for the development of network architectures.
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OFDM for underwater acoustic communications
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
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Underwater Acoustic Tracer System
2009-03-13
for controlling and utilizing supercavitating projectile dynamics to produce a distinctive radiated noise signal. (2) Description of the Prior Art...metallic objects which travel relatively closely to a magnetic pickup. For larger, high speed, underwater projectiles, supercavitating underwater vehicles...have been proposed for use. The conditions for supercavitation are known in the art. Supercavitation allows for higher speeds to be sustainable
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2011-03-01
etiquette (Parasuraman & Miller, 2004). Through natural and intuitive communication, Johnson et al., (2007) hope that this interface will instill greater...and etiquette in high criticality automated systems. Communications of the ACM, 47(4), 51-55. Parasuraman, R., & Riley, V. (1997). Humans and... protocols for underwater wireless communications. IEEE Communications Magazine, pp. 97-102. Quazi, A. H., & Konrad, W. L. (1982, March 1982). Underwater
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Determining spherical lens correction for astronaut training underwater.
Porter, Jason; Gibson, C Robert; Strauss, Samuel
2011-09-01
To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration astronauts while training underwater. The replica space suit's helmet contains curved visors that induce refractive power when submersed in water. Anterior surface powers and thicknesses were measured for the helmet's protective and inside visors. The impact of each visor on the helmet's refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet's total induced spherical power underwater and the astronaut's manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. The helmet's visors induced a total power of -2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (r = 0.971) with 70% of eyes having a difference in magnitude of astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater.
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Dynamics and Control of Underwater Gliders I: Steady Motions
Mahmoudian, N.; Geisbert, J.; Woolsey, C.
2007-01-01
This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several such vehicles have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. To date, the primary emphasis in underwater glider development has been on locomotive effici...
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Underwater welding and repair technologies applied in PWR environment
International Nuclear Information System (INIS)
Scandella, Fabrice; Carpreau, Jean-Michel
2012-01-01
The authors describe several welding processes and technologies which have been used for underwater applications and which can be applied when repairing components of a PWR type reactor. They address, describe and discuss wet arc welding processes, the peculiarities of underwater welding, and the use of various processes such as 111, 114 and 135 processes, underwater welding with the hybrid plasma MIG-MAG process, underwater welding with the laser wire process, underwater welding with the FSW, FSP or UWFSW processes, underwater welding with variants of the friction welding process (friction surfacing, taper stitch welding, hydro-pillar processing
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Human Injury Criteria for Underwater Blasts.
Directory of Open Access Journals (Sweden)
Rachel M Lance
Full Text Available Underwater blasts propagate further and injure more readily than equivalent air blasts. Development of effective personal protection and countermeasures, however, requires knowledge of the currently unknown human tolerance to underwater blast. Current guidelines for prevention of underwater blast injury are not based on any organized injury risk assessment, human data or experimental data. The goal of this study was to derive injury risk assessments for underwater blast using well-characterized human underwater blast exposures in the open literature. The human injury dataset was compiled using 34 case reports on underwater blast exposure to 475 personnel, dating as early as 1916. Using severity ratings, computational reconstructions of the blasts, and survival information from a final set of 262 human exposures, injury risk models were developed for both injury severity and risk of fatality as functions of blast impulse and blast peak overpressure. Based on these human data, we found that the 50% risk of fatality from underwater blast occurred at 302±16 kPa-ms impulse. Conservatively, there is a 20% risk of pulmonary injury at a kilometer from a 20 kg charge. From a clinical point of view, this new injury risk model emphasizes the large distances possible for potential pulmonary and gut injuries in water compared with air. This risk value is the first impulse-based fatality risk calculated from human data. The large-scale inconsistency between the blast exposures in the case reports and the guidelines available in the literature prior to this study further underscored the need for this new guideline derived from the unique dataset of actual injuries in this study.
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Underwater Gliders by Dr. Kevin Smith [video
Naval Postgraduate School Physics
2015-01-01
NPS Physics NPS Physics Research Projects Underwater glider research is currently underway in the physics department at the naval postgraduate in Monterey Ca. Dr. Kevin Smith is a specialist in underwater acoustics and sonar systems. He and his team are currently focused on autonomous underwater gliders and developing systems capable of detecting parameters in the ocean and listening for various sources of sound.
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S. P. Gaba
1984-01-01
The paper deals with underwater laser ranging system, its principle of operation and maximum depth capability. The sources of external noise and methods to improve signal-to-noise ratio are also discussed.
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Energy Technology Data Exchange (ETDEWEB)
Patton, T.; Benioff, P.; Biang, C.; Butler, J. [and others
1996-06-01
The Environmental Management Division of Aberdeen Proving Ground (APG), Maryland, is conducting a remedial investigation and feasibility study of the J-Field area at APG pursuant to the Comprehensive Environmental Response, Compensation, and Liability Act, as amended (CERCLA). J-Field is located within the Edgewood Area of APG in Harford County, Maryland. Since World War II, activities in the Edgewood Area have included the development, manufacture, testing, and destruction of chemical agents and munitions. These materials were destroyed at J-Field by open burning/open detonation. Portions of J-Field continue to be used for the detonation and disposal of unexploded ordnance (UXO) by open burning/open detonation under authority of the Resource Conservation and Recovery Act.
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UNDERWATER COATINGS FOR CONTAMINATION CONTROL
International Nuclear Information System (INIS)
Julia L. Tripp; Kip Archibald; Ann Marie Phillips; Joseph Campbell
2004-01-01
The Idaho National Laboratory (INL) deactivated several aging nuclear fuel storage basins. Planners for this effort were greatly concerned that radioactive contamination present on the basin walls could become airborne as the sides of the basins became exposed during deactivation and allowed to dry after water removal. One way to control this airborne contamination was to fix the contamination in place while the pool walls were still submerged. There are many underwater coatings available on the market for marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives were easily applied and adhered well to the substrates (pool wall materials) found in INL fuel pools. Lab-scale experiments were conducted by applying fourteen different commercial underwater coatings to four substrate materials representative of the storage basin construction materials, and evaluating their performance. The coupons included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The evaluation criteria included ease of application, adherence to the four surfaces of interest, no change on water clarity or chemistry, non-hazardous in final applied form and be proven in underwater applications. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates was selected from the underwater coatings tested for application to all four pools. Divers scrubbed loose contamination off the basin walls and floors using a ship hull scrubber and vacuumed up the sludge. The divers then applied the coating using a special powered roller with two separate heated hoses that allowed the epoxy to mix at the roller surface was used to eliminate pot time concerns. The walls were successfully coated and water was removed from the pools with no detectable airborne contamination releases
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Javaid Muhammad Yasar; Ovinis Mark; Nagarajan T; Hashim Fakhruldin B M
2014-01-01
Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no ...
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Underwater Calibration of Dome Port Pressure Housings
Nocerino, E.; Menna, F.; Fassi, F.; Remondino, F.
2016-03-01
Underwater photogrammetry using consumer grade photographic equipment can be feasible for different applications, e.g. archaeology, biology, industrial inspections, etc. The use of a camera underwater can be very different from its terrestrial use due to the optical phenomena involved. The presence of the water and camera pressure housing in front of the camera act as additional optical elements. Spherical dome ports are difficult to manufacture and consequently expensive but at the same time they are the most useful for underwater photogrammetry as they keep the main geometric characteristics of the lens unchanged. Nevertheless, the manufacturing and alignment of dome port pressure housing components can be the source of unexpected changes of radial and decentring distortion, source of systematic errors that can influence the final 3D measurements. The paper provides a brief introduction of underwater optical phenomena involved in underwater photography, then presents the main differences between flat and dome ports to finally discuss the effect of manufacturing on 3D measurements in two case studies.
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Schulze, Norman R.; Maxfield, B.; Boucher, C.
1995-01-01
Solid State Laser Initiated Ordnance (LIO) offers new technology having potential for enhanced safety, reduced costs, and improved operational efficiency. Concerns over the absence of programmatic applications of the technology, which has prevented acceptance by flight programs, should be abated since LIO has now been operationally implemented by the Laser Initiated Ordnance Sounding Rocket Demonstration (LOSRD) Program. The first launch of solid state laser diode LIO at the NASA Wallops Flight Facility (WFF) occurred on March 15, 1995 with all mission objectives accomplished. This project, Phase 3 of a series of three NASA Headquarters LIO demonstration initiatives, accomplished its objective by the flight of a dedicated, all-LIO sounding rocket mission using a two-stage Nike-Orion launch vehicle. LIO flight hardware, made by The Ensign-Bickford Company under NASA's first Cooperative Agreement with Profit Making Organizations, safely initiated three demanding pyrotechnic sequence events, namely, solid rocket motor ignition from the ground and in flight, and flight termination, i.e., as a Flight Termination System (FTS). A flight LIO system was designed, built, tested, and flown to support the objectives of quickly and inexpensively putting LIO through ground and flight operational paces. The hardware was fully qualified for this mission, including component testing as well as a full-scale system test. The launch accomplished all mission objectives in less than 11 months from proposal receipt. This paper concentrates on accomplishments of the ordnance aspects of the program and on the program's implementation and results. While this program does not generically qualify LIO for all applications, it demonstrated the safety, technical, and operational feasibility of those two most demanding applications, using an all solid state safe and arm system in critical flight applications.
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2008-09-10
parametric form in which the i−th principal polarization is given by Li(t) = kit −βie− t γi ( Pasion and Oldenburg, 2001). The model parameters m contain the lo...66 September 2008 6 REFERENCES Billings, S. D., Pasion , L. R., Beran, L., Oldenburg, D., Sinex, D., Song, L., Lhomme, N., 2007, ESTCP MM-0504...Office. Billings, S. D., Pasion , L. R., Beran, L., Oldenburg, D., Sinex, D., Song, L., Lhomme, N., 2008, ESTCP MM-0504, Practical Discrimination
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Rinaldi, Roberto
2014-01-01
After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” ) and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Unde...
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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
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A man-made object detection for underwater TV
Cheng, Binbin; Wang, Wenwu; Chen, Yao
2018-03-01
It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.
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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.
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Forbes, Jonathan A; Laughlin, Ian; Newberry, Shane; Ryhn, Michael; Pasley, Jason; Newberry, Travis
2016-09-01
In cases of penetrating injury with implantation of small arms ammunition, it can often be difficult to tell the difference between simple ballistics and ballistics associated with unexploded ordnances (UXOs). In the operative environment, where highly flammable substances are often close to the surgical site, detonation of UXOs could have catastrophic consequences for both the patient and surgical team. There is a paucity of information in the literature regarding how to evaluate whether an implanted munition contains explosive material. This report describes a patient who presented during Operation Enduring Freedom with an implanted munition suspicious for a UXO and the subsequent workup organized by Explosive Ordnance Disposal (EOD) Company prior to surgical removal. Clinical risk factors for UXOs include assassination attempts and/or wartime settings. Specific radiological features suggestive of a UXO include projectile size greater than 7.62-mm caliber, alterations in density of the tip, as well as radiological evidence of a hollowed-out core. If an implanted UXO is suspected, risks to the surgical and anesthesia teams can be minimized by notifying the nearest military installation with EOD capabilities and following clinical practice guidelines set forth by the Joint Theater Trauma System.
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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
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An Underwater Image Enhancement Algorithm for Environment Recognition and Robot Navigation
Directory of Open Access Journals (Sweden)
Kun Xie
2018-03-01
Full Text Available There are many tasks that require clear and easily recognizable images in the field of underwater robotics and marine science, such as underwater target detection and identification of robot navigation and obstacle avoidance. However, water turbidity makes the underwater image quality too low to recognize. This paper proposes the use of the dark channel prior model for underwater environment recognition, in which underwater reflection models are used to obtain enhanced images. The proposed approach achieves very good performance and multi-scene robustness by combining the dark channel prior model with the underwater diffuse model. The experimental results are given to show the effectiveness of the dark channel prior model in underwater scenarios.
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Underwater fiber-wireless communication with a passive front end
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.
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A Hybrid Approach to the Valuation of RFID/MEMS technology applied to ordnance inventory
Doerr, Kenneth H.; Gates, William R.; Mutty, John E.
2006-01-01
We report on an analysis of the costs and benefits of fielding Radio Frequency Identification / MicroElectroMechanical System (RFID /MEMS) technology for the management of ordnance inventory. A factorial model of these benefits is proposed. Our valuation approach combines a multi-criteria tool for the valuation of qualitative factors with a monte-carlo simulation of anticipated financial factors. In a sample survey, qualitative factors are shown to account of over half of the anticipated bene...
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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.
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3D Laser Scanner for Underwater Manipulation.
Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan
2018-04-04
Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.
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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...
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Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle
Directory of Open Access Journals (Sweden)
Francisco García-Córdova
2013-04-01
Full Text Available In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.
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Optimal Node Placement in Underwater Acoustic Sensor Network
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.
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Underwater television camera for monitoring inner side of pressure vessel
International Nuclear Information System (INIS)
Takayama, Kazuhiko.
1997-01-01
An underwater television support device equipped with a rotatable and vertically movable underwater television camera and an underwater television camera controlling device for monitoring images of the inside of the reactor core photographed by the underwater television camera to control the position of the underwater television camera and the underwater light are disposed on an upper lattice plate of a reactor pressure vessel. Both of them are electrically connected with each other by way of a cable to rapidly observe the inside of the reactor core by the underwater television camera. The reproducibility is extremely satisfactory by efficiently concentrating the position of the camera and image information upon inspection and observation. As a result, the steps for periodical inspection can be reduced to shorten the days for the periodical inspection. Since there is no requirement to withdraw fuel assemblies over a wide reactor core region, and the device can be used with the fuel assemblies being left as they are in the reactor, it is suitable for inspection of detectors for nuclear instrumentation. (N.H.)
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3D Laser Scanner for Underwater Manipulation
Directory of Open Access Journals (Sweden)
Albert Palomer
2018-04-01
Full Text Available Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS is used to autonomously grasp an object from the bottom of a water tank.
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Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots
DEFF Research Database (Denmark)
Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens
2015-01-01
The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation an...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....
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Equipment and appliances for underwater operations. Pt. 2
International Nuclear Information System (INIS)
Krueger, P.
1976-01-01
The 6/75 edition of 'mt' reported on the 'ARGE underwater appliances' and the study on 'design development of appliances and equipment for underwater use' in a brief summary. One of these designs, the 'unmanned DSWS underwater appliance' was described in detail. The present article describes three further design developments mentioned in the above study and which are based on unmanned appliances connected to the mother-ship. These designs were developed by Preussag-Meerestechnik. (orig.) [de
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Underwater cladding with laser beam and plasma arc welding
International Nuclear Information System (INIS)
White, R.A.; Fusaro, R.; Jones, M.G.; Solomon, H.D.; Milian-Rodriguez, R.R.
1997-01-01
Two welding processes, plasma arc (transferred arc) (PTA) and laser beam, were investigated to apply cladding to austenitic stainless steels and Inconel 600. These processes have long been used to apply cladding layers , but the novel feature being reported here is that these cladding layers were applied underwater, with a water pressure equivalent to 24 m (80 ft). Being able to apply the cladding underwater is very important for many applications, including the construction of off-shore oil platforms and the repair of nuclear reactors. In the latter case, being able to weld underwater eliminates the need for draining the reactor and removing the fuel. Welding underwater in reactors presents numerous challenges, but the ability to weld without having to drain the reactor and remove the fuel provides a huge cost savings. Welding underwater in reactors must be done remotely, but because of the radioactive corrosion products and neutron activation of the steels, remote welding would also be required even if the reactor is drained and the fuel removed. In fact, without the shielding of the water, the remote welding required if the reactor is drained might be even more difficult than that required with underwater welds. Furthermore, as shall be shown, the underwater welds that the authors have made were of high quality and exhibit compressive rather than tensile residual stresses
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Underwater image mosaicking and visual odometry
Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott
2017-05-01
This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.
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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.
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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.
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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.
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4th Pacific Rim Underwater Acoustics Conference
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.
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The influence of underwater turbulence on optical phase measurements
Redding, Brandon; Davis, Allen; Kirkendall, Clay; Dandridge, Anthony
2016-05-01
Emerging underwater optical imaging and sensing applications rely on phase-sensitive detection to provide added functionality and improved sensitivity. However, underwater turbulence introduces spatio-temporal variations in the refractive index of water which can degrade the performance of these systems. Although the influence of turbulence on traditional, non-interferometric imaging has been investigated, its influence on the optical phase remains poorly understood. Nonetheless, a thorough understanding of the spatio-temporal dynamics of the optical phase of light passing through underwater turbulence are crucial to the design of phase-sensitive imaging and sensing systems. To address this concern, we combined underwater imaging with high speed holography to provide a calibrated characterization of the effects of turbulence on the optical phase. By measuring the modulation transfer function of an underwater imaging system, we were able to calibrate varying levels of optical turbulence intensity using the Simple Underwater Imaging Model (SUIM). We then used high speed holography to measure the temporal dynamics of the optical phase of light passing through varying levels of turbulence. Using this method, we measured the variance in the amplitude and phase of the beam, the temporal correlation of the optical phase, and recorded the turbulence induced phase noise as a function of frequency. By bench marking the effects of varying levels of turbulence on the optical phase, this work provides a basis to evaluate the real-world potential of emerging underwater interferometric sensing modalities.
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Optimal Node Placement in Underwater Wireless Sensor Networks
Felamban, M.; Shihada, Basem; Jamshaid, K.
2013-01-01
Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance
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Operational experience in underwater photogrammetry
Leatherdale, John D.; John Turner, D.
Underwater photogrammetry has become established as a cost-effective technique for inspection and maintenance of platforms and pipelines for the offshore oil industry. A commercial service based in Scotland operates in the North Sea, USA, Brazil, West Africa and Australia. 70 mm cameras and flash units are built for the purpose and analytical plotters and computer graphics systems are used for photogrammetric measurement and analysis of damage, corrosion, weld failures and redesign of underwater structures. Users are seeking simple, low-cost systems for photogrammetric analysis which their engineers can use themselves.
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Evaluating the SCC resistance of underwater welds in sodium tetrathionate
International Nuclear Information System (INIS)
White, R.A.; Angeliu, T.M.
1997-01-01
The susceptibility of welds to stress corrosion cracking (SCC) is enhanced by the surface residual tensile stresses generated by the typical welding process. However, underwater plasma transferred arc (PTA) welding has been shown to produce compressive surface residual stresses, an encouraging result if repairs of cracked boiling water reactor (BWR) components are to be made without further endangering them to SCC. This program was designed to verify that underwater PTA welds are resistant to SCC and to determine if underwater PTA welding could mitigate SCC in potentially susceptible welds. This was achieved by exposing various welds on solution annealed (SA) and SA + thermally sensitized 304 stainless steel at 25 C in a solution of 1.5 gm/liter of sodium sulfide added to 0.05M sodium tetrathionate, titrated to a pH of 1.25 with H 2 SO 4 . The autogeneous welds were produced using gas tungsten arc (GTA) and plasma transferred arc (PTA) welding under atmospheric conditions, and PTA welding underwater. After 1 hour of sodium tetrathionate exposure, GTA and air PTA welds exhibited SCC while the underwater PTA weld heat affected zones were more resistant. Underwater PTA welds bisecting a GTA weld eliminated the cracking in the GTA weld heat affected zone under certain conditions. The lack of IG cracking in the region influenced by the underwater PTA weld is consistent with the measurement of compressive surface residual stresses inherent to the underwater welding process
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Trade-off Analysis of Underwater Acoustic Sensor Networks
Tuna, G.; Das, R.
2017-09-01
In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.
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Directory of Open Access Journals (Sweden)
Aaron J. Beck
2018-04-01
Full Text Available Coastal marine environments are contaminated globally with a vast quantity of unexploded ordnance and munitions from intentional disposal. These munitions contain organic explosive compounds as well as a variety of metals, and represent point sources of chemical pollution to marine waters. Most underwater munitions originate from World Wars at the beginning of the twentieth century, and metal munitions housings have been impacted by extensive corrosion over the course of the following decades. As a result, the risk of munitions-related contaminant release to the water column is increasing. The behavior of munitions compounds is well-characterized in terrestrial systems and groundwater, but is only poorly understood in marine systems. Organic explosive compounds, primarily nitroaromatics and nitramines, can be degraded or transformed by a variety of biotic and abiotic mechanisms. These reaction products exhibit a range in biogeochemical characteristics such as sorption by particles and sediments, and variable environmental behavior as a result. The reaction products often exhibit increased toxicity to biological receptors and geochemical controls like sorption can limit this exposure. Environmental samples typically show low concentrations of munitions compounds in water and sediments (on the order of ng/L and μg/kg, respectively, and ecological risk appears generally low. Nonetheless, recent work demonstrates the possibility of sub-lethal genetic and metabolic effects. This review evaluates the state of knowledge on the occurrence, fate, and effect of munition-related chemical contaminants in the marine environment. There remain a number of knowledge gaps that limit our understanding of munitions-related contaminant spread and effect, and the need for additional work is made all the more urgent by increasing risk of release to the environment.
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Filming Underwater in 3d Respecting Stereographic Rules
Rinaldi, R.; Hordosch, H.
2015-04-01
After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.
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FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES
Directory of Open Access Journals (Sweden)
R. Rinaldi
2015-04-01
Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity" and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.
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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.
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Low-contrast underwater living fish recognition using PCANet
Sun, Xin; Yang, Jianping; Wang, Changgang; Dong, Junyu; Wang, Xinhua
2018-04-01
Quantitative and statistical analysis of ocean creatures is critical to ecological and environmental studies. And living fish recognition is one of the most essential requirements for fishery industry. However, light attenuation and scattering phenomenon are present in the underwater environment, which makes underwater images low-contrast and blurry. This paper tries to design a robust framework for accurate fish recognition. The framework introduces a two stage PCA Network to extract abstract features from fish images. On a real-world fish recognition dataset, we use a linear SVM classifier and set penalty coefficients to conquer data unbalanced issue. Feature visualization results show that our method can avoid the feature distortion in boundary regions of underwater image. Experiments results show that the PCA Network can extract discriminate features and achieve promising recognition accuracy. The framework improves the recognition accuracy of underwater living fishes and can be easily applied to marine fishery industry.
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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
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Energy Technology Data Exchange (ETDEWEB)
NONE
1999-07-14
The U.S. Department of Energy (DOE) and the U.S. Department of the Army (DA) are evaluating conditions in groundwater and springs at the DOE chemical plant area and the DA ordnance works area near Weldon Spring, Missouri. The two areas are located in St. Charles County, about 48 km (30 mi) west of St. Louis. The 88-ha (217-acre) chemical plant area is chemically and radioactively contaminated as a result of uranium-processing activities conducted by the U.S. Atomic Energy Commission in the 1950s and 1960s and explosives-production activities conducted by the U.S. Army (Army) in the 1940s. The 6,974-ha (17,232-acre) ordnance works area is primarily chemically contaminated as a result of trinitrotoluene (TNT) and dinitrotoluene (DNT) manufacturing activities during World War II. This baseline risk assessment (BRA) is being conducted as part of the remedial investigation/feasibility study (RUFS) required under the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA) of 1980, as amended. The purpose of the BRA is to evaluate potential human health and ecological impacts from contamination associated with the groundwater operable units (GWOUs) of the chemical plant area and ordnance works area. An RI/FS work plan issued jointly in 1995 by the DOE and DA (DOE 1995) analyzed existing conditions at the GWOUs. The work plan included a conceptual hydrogeological model based on data available when the report was prepared; this model indicated that the aquifer of concern is common to both areas. Hence, to optimize further data collection and interpretation efforts, the DOE and DA have decided to conduct a joint RI/BRA. Characterization data obtained from the chemical plant area wells indicate that uranium is present at levels slightly higher than background, with a few concentrations exceeding the proposed U.S. Environmental Protection Agency (EPA) maximum contaminant level (MCL) of 20 {micro}g/L (EPA 1996c). Concentrations of other radionuclides (e
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WODA technical guidance on underwater sound from dredging
Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C. de; Wit, P. de; Goethals, F.; Holtkamp, M.; Martin, E.S.; Spadaro, P.; Raalte, G. van; Victor, G.Y.V.; Jensen, A.
2016-01-01
The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic
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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.
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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.
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Design and Evaluation Methods for Underwater Control Systems
Energy Technology Data Exchange (ETDEWEB)
Chi, Lin
1997-12-31
This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.
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Construction Method of the Topographical Features Model for Underwater Terrain Navigation
Directory of Open Access Journals (Sweden)
Wang Lihui
2015-09-01
Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.
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Defence Technology Strategy for the Demands of the 21st Century
2006-10-01
mines and/or explosive ordnance; both making safe individual devices and breaching minefields: - Mechanical systems: ploughs and flails - Explosive...period 2000 to 200 well over a thousand people were killed world-wide with thousands more injured. were lost in one incident alone, - the sinking of...underwater sensors. Enable detection and tracking of stressing targets in high clutter and difficult environments. Examine options and develop kill
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Energy Technology Data Exchange (ETDEWEB)
NONE
1995-08-01
US Department of Energy (DOE) and the US Army Corps of Engineers (CE) are conducting cleanup activities at two properties, the chemical plant area and the ordnance works area, located adjacent to one another in St. Charles County, Missouri. In accordance with the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), as amended, DOE and CE are evaluating conditions and potential responses at the chemical plant area and at the ordnance works area, respectively, to address groundwater and surface water contamination. This work plan provides a comprehensive evaluation of areas that are relevant to the (GWOUs) of both the chemical plant and the ordnance works area. Following areas or media are addressed in this work plan: groundwater beneath the chemical plant area (including designated vicinity properties described in Section 5 of the RI for the chemical plant area [DOE 1992d]) and beneath the ordnance works area; surface water and sediment at selected springs, including Burgermeister Spring. The organization of this work plan is as follows: Chapter 1 discusses the objectives for conducting the evaluation, including a summary of relevant site information and overall environmental compliance activities to be undertaken; Chapter 2 presents a history and a description of the site and areas addressed within the GWOUs, along with currently available data; Chapter 3 presents a preliminary evaluation of areas included in the GWOUs, which is based on information given in Section 2, and discusses data requirements; Chapter 4 presents rationale for data collection or characterization activities to be carried out in the remedial investigation (RI) phase, along with brief summaries of supporting documents ancillary to this work plan; Chapter 5 discusses the activities planned for GWOUs under each of the 14 tasks for an remedial (RI/FS); Chapter 6 presents proposed schedules for RI/FS for the GWOUS; and Chapter 7 explains the project management structure.
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International Nuclear Information System (INIS)
1995-08-01
US Department of Energy (DOE) and the US Army Corps of Engineers (CE) are conducting cleanup activities at two properties, the chemical plant area and the ordnance works area, located adjacent to one another in St. Charles County, Missouri. In accordance with the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), as amended, DOE and CE are evaluating conditions and potential responses at the chemical plant area and at the ordnance works area, respectively, to address groundwater and surface water contamination. This work plan provides a comprehensive evaluation of areas that are relevant to the (GWOUs) of both the chemical plant and the ordnance works area. Following areas or media are addressed in this work plan: groundwater beneath the chemical plant area (including designated vicinity properties described in Section 5 of the RI for the chemical plant area [DOE 1992d]) and beneath the ordnance works area; surface water and sediment at selected springs, including Burgermeister Spring. The organization of this work plan is as follows: Chapter 1 discusses the objectives for conducting the evaluation, including a summary of relevant site information and overall environmental compliance activities to be undertaken; Chapter 2 presents a history and a description of the site and areas addressed within the GWOUs, along with currently available data; Chapter 3 presents a preliminary evaluation of areas included in the GWOUs, which is based on information given in Section 2, and discusses data requirements; Chapter 4 presents rationale for data collection or characterization activities to be carried out in the remedial investigation (RI) phase, along with brief summaries of supporting documents ancillary to this work plan; Chapter 5 discusses the activities planned for GWOUs under each of the 14 tasks for an remedial (RI/FS); Chapter 6 presents proposed schedules for RI/FS for the GWOUS; and Chapter 7 explains the project management structure
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Idaho National Laboratory Cultural Resource Monitoring Report for Fiscal Year 2007
Energy Technology Data Exchange (ETDEWEB)
Brenda R. Pace
2007-10-01
This report describes the cultural resource monitoring activities of the Idaho National Laboratory’s (INL) Cultural Resource Management (CRM) Office during fiscal year 2007 (FY 2007). In FY 2007, 40 localities were revisited: two locations of heightened Shoshone-Bannock tribal sensitivity, four caves, three butte/craters, twelve prehistoric archaeological sites, two historic stage stations, nine historic homesteads, a portion of Goodale’s Cutoff of the Oregon Trail, a portion of historic trail T-16, one World War II dump, four buildings from the World War II period, and Experimental Breeder Reactor –I, a modern scientific facility and National Historic Landmark. Several INL project areas were also monitored in FY 2007. This included direct observation of ground disturbing activities within the Power Burst Facility (PBF, now designated as the Critical Infrastructure Test Range Complex – CITRC), backfilling operations associated with backhoe trenches along the Big Lost River, and geophysical surveys designed to pinpoint subsurface unexploded ordnance in the vicinity of the Naval Ordnance Disposal Area. Surprise checks were also made to three ongoing INL projects to ensure compliance with INL CRM Office recommendations to avoid impacts to cultural resources. Although some impacts were documented, no significant adverse effects that would threaten the National Register eligibility of any resource were observed at any location.
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Idaho National Laboratory Cultural Resource Monitoring Report for Fiscal Year 2007
International Nuclear Information System (INIS)
Brenda R. Pace
2007-01-01
This report describes the cultural resource monitoring activities of the Idaho National Laboratory's (INL) Cultural Resource Management (CRM) Office during fiscal year 2007 (FY 2007). In FY 2007, 40 localities were revisited: two locations of heightened Shoshone-Bannock tribal sensitivity, four caves, three butte/craters, twelve prehistoric archaeological sites, two historic stage stations, nine historic homesteads, a portion of Goodale's Cutoff of the Oregon Trail, a portion of historic trail T-16, one World War II dump, four buildings from the World War II period, and Experimental Breeder Reactor-I, a modern scientific facility and National Historic Landmark. Several INL project areas were also monitored in FY 2007. This included direct observation of ground disturbing activities within the Power Burst Facility (PBF, now designated as the Critical Infrastructure Test Range Complex-CITRC), backfilling operations associated with backhoe trenches along the Big Lost River, and geophysical surveys designed to pinpoint subsurface unexploded ordnance in the vicinity of the Naval Ordnance Disposal Area. Surprise checks were also made to three ongoing INL projects to ensure compliance with INL CRM Office recommendations to avoid impacts to cultural resources. Although some impacts were documented, no significant adverse effects that would threaten the National Register eligibility of any resource were observed at any location
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Acquisition and processing of advanced sensor data for ERW and UXO detection and classification
Schultz, Gregory M.; Keranen, Joe; Miller, Jonathan S.; Shubitidze, Fridon
2014-06-01
The remediation of explosive remnants of war (ERW) and associated unexploded ordnance (UXO) has seen improvements through the injection of modern technological advances and streamlined standard operating procedures. However, reliable and cost-effective detection and geophysical mapping of sites contaminated with UXO such as cluster munitions, abandoned ordnance, and improvised explosive devices rely on the ability to discriminate hazardous items from metallic clutter. In addition to anthropogenic clutter, handheld and vehicle-based metal detector systems are plagued by natural geologic and environmental noise in many post conflict areas. We present new and advanced electromagnetic induction (EMI) technologies including man-portable and towed EMI arrays and associated data processing software. While these systems feature vastly different form factors and transmit-receive configurations, they all exhibit several fundamental traits that enable successful classification of EMI anomalies. Specifically, multidirectional sampling of scattered magnetic fields from targets and corresponding high volume of unique data provide rich information for extracting useful classification features for clutter rejection analysis. The quality of classification features depends largely on the extent to which the data resolve unique physics-based parameters. To date, most of the advanced sensors enable high quality inversion by producing data that are extremely rich in spatial content through multi-angle illumination and multi-point reception.
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A PROPOSAL FOR A SUSTAINABLE MODEL BASED UPON UNDERWATER TOURISM RESEARCH IN AYVALIK
Directory of Open Access Journals (Sweden)
A. GÖKDENİZ
2013-03-01
Full Text Available Underwater sports are the activities being done with the aims of witnessing the beauties, hunting, taking photos, the ecology and the archaeology of underwater analysing or finding out the human being’s boundaries by improving the physical and psychological skills of men. The initial aim of this project is to increase the underwater flora and the fauna heritage of Ayvalık and to bring them in tourism. Ayvalık is on the west coast of Turkey. It is getting more and more famous with its underwater richness. Also, to form a new underwater sports centre in order to contribute to the improvement of the region. By providing visual attractiveness, the tourists related to underwater sports will pay attention to Ayvalık and underwater tourism will contribute much to the economy of the region. The aim of this project is to improve the underwater sports which is now a hobby than a sport. In Ayvalık Underwater World study, we dealt with 247 divers and 4 underwater sports club. In this study, we analysed the expectation, satisfaction, demographic and economic level of 247 divers about the services in the region. Interview technique has been used in the study on the 4 underwater sports clubs which are hosting divers. As a conclusion, a report has been prepared in which detailed information and proposals are presented by developing a sustainable marketing model concerned with the underwater sports for those who want to possess information, shareholders of the sector and make analyse about tourism.
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Active tensor magnetic gradiometer system final report for Project MM–1514
Smith, David V.; Phillips, Jeffrey D.; Hutton, S. Raymond
2014-01-01
An interactive computer simulation program, based on physical models of system sensors, platform geometry, Earth environment, and spheroidal magnetically-permeable targets, was developed to generate synthetic magnetic field data from a conceptual tensor magnetic gradiometer system equipped with an active primary field generator. The system sensors emulate the prototype tensor magnetic gradiometer system (TMGS) developed under a separate contract for unexploded ordnance (UXO) detection and classification. Time-series data from different simulation scenarios were analyzed to recover physical dimensions of the target source. Helbig-Euler simulations were run with rectangular and rod-like source bodies to determine whether such a system could separate the induced component of the magnetization from the remanent component for each target. This report concludes with an engineering assessment of a practical system design.
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Blue-light digital communication in underwater environments utilizing orbital angular momentum
Baghdady, Joshua; Miller, Keith; Osler, Sean; Morgan, Kaitlyn; Li, Wenzhe; Johnson, Eric; Cochenour, Brandon
2016-05-01
Underwater optical communication has recently become the topic of much investigation as the demands for underwater data transmission have rapidly grown in recent years. The need for reliable, high-speed, secure underwater communication has turned increasingly to blue-light optical solutions. The blue-green visible wavelength window provides an attractive solution to the problem of underwater data transmission thanks to its low attenuation, where traditional RF solutions used in free-space communications collapse. Beginning with GaN laser diodes as the optical source, this work explores the encoding and transmission of digital data across underwater environments of varying turbidities. Given the challenges present in an underwater environment, such as the mechanical and optical turbulences that make proper alignment difficult to maintain, it is desirable to achieve extremely high data rates in order to allow the time window of alignment between the transmitter and receiver to be as small as possible. In this paper, work is done to increase underwater data rates through the use of orbital angular momentum. Results are shown for a range of data rates across a variety of channel types ranging in turbidity from that of a clear ocean to a dirty harbor.
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Underwater 3D Surface Measurement Using Fringe Projection Based Scanning Devices.
Bräuer-Burchardt, Christian; Heinze, Matthias; Schmidt, Ingo; Kühmstedt, Peter; Notni, Gunther
2015-12-23
In this work we show the principle of optical 3D surface measurements based on the fringe projection technique for underwater applications. The challenges of underwater use of this technique are shown and discussed in comparison with the classical application. We describe an extended camera model which takes refraction effects into account as well as a proposal of an effective, low-effort calibration procedure for underwater optical stereo scanners. This calibration technique combines a classical air calibration based on the pinhole model with ray-based modeling and requires only a few underwater recordings of an object of known length and a planar surface. We demonstrate a new underwater 3D scanning device based on the fringe projection technique. It has a weight of about 10 kg and the maximal water depth for application of the scanner is 40 m. It covers an underwater measurement volume of 250 mm × 200 mm × 120 mm. The surface of the measurement objects is captured with a lateral resolution of 150 μm in a third of a second. Calibration evaluation results are presented and examples of first underwater measurements are given.
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Single underwater image enhancement based on color cast removal and visibility restoration
Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian
2016-05-01
Images taken under underwater condition usually have color cast and serious loss of contrast and visibility. Degraded underwater images are inconvenient for observation and analysis. In order to address these problems, an underwater image-enhancement method is proposed. A simple yet effective underwater image color cast removal algorithm is first presented based on the optimization theory. Then, based on the minimum information loss principle and inherent relationship of medium transmission maps of three color channels in an underwater image, an effective visibility restoration algorithm is proposed to recover visibility, contrast, and natural appearance of degraded underwater images. To evaluate the performance of the proposed method, qualitative comparison, quantitative comparison, and color accuracy test are conducted. Experimental results demonstrate that the proposed method can effectively remove color cast, improve contrast and visibility, and recover natural appearance of degraded underwater images. Additionally, the proposed method is comparable to and even better than several state-of-the-art methods.
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Study of archaeological underwater finds: deterioration and conservation
Crisci, G. M.; La Russa, M. F.; Macchione, M.; Malagodi, M.; Palermo, A. M.; Ruffolo, S. A.
2010-09-01
This study is aimed at an assessment of the methodologies, instruments and new applications for underwater archaeology. Research focused on study of the various kinds of degradation affecting underwater finds and stone materials aged in underwater environment, efficiency evaluation of various surface cleaning methods and study and mixing of protective products with consolidating resins and antimicrobial biocides to be applied to restored underwater finds. Transmitted light optical microscopy and scanning electron microscopy (SEM) were used to study surface biofilms and the interactions with samples of different stone materials such as brick, marble and granite immersed in the submarine archaeological area of Crotone (South of Italy). Surface cleaning tests were performed with application of ion exchange resins, EDTA, hydrogen peroxide and ultrasound techniques. Capillary water absorption, simulated solar ageing and colourimetric measurements were carried out to evaluate hydrophobic and consolidant properties; to assess biocidal efficacy, heterotrophic micro-organisms ( Aspergillus niger) were inoculated on agar plates and growth inhibition was measured.
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Oubei, Hassan M.; Zedini, Emna; Elafandy, Rami T.; Kammoun, Abla; Ng, Tien Khee; Alouini, Mohamed-Slim; Ooi, Boon S.
2017-01-01
Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels
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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
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Digital sonar design in underwater acoustics principles and applications
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.
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Underwater wireless optical communications: From system-level demonstrations to channel modelling
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.
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WODA Technical Guidance on Underwater Sound from Dredging.
Thomsen, Frank; Borsani, Fabrizio; Clarke, Douglas; de Jong, Christ; de Wit, Pim; Goethals, Fredrik; Holtkamp, Martine; Martin, Elena San; Spadaro, Philip; van Raalte, Gerard; Victor, George Yesu Vedha; Jensen, Anders
2016-01-01
The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic biota and advice on underwater sound monitoring procedures. The paper follows a risk-based approach and provides guidance for standardization of acoustic terminology and methods for data collection and analysis. Furthermore, the literature on dredging-related sounds and the effects of dredging sounds on marine life is surveyed and guidance on the management of dredging-related sound risks is provided.
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Communication and cooperation in underwater acoustic networks
Yerramalli, Srinivas
In this thesis, we present a study of several problems related to underwater point to point communications and network formation. We explore techniques to improve the achievable data rate on a point to point link using better physical layer techniques and then study sensor cooperation which improves the throughput and reliability in an underwater network. Robust point-to-point communications in underwater networks has become increasingly critical in several military and civilian applications related to underwater communications. We present several physical layer signaling and detection techniques tailored to the underwater channel model to improve the reliability of data detection. First, a simplified underwater channel model in which the time scale distortion on each path is assumed to be the same (single scale channel model in contrast to a more general multi scale model). A novel technique, which exploits the nature of OFDM signaling and the time scale distortion, called Partial FFT Demodulation is derived. It is observed that this new technique has some unique interference suppression properties and performs better than traditional equalizers in several scenarios of interest. Next, we consider the multi scale model for the underwater channel and assume that single scale processing is performed at the receiver. We then derive optimized front end pre-processing techniques to reduce the interference caused during single scale processing of signals transmitted on a multi-scale channel. We then propose an improvised channel estimation technique using dictionary optimization methods for compressive sensing and show that significant performance gains can be obtained using this technique. In the next part of this thesis, we consider the problem of sensor node cooperation among rational nodes whose objective is to improve their individual data rates. We first consider the problem of transmitter cooperation in a multiple access channel and investigate the stability of
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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.
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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
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Feasibility of in situ beta ray measurements in underwater environment.
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.
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Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle
Directory of Open Access Journals (Sweden)
M. Fauzi Nor Shah
2011-08-01
Full Text Available Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an unmanned underwater vehicle is described in this paper. The control algorithm is simulated by using the marine guidance navigation and control simulator. The project shows a radial basis function metamodel can be used to tune the scaling factors of a fuzzy logic controller. By using offline optimization approach, a comparison between genetic algorithm and metamodeling has been done to minimize the integral square error between the set point and the measured depth of the underwater vehicle. The results showed that it is possible to obtain a reasonably good error using metamodeling approach in much a shorter time compared to the genetic algorithm approach.
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A bio-inspired electrocommunication system for small underwater robots.
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.
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Underwater Shock Wave Research Applied to Therapeutic Device Developments
Takayama, K.; Yamamoto, H.; Shimokawa, H.
2013-07-01
The chronological development of underwater shock wave research performed at the Shock Wave Research Center of the Institute of Fluid Science at the Tohoku University is presented. Firstly, the generation of planar underwater shock waves in shock tubes and their visualization by using the conventional shadowgraph and schlieren methods are described. Secondly, the generation of spherical underwater shock waves by exploding lead azide pellets weighing from several tens of micrograms to 100 mg, that were ignited by irradiating with a Q-switched laser beam, and their visualization by using double exposure holographic interferometry are presented. The initiation, propagation, reflection, focusing of underwater shock waves, and their interaction with various interfaces, in particular, with air bubbles, are visualized quantitatively. Based on such a fundamental underwater shock wave research, collaboration with the School of Medicine at the Tohoku University was started for developing a shock wave assisted therapeutic device, which was named an extracorporeal shock wave lithotripter (ESWL). Miniature shock waves created by irradiation with Q-switched HO:YAG laser beams are studied, as applied to damaged dysfunctional nerve cells in the myocardium in a precisely controlled manner, and are effectively used to design a catheter for treating arrhythmia.
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UTOFIA: an underwater time-of-flight image acquisition system
Driewer, Adrian; Abrosimov, Igor; Alexander, Jonathan; Benger, Marc; O'Farrell, Marion; Haugholt, Karl Henrik; Softley, Chris; Thielemann, Jens T.; Thorstensen, Jostein; Yates, Chris
2017-10-01
In this article the development of a newly designed Time-of-Flight (ToF) image sensor for underwater applications is described. The sensor is developed as part of the project UTOFIA (underwater time-of-flight image acquisition) funded by the EU within the Horizon 2020 framework. This project aims to develop a camera based on range gating that extends the visible range compared to conventional cameras by a factor of 2 to 3 and delivers real-time range information by means of a 3D video stream. The principle of underwater range gating as well as the concept of the image sensor are presented. Based on measurements on a test image sensor a pixel structure that suits best to the requirements has been selected. Within an extensive characterization underwater the capability of distance measurements in turbid environments is demonstrated.
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International Nuclear Information System (INIS)
1999-01-01
The U.S. Department of Energy (DOE) and the U.S. Department of the Army (DA) are evaluating conditions in groundwater and springs at the DOE chemical plant area and the DA ordnance works area near Weldon Spring, Missouri. The two areas are located in St. Charles County, about 48 km (30 mi) west of St. Louis. The 88-ha (217-acre) chemical plant area is chemically and radioactively contaminated as a result of uranium-processing activities conducted by the U.S. Atomic Energy Commission in the 1950s and 1960s and explosives-production activities conducted by the U.S. Army (Army) in the 1940s. The 6,974-ha (17,232-acre) ordnance works area is primarily chemically contaminated as a result of trinitrotoluene (TNT) and dinitrotoluene (DNT) manufacturing activities during World War II. This baseline risk assessment (BRA) is being conducted as part of the remedial investigation/feasibility study (RUFS) required under the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA) of 1980, as amended. The purpose of the BRA is to evaluate potential human health and ecological impacts from contamination associated with the groundwater operable units (GWOUs) of the chemical plant area and ordnance works area. An RI/FS work plan issued jointly in 1995 by the DOE and DA (DOE 1995) analyzed existing conditions at the GWOUs. The work plan included a conceptual hydrogeological model based on data available when the report was prepared; this model indicated that the aquifer of concern is common to both areas. Hence, to optimize further data collection and interpretation efforts, the DOE and DA have decided to conduct a joint RI/BRA. Characterization data obtained from the chemical plant area wells indicate that uranium is present at levels slightly higher than background, with a few concentrations exceeding the proposed U.S. Environmental Protection Agency (EPA) maximum contaminant level (MCL) of 20 microg/L (EPA 1996c). Concentrations of other radionuclides (e
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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.)
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Yao, Guang-tao; Zhang, Xiao-hui; Ge, Wei-long
2012-01-01
The underwater laser imaging detection is an effective method of detecting short distance target underwater as an important complement of sonar detection. With the development of underwater laser imaging technology and underwater vehicle technology, the underwater automatic target identification has gotten more and more attention, and is a research difficulty in the area of underwater optical imaging information processing. Today, underwater automatic target identification based on optical imaging is usually realized with the method of digital circuit software programming. The algorithm realization and control of this method is very flexible. However, the optical imaging information is 2D image even 3D image, the amount of imaging processing information is abundant, so the electronic hardware with pure digital algorithm will need long identification time and is hard to meet the demands of real-time identification. If adopt computer parallel processing, the identification speed can be improved, but it will increase complexity, size and power consumption. This paper attempts to apply optical correlation identification technology to realize underwater automatic target identification. The optics correlation identification technology utilizes the Fourier transform characteristic of Fourier lens which can accomplish Fourier transform of image information in the level of nanosecond, and optical space interconnection calculation has the features of parallel, high speed, large capacity and high resolution, combines the flexibility of calculation and control of digital circuit method to realize optoelectronic hybrid identification mode. We reduce theoretical formulation of correlation identification and analyze the principle of optical correlation identification, and write MATLAB simulation program. We adopt single frame image obtained in underwater range gating laser imaging to identify, and through identifying and locating the different positions of target, we can improve
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Deep Learning Methods for Underwater Target Feature Extraction and Recognition
Directory of Open Access Journals (Sweden)
Gang Hu
2018-01-01
Full Text Available The classification and recognition technology of underwater acoustic signal were always an important research content in the field of underwater acoustic signal processing. Currently, wavelet transform, Hilbert-Huang transform, and Mel frequency cepstral coefficients are used as a method of underwater acoustic signal feature extraction. In this paper, a method for feature extraction and identification of underwater noise data based on CNN and ELM is proposed. An automatic feature extraction method of underwater acoustic signals is proposed using depth convolution network. An underwater target recognition classifier is based on extreme learning machine. Although convolution neural networks can execute both feature extraction and classification, their function mainly relies on a full connection layer, which is trained by gradient descent-based; the generalization ability is limited and suboptimal, so an extreme learning machine (ELM was used in classification stage. Firstly, CNN learns deep and robust features, followed by the removing of the fully connected layers. Then ELM fed with the CNN features is used as the classifier to conduct an excellent classification. Experiments on the actual data set of civil ships obtained 93.04% recognition rate; compared to the traditional Mel frequency cepstral coefficients and Hilbert-Huang feature, recognition rate greatly improved.
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Underwater video enhancement using multi-camera super-resolution
Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.
2017-12-01
Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.
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Restoration and Enhancement of Underwater Images Based on Bright Channel Prior
Directory of Open Access Journals (Sweden)
Yakun Gao
2016-01-01
Full Text Available This paper proposed a new method of underwater images restoration and enhancement which was inspired by the dark channel prior in image dehazing field. Firstly, we proposed the bright channel prior of underwater environment. By estimating and rectifying the bright channel image, estimating the atmospheric light, and estimating and refining the transmittance image, eventually underwater images were restored. Secondly, in order to rectify the color distortion, the restoration images were equalized by using the deduced histogram equalization. The experiment results showed that the proposed method could enhance the quality of underwater images effectively.
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Underwater inverse LIBS (iLIBS) for marine archaeology
Asmus, J.; Magde, M.; Elford, J.; Magde, D.; Parfenov, V.
2013-05-01
In recent years there have been enormous advances in nautical archaeology through developments in SONAR technologies as well as in manned and robotic submersible vehicles. The number of sunken vessel discoveries has escalated in many of the seas of the world in response to the widespread application of these and other new tools. Customarily, surviving artifacts within the debris field of a wreck are collected and then moved to laboratories, centers, or institutions for analyses and possible conservation. Frequently, the conservation phase involves chemical treatments to stabilize an artefact to standard temperature, pressure, and humidity instead of an undersea environment. Many of the artefacts encountered at an underwater site are now characterized and restored in-situ in accordance with modern trends in art conservation. Two examples of this trend are exemplified by the resting place of the wreck of the Titanic in the Atlantic and the Cancun Underwater Park in the Caribbean Sea. These two debris fields have been turned into museums for diving visitors. Several research groups have investigated the possibility of adapting the well-established analytical tool Laser Induced Breakdown Spectroscopy (LIBS) to in-situ elemental analyses of underwater cultural, historic, and archaeological artefacts where discovered, rather than as a phase of a salvage operation. As the underwater laser ablation associated with LIBS generates a "snowplough" shockwave within the aqueous matrix, the atomic emission spectrum is usually severely attenuated in escaping from the target. Consequently, probative experiments to date generally invoke a submerged air chamber or air jet to isolate water from the interaction zone as well as employ more complex double-pulse lasers. These measures impose severe logistical constraints on the examination of widely dispersed underwater artefacts. In order to overcome this constraint we report on water-immersion LIBS experiments performed with oblique
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Remarks on the observability of single beacon underwater navigation
DEFF Research Database (Denmark)
Jouffroy, Jerome; Ross, Andrew
This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. This analysis should help with the design of small and lightweight underwater vehicles by reducing the amount of instrumentation required for accurate navigation. The concept...
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Oubei, Hassan M.
2017-12-13
Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels. The model shows an excellent agreement with the measured data under all channel conditions.
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A Secure Communication Suite for Underwater Acoustic Sensor Networks
Directory of Open Access Journals (Sweden)
Angelica Lo Duca
2012-11-01
Full Text Available In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.
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Underwater Acoustic Target Tracking: A Review
Han, Ying; Fan, Liying
2018-01-01
Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper. PMID:29301318
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Afocal viewport optics for underwater imaging
Slater, Dan
2014-09-01
A conventional camera can be adapted for underwater use by enclosing it in a sealed waterproof pressure housing with a viewport. The viewport, as an optical interface between water and air needs to consider both the camera and water optical characteristics while also providing a high pressure water seal. Limited hydrospace visibility drives a need for wide angle viewports. Practical optical interfaces between seawater and air vary from simple flat plate windows to complex water contact lenses. This paper first provides a brief overview of the physical and optical properties of the ocean environment along with suitable optical materials. This is followed by a discussion of the characteristics of various afocal underwater viewport types including flat windows, domes and the Ivanoff corrector lens, a derivative of a Galilean wide angle camera adapter. Several new and interesting optical designs derived from the Ivanoff corrector lens are presented including a pair of very compact afocal viewport lenses that are compatible with both in water and in air environments and an afocal underwater hyper-hemispherical fisheye lens.
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International Nuclear Information System (INIS)
Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji
1996-01-01
An underwater running device for an underwater inspection device for detecting inner surfaces of a reactor or a water vessel has an outer frame and an inner frame, and both of them are connected slidably by an air cylinder and connected rotatably by a shaft. The outer frame has four outer frame legs, and each of the outer frame legs is equipped with a sucker at the top end. The inner frame has four inner frame legs each equipped with a sucker at the top end. The outer frame legs and the inner frame legs are each connected with the outer frame and the inner frame by the air cylinder. The outer and the inner frame legs can be elevated or lowered (or extended or contracted) by the air cylinder. The sucker is connected with a jet pump-type negative pressure generator. The device can run and move by repeating attraction and releasing of the outer frame legs and the inner frame legs alternately while maintaining the posture of the inspection device stably. (I.N.)
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Smelling and Tasting Underwater.
Atema, Jelle
1980-01-01
Discusses differences between smell and taste, comparing these senses in organisms in aquatic and terrestrial environments. Describes the chemical environment underwater and in air, differences in chemoreceptors to receive stimuli, and the organs, brain, and behavior involved in chemoreception. (CS)
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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.
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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
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Application of underwater radon measurements in geology
Energy Technology Data Exchange (ETDEWEB)
Varhegyi, A.; Baranyi, I.; Gerzson, I. (Mecsek Ore Mining Enterprise, Pecs (Hungary)); Somogyi, G.; Hakl, J.; Hunyadi, I. (Magyar Tudomanyos Akademia, Debrecen (Hungary). Atommag Kutato Intezete)
1988-01-01
Based on the observed phenomenon of geogas migration in microbubble form from deeper regions, the authors have developed a new model for the vertical transport of radon released from deeper sources. The physical properties of the rock relating to the upflow of microbubbles below the groundwater level are considered and the radon transport parameter of rocks is introduced. The vertical distribution of radon concentration in the case of a multi-layered geological model is given and the penetration depth of underwater radon measurements is examined. Aspects of underwater radon detection by the nuclear track detector technique are analyzed. The radon transport model gives a new theoretical basis for several applications of radon measurements in geology. The advantages of underwater radon detection have already been proved in uranium exploration. Further geological applications are proposed in earthquake prediction, in volcanology, in the survey of active faults and thermal waters. (author).
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Object detection from images obtained through underwater turbulence medium
Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew
2017-09-01
Imaging through underwater experiences severe distortions due to random fluctuations of temperature and salinity in water, which produces underwater turbulence through diffraction limited blur. Lights reflecting from objects perturb and attenuate contrast, making the recognition of objects of interest difficult. Thus, the information available for detecting underwater objects of interest becomes a challenging task as they have inherent confusion among the background, foreground and other image properties. In this paper, a saliency-based approach is proposed to detect the objects acquired through an underwater turbulent medium. This approach has drawn attention among a wide range of computer vision applications, such as image retrieval, artificial intelligence, neuro-imaging and object detection. The image is first processed through a deblurring filter. Next, a saliency technique is used on the image for object detection. In this step, a saliency map that highlights the target regions is generated and then a graph-based model is proposed to extract these target regions for object detection.
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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
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DE-Sync: A Doppler-Enhanced Time Synchronization for Mobile Underwater Sensor Networks.
Zhou, Feng; Wang, Qi; Nie, DongHu; Qiao, Gang
2018-05-25
Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency.
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Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation
Kia, Chua; Arshad, Mohd Rizal
2006-01-01
This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...
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Work in progress: Robotics mapping of landmine and UXO contaminated areas
DEFF Research Database (Denmark)
Jensen, K; Jørgensen, R N; Bøgild, A
Explosive remnants of war like landmines and unexploded ordnance (UXO) are a serious threat in post conflict environments around the World. Aside from the killing and injury of many people the landmines and UXO have a significant impact on the local economy due to inac- cessible roads and loss...... the knowledge and experience from the agricultural plant nursing robotics domain to demining applications. The aim is to have a reliable, efficient and user-friendly autonomous robot capable of mapping as well as visually marking detected landmines and UXO within a bounded area. The operator specifies the area...... Detection System (WADS) developed by the organization Danish Church Aid. Current status of the project is that the first autonomous area coverage tests have been performed successfully using Casmobot, a tracked mower platform capable of working in rough terrain including steep slopes. An improved modular...
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A review of underwater bio-mimetic propulsion: cruise and fast-start
Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang
2017-08-01
This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion.
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A review of underwater bio-mimetic propulsion: cruise and fast-start
Energy Technology Data Exchange (ETDEWEB)
Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang, E-mail: PanGuang_010@163.com [School of Marine Science and Technology, Northwestern Polytechnical University, Xian 710072 (China)
2017-08-15
This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion. (review)
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Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.
Yoo, Jeehyun; Lim, Kil-Byung; Lee, Hong-Jae; Kwon, Yong-Geol
2014-10-01
To evaluate the cardiovascular response during head-out water immersion, underwater treadmill gait, and land treadmill gait in stroke patients. Ten stroke patients were recruited for underwater and land treadmill gait sessions. Each session was 40 minutes long; 5 minutes for standing rest on land, 5 minutes for standing rest in water or on treadmill, 20 minutes for treadmill walking in water or on land, 5 minutes for standing rest in water or on treadmill, and 5 minutes for standing rest on land. Blood pressure (BP) and heart rate (HR) were measured during each session. In order to estimate the cardiovascular workload and myocardial oxygen demand, the rate pressure product (RPP) value was calculated by multiplying systolic BP (SBP) by HR. SBP, DBP, mean BP (mBP), and RPP decreased significantly after water immersion, but HR was unchanged. During underwater and land treadmill gait, SBP, mBP, DBP, RPP, and HR increased. However, the mean maximum increases in BP, HR and RPP of underwater treadmill walking were significantly lower than that of land treadmill walking. Stroke patients showed different cardiovascular responses during water immersion and underwater gait as opposed to standing and treadmill-walking on land. Water immersion and aquatic treadmill gait may reduce the workload of the cardiovascular system. This study suggested that underwater treadmill may be a safe and useful option for cardiovascular fitness and early ambulation in stroke rehabilitation.
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Channel coding for underwater acoustic single-carrier CDMA communication system
Liu, Lanjun; Zhang, Yonglei; Zhang, Pengcheng; Zhou, Lin; Niu, Jiong
2017-01-01
CDMA is an effective multiple access protocol for underwater acoustic networks, and channel coding can effectively reduce the bit error rate (BER) of the underwater acoustic communication system. For the requirements of underwater acoustic mobile networks based on CDMA, an underwater acoustic single-carrier CDMA communication system (UWA/SCCDMA) based on the direct-sequence spread spectrum is proposed, and its channel coding scheme is studied based on convolution, RA, Turbo and LDPC coding respectively. The implementation steps of the Viterbi algorithm of convolutional coding, BP and minimum sum algorithms of RA coding, Log-MAP and SOVA algorithms of Turbo coding, and sum-product algorithm of LDPC coding are given. An UWA/SCCDMA simulation system based on Matlab is designed. Simulation results show that the UWA/SCCDMA based on RA, Turbo and LDPC coding have good performance such that the communication BER is all less than 10-6 in the underwater acoustic channel with low signal to noise ratio (SNR) from -12 dB to -10dB, which is about 2 orders of magnitude lower than that of the convolutional coding. The system based on Turbo coding with Log-MAP algorithm has the best performance.
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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.
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Euclidean reconstruction of natural underwater scenes using optic imagery sequence
Hu, Han
The development of maritime applications require monitoring, studying and preserving of detailed and close observation on the underwater seafloor and objects. Stereo vision offers advanced technologies to build 3D models from 2D still overlapping optic images in a relatively inexpensive way. However, while image stereo matching is a necessary step in 3D reconstruction procedure, even the most robust dense matching techniques are not guaranteed to work for underwater images due to the challenging aquatic environment. In this thesis, in addition to a detailed introduction and research on the key components of building 3D models from optic images, a robust modified quasi-dense matching algorithm based on correspondence propagation and adaptive least square matching for underwater images is proposed and applied to some typical underwater image datasets. The experiments demonstrate the robustness and good performance of the proposed matching approach.
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State-of-the-Art System Solutions for Unmanned Underwater Vehicles
Directory of Open Access Journals (Sweden)
A. E. Yilmaz
2009-12-01
Full Text Available Unmanned Underwater Vehicles (UUVs have gained popularity for the last decades, especially for the purpose of not risking human life in dangerous operations. On the other hand, underwater environment introduces numerous challenges in navigation, control and communication of such vehicles. Certainly, this fact makes the development of these vehicles more interesting and engineering-wise more attractive. In this paper, we first revisit the existing technology and methodology for the solution of aforementioned problems, then we try to come up with a system solution of a generic unmanned underwater vehicles.
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The aquatic tympanic ear: convergent adaptations for underwater hearing in three tetrapods
DEFF Research Database (Denmark)
Christensen-Dalsgaard, Jakob; Wahlberg, Magnus; Larsen, Ole Næsbye
pressure, low particle motion medium, and the consequence is that an efficient underwater ear is sensitive to sound pressure. It is often stated that underwater hearing can work efficiently without a middle ear apparatus by bone conduction, since sound is transmitted from water to inner ear tissue...... is modified (cartilaginous or partly cartilaginous). In all three species, the lowest threshold to underwater sound is at this peak frequency and is around 80 dB re 1 µPa. The sensitivity to sound pressure is slightly lower in water than in air, making underwater hearing much more efficient in terms of sound...
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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...
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Underwater Sensor Networks: A New Energy Efficient and Robust Architecture
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
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Underwater methods for study of salmonids in the Intermountain West
Russell F. Thurow
1994-01-01
This guide describes underwater methods using snorkeling gear to study fish populations in flowing waters of the Intermountain West. It outlines procedures for estimating salmonid abundance and habitat use and provides criteria for identifying and estimating the size of fish underwater.
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Underwater detection by using ultrasonic sensor
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.
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Landry, B. J.; Wu, H.; Wenzel, S. P.; Gates, S. J.; Fytanidis, D. K.; Garcia, M. H.
2017-12-01
Unexploded ordnances (UXOs) can be found at the bottom of coastal areas as the residue of military wartime activities, training or accidents. These underwater objects are hazards for humans and the coastal environment increasing the need for addressing the knowledge gaps regarding the initiation of motion, fate and transport of UXOs under currents and wave conditions. Extensive experimental analysis was conducted for the initiation of motion of UXOs under various rigid bed roughness conditions (smooth PVC, pitted steel, marbles, gravels and bed of spherical particles) for both unidirectional and oscillatory flows. Particle image velocimetry measurements were conducted under both flow conditions to resolve the flow structure estimate the critical flow conditions for initiation of motion of UXOs. Analysis of the experimental observations shows that the geometrical characteristics of the UXOs, their properties (i.e. volume, mass) and their orientation with respect to the mean flow play an important role on the reorientation and mobility of the examined objects. A novel unified initiation of motion diagram is proposed using an effective/unified hydrodynamic roughness and a new length scale which includes the effect of the projected area and the bed-UXO contact area. Both unidirectional and oscillatory critical flow conditions collapsed into a single dimensionless diagram highlighting the importance and practical applicability of the proposed work. In addition to the rigid bed experiments, the burial dynamics of proud UXOs on a mobile sand bed were also examined. The complex flow-bedform-UXOs interactions were evaluated which highlighted the effect of munition density on burial rate and final burial depth. Burial dynamics and mechanisms for motion were examined for various UXOs types, and results show that, for the case of the low density UXOs under energetic conditions, lateral transport coexists with burial. Prior to burial, UXO re-orientation was also observed
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Directory of Open Access Journals (Sweden)
Yueyue Deng
2013-01-01
Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.
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Cooperative OFDM underwater acoustic communications
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...
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ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy
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.
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Underwater laser cladding and seal welding for INCONEL 52
International Nuclear Information System (INIS)
Tamura, Masataka; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Yoda, Masaki
2007-01-01
Recently, stress corrosion cracking (SCC) has been observed at aged components of nuclear power plants under water environment and high exposure of radiation. Toshiba has been developing both an underwater laser welding directly onto surface of the aged components as maintenance and repair techniques. This paper reports underwater laser cladding and seal welding for INCONEL 52. (author)
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Safety aspects for underwater vehicles
Digital Repository Service at National Institute of Oceanography (India)
Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.
instrumentation is intelligent small Autonomous Underwater Vehicles (AUV’s), autonomous profilers, gliders [1], etc. The ultimate aim in all autonomous platforms research and development is to reach the stage of unescorted missions with minimum failures...
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The WODA guidance paper on underwater sound from dredging (abstract)
Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C.A.F. de; Witt, P. de; Holtkamp, M.; Goethals, F.; San Martin, E.; Spadaro, P.; Raalte, G. van; Jensen, A.
2013-01-01
The World Organisation of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) was established to provide a guidance paper on dredging sound, impact on aquatic biota and advice on
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Defect detectability of eddy current testing for underwater laser beam welding
International Nuclear Information System (INIS)
Ueno, Souichi; Kobayashi, Noriyasu; Ochiai, Makoto; Kasuya, Takashi; Yuguchi, Yasuhiro
2011-01-01
We clarified defect detectability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding works of dissimilar metal welding (DMW) of reactor vessel nozzle. The underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in the grooves and welded surface grinding as a post treatment. Therefore groove and welded surface inspections are required in the underwater condition. The ECT is a major candidate as this inspection technique because a penetrant testing is difficult to perform in the underwater condition. Several kinds of experiments were curried out using a cross coil an ECT probe and ECT data acquisition system in order to demonstrate the ECT defect detectability. We used specimens, simulating groove and DMW materials at an RV nozzle, with electro-discharge machining (EDM) slits over it. Additionally, we performed a detection test for artificial stress corrosion cracking (SCC) defects. From these experimental results, we confirmed that an ECT was possible to detect EDM slits 0.3 mm or more in depth and artificial SCC defects 0.02 mm to 0.48 mm in depth on machined surface. Furthermore, the underwater ECT defect detectability is equivalent to that in air. We clarified an ECT is sufficiently usable as a surface inspection technique for underwater laser beam welding works. (author)
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Wenbin, Gu; Jianghai, Chen; Zhenxiong, Wang; Zhihua, Wang; Jianqing, Liu; Ming, Lu
2015-01-01
Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater ...
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Applicability evaluation of eddy current testing for underwater laser beam welding
International Nuclear Information System (INIS)
Kobayashi, Noriyasu; Kasuya, Takashi; Ueno, Souichi; Ochiai, Makoto; Yuguchi, Yasuhiro
2010-01-01
We clarified a defect detecting capability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding. An underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in groove and welding surface grinding as a post treatment. Therefore groove and grinded welding surface inspections are required underwater. We curried out defect detection tests using three kinds of specimens simulated a groove, reactor vessel nozzle dissimilar metal welding materials and a laser beam welding material with a cross coil ECT probe. From experimental results, we confirmed that it is possible to detect 0.3 mm or more depth electro-discharge machining slits on machining surfaces in all specimens and an ECT has possibility as a surface inspection technique for underwater laser beam welding. (author)
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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.
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Evaluation of Underwater Image Enhancement Algorithms under Different Environmental Conditions
Directory of Open Access Journals (Sweden)
Marino Mangeruga
2018-01-01
Full Text Available Underwater images usually suffer from poor visibility, lack of contrast and colour casting, mainly due to light absorption and scattering. In literature, there are many algorithms aimed to enhance the quality of underwater images through different approaches. Our purpose was to identify an algorithm that performs well in different environmental conditions. We have selected some algorithms from the state of the art and we have employed them to enhance a dataset of images produced in various underwater sites, representing different environmental and illumination conditions. These enhanced images have been evaluated through some quantitative metrics. By analysing the results of these metrics, we tried to understand which of the selected algorithms performed better than the others. Another purpose of our research was to establish if a quantitative metric was enough to judge the behaviour of an underwater image enhancement algorithm. We aim to demonstrate that, even if the metrics can provide an indicative estimation of image quality, they could lead to inconsistent or erroneous evaluations.
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2015-04-29
Integrated groin protector (IGP), and Boot Protector); GORE lined leather combat boots; and NOMEX® gloves with Velcro ; and EOD9 full face helmet... effective heat removal or cooling capacity of the active cooling system could not be obtained on the manikin, reasonable estimates can be used to...Price MJ, & Oldroyd M. The effect of heat acclimation on thermal strain during explosives ordnance disposal (EOD) related activity in moderate and
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Study on underwater plasma arc cutting technology
International Nuclear Information System (INIS)
Yada, Toshio; Nakamura, Uhachiro; Tomidokoro, Sakae; Fukuzawa, Mitsuo
1980-01-01
The zirconium alloy tube of the impile creep test facility had been subjected to inner pressure in the Japan Material Testing Reactor (JMTR) environment. In the near future, it will be necessary to dismantle the facility and to take out the tube for such examinations as irradiation effects on material properties. In order to establish the dismantling technology for the radioactive facility, a study on underwater plasma arc cutting has been carried out since 1977. Primarily, optimum underwater cutting sequence and conditions were studied in details for developing the remote control handling and the cutting system. Further, the amounts of particles suspended in water as well as those contained in bubbled gas were quantitatively analyzed for developing a safe removal system for contaminants which were produced by cutting the radioactive material. As a result of this study, it has been concluded that the underwater plasma arc cutting method is generally suitable and effective for dismantling such radioactive material as the impile creep test facility of the JMTR. (author)
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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.
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Hydrodynamic design of an underwater hull cleaning robot and its evaluation
Directory of Open Access Journals (Sweden)
Man Hyung Lee
2012-12-01
Full Text Available An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.
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Monterey Bay ambient noise profiles using underwater gliders
Chandrayadula, Tarun K.; Miller, Chris W.; Joseph, John
2013-01-01
The article of record as published may be found at http://dx.doi.org/10.1121/1.4799131 In 2012, during two separate week-long deployments, underwater gliders outfitted with external hydrophones profiled the upper 100-200 m of the Monterey Bay. The environment contained various noises made by marine mammals, ships, winds, and earthquakes. Unlike hydrophone receivers moored to a fixed location, moving gliders measure noise variability across a wide terrain. However, underwater mobile s...
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Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization
Directory of Open Access Journals (Sweden)
Nasir Saeed
2017-12-01
Full Text Available Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB is derived for localization accuracy of the proposed technique.
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Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization.
Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y; Alouini, Mohamed-Slim
2017-12-26
Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.
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Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization
Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim
2017-01-01
Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.
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Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization
Saeed, Nasir
2017-12-26
Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.
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National Research Council Canada - National Science Library
Rivers, Glenn A
1995-01-01
This report describes the methods used and the results obtained during a field search for abandoned homestead sites and water wells at the former Pantex Ordnance Plant and Texas Tech Research Farm (Pantex site...
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Cutting method and device underwater
International Nuclear Information System (INIS)
Takano, Genta; Kamei, Hiromasa; Beppu, Seiji
1998-01-01
A place of material to be cut is surrounded by an openable/closable box. The material to be cut is cut underwater, and materials generated in this case are removed from the cut portion by a pressurized water jet. The removed materials are sucked and recovered together with water in the box. Among the materials caused by the cutting underwater, solid materials not floating on water are caused to stay in the midway of a sucking and recovering channel. A large sucking force might be required for the entire region of the sucking and recovering channel when sucking and recovering large sized solid materials not floating on water, but even large sized materials can be recovered easily according to the present invention since they are recovered after being sucked and stayed in the midway of the sucking and recovering channel. (N.H.)
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Underwater Optical Wireless Communications, Networking, and Localization: A Survey
Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim
2018-01-01
Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.
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Underwater Optical Wireless Communications, Networking, and Localization: A Survey
Saeed, Nasir
2018-02-28
Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.
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A thermal engine for underwater glider driven by ocean thermal energy
International Nuclear Information System (INIS)
Yang, Yanan; Wang, Yanhui; Ma, Zhesong; Wang, Shuxin
2016-01-01
Highlights: • Thermal engine with a double-tube structure is developed for underwater glider. • Isostatic pressing technology is effective to increase volumetric change rate. • Actual volumetric change rate reaches 89.2% of the theoretical value. • Long term sailing of 677 km and 27 days is achieved by thermal underwater glider. - Graphical Abstract: - Abstract: Underwater glider is one of the most popular platforms for long term ocean observation. Underwater glider driven by ocean thermal energy extends the duration and range of underwater glider powered by battery. Thermal engine is the core device of underwater glider to harvest ocean thermal energy. In this paper, (1) model of thermal engine was raised by thermodynamics method and the performance of thermal engine was investigated, (2) thermal engine with a double-tube structure was developed and isostatic pressing technology was applied to improve the performance for buoyancy driven, referencing powder pressing theory, (3) wall thickness of thermal engine was optimized to reduce the overall weight of thermal engine, (4) material selection and dimension determination were discussed for a faster heat transfer design, by thermal resistance analysis, (5) laboratory test and long term sea trail were carried out to test the performance of thermal engine. The study shows that volumetric change rate is the most important indicator to evaluating buoyancy-driven performance of a thermal engine, isostatic pressing technology is effective to improve volumetric change rate, actual volumetric change rate can reach 89.2% of the theoretical value and the average power is about 124 W in a typical diving profile. Thermal engine developed by Tianjin University is a superior thermal energy conversion device for underwater glider. Additionally, application of thermal engine provides a new solution for miniaturization of ocean thermal energy conversion.
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Summary of the guideline on underwater laser beam repair welding
International Nuclear Information System (INIS)
Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi
2013-01-01
It is known that stress corrosion cracking (SCC) might occur at the weld of a reactor pressure vessel or core internals. Underwater laser beam clad welding for mitigation of SCC has been already established and the guideline 'Underwater laser beam clad welding' was published. Moreover, the guideline 'Seal welding' was also published as a repair method for SCC. In addition to these guidelines, the guideline 'Underwater laser beam repair welding' was newly published in November, 2012 for the repair welding after completely removing a SCC crack occurred in weld or base metal. This paper introduces the summary of this guideline. (author)
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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.
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Application of YAG laser processing in underwater welding and cutting
Energy Technology Data Exchange (ETDEWEB)
Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)
2002-09-01
The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)
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Optimum LED wavelength for underwater optical wireless communication at turbid water
Rosenkrantz, Etai; Arnon, Shlomi
2014-10-01
Underwater optical wireless communication is an emerging technology, which can provide high data rate. High data rate communication is required for applications such as underwater imaging, networks of sensors and swarms of underwater vehicles. These applications pursue an affordable light source, which can be obtained by light emitting diodes (LED). LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness based on off-the-shelf components such as blue and green light emitting diodes. In this paper we present our recent theoretical and experimental results in this field.
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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...
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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)
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Analysing deterioration of marble stones exposed to underwater conditions
Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael
2016-04-01
The peculiar conditions of the marine environment make the conservation of underwater archaeological sites an extremely complex procedure. This is due to the fact that the prevailing conditions in this environment promote the development of deterioration phenomena in submerged artefacts through the synergistic action of physical, chemical and biological factors. The objective of the present investigation was to determine how petrophysical properties of cultural heritage materials can be affected by being exposed to the specific underwater conditions of the sea bottom, and so, to evaluate how this can affect, in a long term, in their durability and evolution when they part of an archaeological site. For this purpose, two types of marble (the Italian Carrara and the Spanish Macael) were subjected to an experiment consisting of exposing stone materials for one and a half year to underwater conditions. The experimental test was located in an archaeological site in the Bay of Cadiz (southern Spain), Bajo del Chapitel (recognized as Cultural Interest), which includes remains of shipwrecks from different periods. In this site, samples were submerged to 12 m depth and placed in the sea bottom simulating the different positions in which underwater archaeological objects can be found (fully exposed, half buried and covered). Petrophysical characterisation involved determination of the apparent and bulk densities, water saturation (maximum water content a material may contain), open porosity (porosity accessible to water), chromatic parameters and ultrasonic velocity. Before measuring, samples were subjected to mechanical cleaning (in those samples with biological colonization) and to removal of salt deposits. Results showed significant differences in these petrophysical properties after underwater submersion, which were directly related to the type of underwater exposure condition. Comparative analysis of petrophysical properties, like the one conducted in this study
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FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES
R. Rinaldi; H. Hordosch
2015-01-01
After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Under...
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Energy Technology Data Exchange (ETDEWEB)
Mark Krauss
2010-03-01
This Streamlined Approach for Environmental Restoration Plan addresses the actions needed to achieve closure of Corrective Action Unit (CAU) 408, Bomblet Target Area (TTR). Corrective Action Unit 408 is located at the Tonopah Test Range and is currently listed in Appendix III of the Federal Facility Agreement and Consent Order. Corrective Action Unit 408 comprises Corrective Action Site TA-55-002-TAB2, Bomblet Target Areas. Clean closure of CAU 408 will be accomplished by removal of munitions and explosives of concern within seven target areas and potential disposal pits. The target areas were used to perform submunitions related tests for the U.S. Department of Energy (DOE). The scope of CAU 408 is limited to submunitions released from DOE activities. However, it is recognized that the presence of other types of unexploded ordnance and munitions may be present within the target areas due to the activities of other government organizations. The CAU 408 closure activities consist of: • Clearing bomblet target areas within the study area. • Identifying and remediating disposal pits. • Collecting verification samples. • Performing radiological screening of soil. • Removing soil containing contaminants at concentrations above the action levels. Based on existing information, contaminants of potential concern at CAU 408 include unexploded submunitions, explosives, Resource Conservation Recovery Act metals, and depleted uranium. Contaminants are not expected to be present in the soil at concentrations above the action levels; however, this will be determined by radiological surveys and verification sample results.
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International Nuclear Information System (INIS)
Krauss, Mark
2010-01-01
This Streamlined Approach for Environmental Restoration Plan addresses the actions needed to achieve closure of Corrective Action Unit (CAU) 408, Bomblet Target Area (TTR). Corrective Action Unit 408 is located at the Tonopah Test Range and is currently listed in Appendix III of the Federal Facility Agreement and Consent Order. Corrective Action Unit 408 comprises Corrective Action Site TA-55-002-TAB2, Bomblet Target Areas. Clean closure of CAU 408 will be accomplished by removal of munitions and explosives of concern within seven target areas and potential disposal pits. The target areas were used to perform submunitions related tests for the U.S. Department of Energy (DOE). The scope of CAU 408 is limited to submunitions released from DOE activities. However, it is recognized that the presence of other types of unexploded ordnance and munitions may be present within the target areas due to the activities of other government organizations. The CAU 408 closure activities consist of: (1) Clearing bomblet target areas within the study area. (2) Identifying and remediating disposal pits. (3) Collecting verification samples. (4) Performing radiological screening of soil. (5) Removing soil containing contaminants at concentrations above the action levels. Based on existing information, contaminants of potential concern at CAU 408 include unexploded submunitions, explosives, Resource Conservation Recovery Act metals, and depleted uranium. Contaminants are not expected to be present in the soil at concentrations above the action levels; however, this will be determined by radiological surveys and verification sample results.
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2017-06-30
Research and Development Program [SERDP] project #ER-2542) into the canister would provide enhancement of the quantitative estimation of the TWA...Department of Defense EOD Explosive Ordnance Disposal EPA United States Environmental Protection Agency EQL Environmental Quantitation Limit EST...Laboratory Quantitation Limit MC Munitions Constituents mL Milliliter MR Munitions Response NESDI Navy’s Environmental Security Development to
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Development of underwater and hyperbaric medicine in Malaysia.
Rozali, A; Rampal, K G; Zin, B Mohd; Sherina, M S; Khairuddin, H; Abd Halim, M; Sulaiman, A
2006-12-01
Underwater and Hyperbaric Medicine is a treatment modality gaining recognition in Malaysia. It uses the hyperbaric oxygen therapy (HBOT) approach where patients are placed in recompression chambers and subjected to oxygen therapy under pressure. In Malaysia it was introduced as early as the 1960's by the Royal Malaysian Navy to treat their divers for decompression illness (DCI), arterial gas embolism (AGE) and barotraumas. Other sectors in the armed forces, universities and private health centres began developing this approach too in the late 1990's, for similar purposes. In 1996, Underwater and Hyperbaric Medicine began gaining its popularity when the Institute of Underwater and Hyperbaric Medicine at the Armed Forces Hospital in Lumut started treating specific clinical diseases such as diabetic foot ulcers, osteomyelitis, and carbon monoxide poisoning and other diseases using HBOT. This paper discusses the development of this interesting treatment modality, giving a brief historical overview to its current development, as well as provides some thought for its future development in Malaysia.
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Optimal Node Placement in Underwater Wireless Sensor Networks
Felamban, M.
2013-03-25
Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance limitations that are very different from those used for terresstrial networks. In this paper, we investigate node placement for building an initial underwater WSN infrastructure. We formulate this problem as a nonlinear mathematical program with the objective of minimizing the total transmission loss under a given number of sensor nodes and targeted coverage volume. The obtained solution is the location of each node represented via a truncated octahedron to fill out the 3D space. Experiments are conducted to verify the proposed formulation, which is solved using Matlab optimization tool. Simulation is also conducted using an ns-3 simulator, and the simulation results are consistent with the obtained results from mathematical model with less than 10% error.
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Actuated Recoil Absorbing Mounting System for use with an Underwater Gun
1998-03-31
fire supercavitating bullets, requires that 20 the new projectile launchers be tested. The firing of projectile 21 launchers involving a high...of projectile launcher 12 includes an underwater gun 15 that fires supercavitating bullets underwater and has a high 16 discharge energy. However
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Strong underwater adhesives made by self-assembling multi-protein nanofibres.
Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M; Lu, Timothy K
2014-10-01
Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly and structure-function relationships of these natural amyloid fibres remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibres. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibres have an underwater adhesion energy approaching 20.9 mJ m(-2), which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibres taken on their own and exhibit better tolerance to auto-oxidation than Mfps at pH ≥ 7.0.
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On the Performance of the Underwater Acoustic Sensor Networks
2015-05-01
performance of UWSN. 5.1 Hardware and Software Details 5.1.1 Equipment Our experimental model consisted of an indoor swimming pool , two pairs...UWSN has many constraints mainly due to limited capacity, propagation loss, as well as power limitation since in underwater environment solar energy ...since in underwater environment solar energy cannot be used to recharge batteries. In our approach, we estimate the number of operating receivers
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International Conference on Underwater Environment
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, ...
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A novel underwater dam crack detection and classification approach based on sonar images.
Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min
2017-01-01
Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.
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A novel underwater dam crack detection and classification approach based on sonar images.
Directory of Open Access Journals (Sweden)
Pengfei Shi
Full Text Available Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.
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Underwater electric field detection system based on weakly electric fish
Xue, Wei; Wang, Tianyu; Wang, Qi
2018-04-01
Weakly electric fish sense their surroundings in complete darkness by their active electric field detection system. However, due to the insufficient detection capacity of the electric field, the detection distance is not enough, and the detection accuracy is not high. In this paper, a method of underwater detection based on rotating current field theory is proposed to improve the performance of underwater electric field detection system. First of all, we built underwater detection system based on the theory of the spin current field mathematical model with the help of the results of previous researchers. Then we completed the principle prototype and finished the metal objects in the water environment detection experiments, laid the foundation for the further experiments.
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Airborne lidar detection of an underwater thermal vent
Roddewig, Michael R.; Churnside, James H.; Shaw, Joseph A.
2017-07-01
We report the lidar detection of an underwater feature that appears to be a thermal vent in Yellowstone Lake, Yellowstone National Park, USA, with the Montana State University Fish Lidar. The location of the detected vent was 30 m from the closest vent identified in a United States Geological Survey of Yellowstone Lake in 2008. A second possible vent is also presented, and the appearance of both vents in the lidar data is compared to descriptions of underwater thermal vents in Yellowstone Lake from the geological literature.
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Underwater Shock Response Analysis of a Floating Vessel
Directory of Open Access Journals (Sweden)
J.E. van Aanhold
1998-01-01
Full Text Available The response of a surface vessel to underwater shock has been calculated using an explicit finite element analysis. The analysis model is two-dimensional and contains the floating steel structure, a large surrounding water volume and the free surface. The underwater shock is applied in the form of a plane shock wave and cavitation is considered in the analysis. Advanced computer graphics, in particular video animations, provide a powerful and indispensable means for the presentation and evaluation of the analysis results.
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Energy Technology Data Exchange (ETDEWEB)
Klausmeier, M.E.; Yoon, J.
1999-07-01
The 975-acre Former Nansemond Ordnance Depot (FNOD) in Suffolk, Virginia was used by the Department of Defense (DoD) from 1917 until the mid-1950's for preparation, storage, transportation, inspection and demilitarization of many classes of ammunition and ordnance. Approximately 28 areas of Concern (AOC) have been identified by the EPA as areas that could pose potential risk to human health or the environment. The primary contaminants of concern are some trace metals and explosive compounds. During a summer 1987 field investigation, a slab of crystalline TNT was found which was estimated to weigh several tons. An enhanced MODFLOW model is being used to identify subsurface flow patterns. The calibrated model will be used to identify contaminant fate and transport behavior at the site. Enhancements to the MODFLOW model include an updated block-centered flow package (BCF4) and an updated recharge-seepage face boundary package (RSF4) to utilize for the FNOD site flow characterization. BCF4 package accurately delineates the water table without relying on an ad hoc rewetting procedure. This is accomplished by calculating the hydraulic head value required to transmit recharging water through the unsaturated zone without inactivating dry cells. The recharge-seepage face package eliminates the projection of heads above the ground surface by adjusting recharge to a cell when a user supplied ponding depth is reached. Using a regional model, a telescoping grid refinement technique was implemented to calculate the boundary conditions around the area of interest and to model quantity and quality interactions between surface and subsurface water regimes in a realistic manner.
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Reconstruction Accuracy Assessment of Surface and Underwater 3D Motion Analysis: A New Approach
Directory of Open Access Journals (Sweden)
Kelly de Jesus
2015-01-01
Full Text Available This study assessed accuracy of surface and underwater 3D reconstruction of a calibration volume with and without homography. A calibration volume (6000 × 2000 × 2500 mm with 236 markers (64 above and 88 underwater control points—with 8 common points at water surface—and 92 validation points was positioned on a 25 m swimming pool and recorded with two surface and four underwater cameras. Planar homography estimation for each calibration plane was computed to perform image rectification. Direct linear transformation algorithm for 3D reconstruction was applied, using 1600000 different combinations of 32 and 44 points out of the 64 and 88 control points for surface and underwater markers (resp.. Root Mean Square (RMS error with homography of control and validations points was lower than without it for surface and underwater cameras (P≤0.03. With homography, RMS errors of control and validation points were similar between surface and underwater cameras (P≥0.47. Without homography, RMS error of control points was greater for underwater than surface cameras (P≤0.04 and the opposite was observed for validation points (P≤0.04. It is recommended that future studies using 3D reconstruction should include homography to improve swimming movement analysis accuracy.
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An energy-harvesting power supply for underwater bridge scour monitoring sensors
Wang, Yuli; Li, Yingjie; He, Longzhuang; Shamsi, Pourya; Zheng, Yahong R.
2018-03-01
The natural force of scouring has become one of the most critical risk endangering the endurance of bridges, thus leading to the necessity of deploying underwater monitoring sensors to actively detect potential scour holes under bridges. Due to the difficulty in re-charging batteries for underwater sensors, super capacitors with energy harvesting (EH) means are exploited to prolong the sustainability of underwater sensors. In this paper, an energy harvesting power supply based on a helical turbine is proposed to power underwater monitoring sensors. A small helical turbine is designed to convert water flow energy to electrical energy with favorable environmental robustness. A 3-inch diameter, 2.5-inch length and 3-bladed helical turbine was designed with two types of waterproof coupling with the sensor housing. Both designs were prototyped and tested under different flow conditions and we get valid voltage around 0.91 V which is enough to power monitoring sensor. The alternating current (AC) electrical energy generated by the helical turbine is then rectified and boosted to drive a DC charger for efficiently charging one super capacitor. The charging circuit was designed, prototyped and tested thoroughly with the helical turbine harvester. The results were promising, that the overall power supply can power an underwater sensor node with wireless transceivers for long-term operations
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The Basic Research for Pulverization of Rice Using Underwater Shock Wave by Electric Discharge
Directory of Open Access Journals (Sweden)
M Ide
2016-09-01
Full Text Available In recent years, the food self-support rate of Japan is 40%, and this value is the lowest level in major developed countries. This reason includes decreasing of diverting rice consumption in Japan and increasing abandonment of cultivation. Therefore, these problems are solved by using rice powder instead of expensive flour, and we manage to increase the food selfsupport rate. Previously, the rice powder is manufactured by two methods. One is dry type, and the other is wet type. The former is the method getting rice powder by running dried rice to rotating metal, and has a problem which that starch is damaged by heat when processing was performed. The latter is performed same method against wet rice, and has a problem which a large quantity of water is used. As a method to solve these problems, an underwater shock wave is used. Shock wave is the pressure wave which is over speed of sound by discharging high energy in short time. Propagating shock wave in water is underwater shock wave. The characters of underwater shock wave are long duration of shock wave because water density is uniform, water is low price and easy to get and not heat processing. Thinking of industrialization, the electric discharge is used as the generating source of underwater shock wave in the experiment. As the results, the efficiency of obtaining enough grain size, 100ìm, of rice powder was too bad only using the simple processing using underwater shock wave. Therefore, in Okinawa National College of Technology collaborating with us, obtaining rice powder with higher efficiency by using converged underwater shock wave is the goal of this research. In this research, the underwater shock wave with equal energy of the experimental device of underwater shock wave is measured by the optical observation. In addition, the appearance converging underwater shock wave is simulated by numerical analysis, and the pressure appreciation rate between the first wave and converged
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The Theseus Autonomous Underwater Vehicle: A Canadian Success Story
1997-04-01
P502414.PDF [Page: 1 of 9] P502414.PDF [Page: 2 of 9] P502414.PDF [Page: 3 of 9] The Theseus Autonomous Underwater Vehicle A Canadian Success Story...autonomous underwater vehicle, named Theseus , for laying optical fiber cables in ice- covered waters. In trials and missions conducted in 1996, this...stations. An acoustic telemetry system enables communication with Theseus from surface stations, and an optical telemetry system is used for system
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Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection
Directory of Open Access Journals (Sweden)
Xianbo Xiang
2010-02-01
Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.
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Esam F. Alajmi; Ahmad A. Alqenaei
2017-01-01
Welding demand in offshore and marine applications is increased with the increasing in oil and gas activities as well as increasing in the marine transportation and industrial applications. Applications of underwater welding well be increased in Kuwait in the coming years due to the strategic directive of the country toward starting the offshore oil and gas exploration and production, and the increase in marine transportation projects. Therefore, there is a need to understand the concept of u...
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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
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A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles
Lu, Yimeng
2018-01-01
design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current
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The key kinematic determinants of undulatory underwater swimming at maximal velocity.
Connaboy, Chris; Naemi, Roozbeh; Brown, Susan; Psycharakis, Stelios; McCabe, Carla; Coleman, Simon; Sanders, Ross
2016-01-01
The optimisation of undulatory underwater swimming is highly important in competitive swimming performance. Nineteen kinematic variables were identified from previous research undertaken to assess undulatory underwater swimming performance. The purpose of the present study was to determine which kinematic variables were key to the production of maximal undulatory underwater swimming velocity. Kinematic data at maximal undulatory underwater swimming velocity were collected from 17 skilled swimmers. A series of separate backward-elimination analysis of covariance models was produced with cycle frequency and cycle length as dependent variables (DVs) and participant as a fixed factor, as including cycle frequency and cycle length would explain 100% of the maximal swimming velocity variance. The covariates identified in the cycle-frequency and cycle-length models were used to form the saturated model for maximal swimming velocity. The final parsimonious model identified three covariates (maximal knee joint angular velocity, maximal ankle angular velocity and knee range of movement) as determinants of the variance in maximal swimming velocity (adjusted-r2 = 0.929). However, when participant was removed as a fixed factor there was a large reduction in explained variance (adjusted r2 = 0.397) and only maximal knee joint angular velocity continued to contribute significantly, highlighting its importance to the production of maximal swimming velocity. The reduction in explained variance suggests an emphasis on inter-individual differences in undulatory underwater swimming technique and/or anthropometry. Future research should examine the efficacy of other anthropometric, kinematic and coordination variables to better understand the production of maximal swimming velocity and consider the importance of individual undulatory underwater swimming techniques when interpreting the data.
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Experimental Measurements of Temporal Dispersion for Underwater Laser Communications and Imaging
Cochenour, Brandon Michael
The challenge in implementing optical sensors underwater lies in the high variability of the ocean environment where propagation of light in the ocean is complicated by absorption and scattering. Most underwater optical sensors operate in the blue/green portion of the electromagnetic spectrum where seawater exhibits an absorption minimum. Mitigating scattering however is a greater challenge. In particular, scattering causes both spatial distortion (beam spreading) and temporal dispersion (pulse spreading or distortion). Each of type of dispersion decreases sensor performance (operating range, image resolution, data bandwidth, etc.). While spatial dispersion has received a great deal of attention in previous decades, technological limitations of sensor hardware have made experimental measurements of temporal dispersion underwater difficult until now. The main contribution of this thesis are experimental measurements of temporal dispersion of optical beams in turbid water, made with a high sensitivity/high dynamic range experimental technique. Measurements are performed as a function of water clarity (0-20 attenuation lengths), transmitter/receiver alignment (0-30 degrees, half angle), receiver field of view (1-7 degrees, full angle), and transmitter beam divergence (collimated and diffuse). Special attention is paid to the interdependency between spatial and temporal dispersion. This work provides severable notable contributions: 1. While experimental characterization of spatial dispersion has received significant attention underwater, there has been a lack of measurements characterizing temporal dispersion underwater. This work provides the most comprehensive set of experimental measurements to date regarding the temporal dispersion of optical beams underwater. 2. An experimental analysis of the influence of scattering phase function on temporal dispersion. Coarse estimates of the scattering phase function are used to determine the ranges (or attenuation lengths
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Typical Underwater Tunnels in the Mainland of China and Related Tunneling Technologies
Directory of Open Access Journals (Sweden)
Kairong Hong
2017-12-01
Full Text Available In the past decades, many underwater tunnels have been constructed in the mainland of China, and great progress has been made in related tunneling technologies. This paper presents the history and state of the art of underwater tunnels in the mainland of China in terms of shield-bored tunnels, drill-and-blast tunnels, and immersed tunnels. Typical underwater tunnels of these types in the mainland of China are described, along with innovative technologies regarding comprehensive geological prediction, grouting-based consolidation, the design and construction of large cross-sectional tunnels with shallow cover in weak strata, cutting tool replacement under limited drainage and reduced pressure conditions, the detection and treatment of boulders, the construction of underwater tunnels in areas with high seismic intensity, and the treatment of serious sedimentation in a foundation channel of immersed tunnels. Some suggestions are made regarding the three potential great strait-crossing tunnels—the Qiongzhou Strait-Crossing Tunnel, Bohai Strait-Crossing Tunnel, and Taiwan Strait-Crossing Tunnel—and issues related to these great strait-crossing tunnels that need further study are proposed. Keywords: Underwater tunnel, Strait-crossing tunnel, Shield-bored tunnel, Immersed tunnel, Drill and blast
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Emerging from Water: Underwater Image Color Correction Based on Weakly Supervised Color Transfer
Li, Chongyi; Guo, Jichang; Guo, Chunle
2017-01-01
Underwater vision suffers from severe effects due to selective attenuation and scattering when light propagates through water. Such degradation not only affects the quality of underwater images but limits the ability of vision tasks. Different from existing methods which either ignore the wavelength dependency of the attenuation or assume a specific spectral profile, we tackle color distortion problem of underwater image from a new view. In this letter, we propose a weakly supervised color tr...
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Geometric and Optic Characterization of a Hemispherical Dome Port for Underwater Photogrammetry
Directory of Open Access Journals (Sweden)
Fabio Menna
2016-01-01
Full Text Available The popularity of automatic photogrammetric techniques has promoted many experiments in underwater scenarios leading to quite impressive visual results, even by non-experts. Despite these achievements, a deep understanding of camera and lens behaviors as well as optical phenomena involved in underwater operations is fundamental to better plan field campaigns and anticipate the achievable results. The paper presents a geometric investigation of a consumer grade underwater camera housing, manufactured by NiMAR and equipped with a 7′′ dome port. After a review of flat and dome ports, the work analyzes, using simulations and real experiments, the main optical phenomena involved when operating a camera underwater. Specific aspects which deal with photogrammetric acquisitions are considered with some tests in laboratory and in a swimming pool. Results and considerations are shown and commented.
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A flexible liquid crystal polymer MEMS pressure sensor array for fish-like underwater sensing
International Nuclear Information System (INIS)
Kottapalli, A G P; Asadnia, M; Miao, J M; Barbastathis, G; Triantafyllou, M S
2012-01-01
In order to perform underwater surveillance, autonomous underwater vehicles (AUVs) require flexible, light-weight, reliable and robust sensing systems that are capable of flow sensing and detecting underwater objects. Underwater animals like fish perform a similar task using an efficient and ubiquitous sensory system called a lateral-line constituting of an array of pressure-gradient sensors. We demonstrate here the development of arrays of polymer microelectromechanical systems (MEMS) pressure sensors which are flexible and can be readily mounted on curved surfaces of AUV bodies. An array of ten sensors with a footprint of 60 (L) mm × 25 (W) mm × 0.4 (H) mm is fabricated using liquid crystal polymer (LCP) as the sensing membrane material. The flow sensing and object detection capabilities of the array are illustrated with proof-of-concept experiments conducted in a water tunnel. The sensors demonstrate a pressure sensitivity of 14.3 μV Pa −1 . A high resolution of 25 mm s −1 is achieved in water flow sensing. The sensors can passively sense underwater objects by transducing the pressure variations generated underwater by the movement of objects. The experimental results demonstrate the array’s ability to detect the velocity of underwater objects towed past by with high accuracy, and an average error of only 2.5%. (paper)
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Multi-layer protective armour for underwater shock wave mitigation
Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih
2015-01-01
The effect of underwater shock wave on different target plates has been studied. An underwater shock wave generator (shock tube) was used to study the interactions between water and different constructed targets which act as shock wave mitigation. Target plates, composed of sandwich of two aluminum sheets with rubber and foam in between, were prepared and studied. For comparison, the target plates composed of triple aluminum sheets were tested. The study includes the testing of the selected p...
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Underwater noise due to precipitation
DEFF Research Database (Denmark)
Crum, Lawrence A.; Pumphrey, Hugh C.; Prosperetti, Andrea
1989-01-01
In 1959, G. Franz published a thorough investigation of the underwater sound produced by liquid drop impacts [G. Franz, J. Acoust. Soc. Am. 31, 1080 (1959)]. He discovered that, under certain conditions, a gas bubble was entrained by the impacting droplet, and the subsequent oscillation of this b...
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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)
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Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation
Directory of Open Access Journals (Sweden)
Chua Kia
2005-09-01
Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.
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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.
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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.
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Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning
Institute of Scientific and Technical Information of China (English)
XIAO Kun; FANG Shao-ji; PANG Yong-jie
2007-01-01
To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.
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Microcontroller-based underwater acoustic ECG telemetry system.
Istepanian, R S; Woodward, B
1997-06-01
This paper presents a microcontroller-based underwater acoustic telemetry system for digital transmission of the electrocardiogram (ECG). The system is designed for the real time, through-water transmission of data representing any parameter, and it was used initially for transmitting in multiplexed format the heart rate, breathing rate and depth of a diver using self-contained underwater breathing apparatus (SCUBA). Here, it is used to monitor cardiovascular reflexes during diving and swimming. The programmable capability of the system provides an effective solution to the problem of transmitting data in the presence of multipath interference. An important feature of the paper is a comparative performance analysis of two encoding methods, Pulse Code Modulation (PCM) and Pulse Position Modulation (PPM).
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QFD-based conceptual design of an autonomous underwater robot
Directory of Open Access Journals (Sweden)
Thip Pasawang
2015-12-01
Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.
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Directory of Open Access Journals (Sweden)
Gu Wenbin
2015-01-01
Full Text Available Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater drilling blasting was measured in a field experiment. It shows that the water bottom vibration monitor could collect vibration signals quite effectively in underwater environments. The followed signal analysis shows that the characteristics of water bottom vibration and land ground vibration induced by the same underwater drilling blasting are quite different due to the different geological environments. The amplitude and frequency band of water bottom vibration both exceed those of land ground vibration. Water bottom vibration is mainly in low-frequency band that induced by blasting impact directly acts on rock. Besides the low-frequency component, land vibration contains another higher frequency band component that induced by followed water hammer wave acts on bank slope.
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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...
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Ocean Research Enabled by Underwater Gliders.
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.
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Natural and bio-inspired underwater adhesives: Current progress and new perspectives
Cui, Mengkui; Ren, Susu; Wei, Shicao; Sun, Chengjun; Zhong, Chao
2017-11-01
Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.
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Natural and bio-inspired underwater adhesives: Current progress and new perspectives
Directory of Open Access Journals (Sweden)
Mengkui Cui
2017-11-01
Full Text Available Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.
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Cluster protocols in Underwater Sensor Networks: a Research Review
Directory of Open Access Journals (Sweden)
K. Ovaliadis
2014-07-01
Full Text Available Underwater Wireless Sensor Networks (UWSN have different characteristics in relation to terrestrial wireless sensor networks; such as limited bandwidth capacity, high propagation delays and limited battery power. Although there has been much work completed in developing protocols and models for terrestrial networks, these are rarely applicable for underwater sensor networks. Up to today major efforts have been made for designing efficient protocols while considering the underwater communication characteristics. An important issue on this research area is the construction of an efficient clustering algorithm. Clustering in the context of UWSN is important as it contributes a great deal towards the efficient use of energy resources. This paper reviews the most significant cluster based protocols proposed for UWSN. Major performance issues of these protocols with respect to the network conditions such as packet delivery ratio, average packet delay, node mobility effect and energy consumption are examined. The advantages and disadvantages of each protocol are also pointed out.
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Automated gravity gradient tensor inversion for underwater object detection
International Nuclear Information System (INIS)
Wu, Lin; Tian, Jinwen
2010-01-01
Underwater abnormal object detection is a current need for the navigation security of autonomous underwater vehicles (AUVs). In this paper, an automated gravity gradient tensor inversion algorithm is proposed for the purpose of passive underwater object detection. Full-tensor gravity gradient anomalies induced by an object in the partial area can be measured with the technique of gravity gradiometry on an AUV. Then the automated algorithm utilizes the anomalies, using the inverse method to estimate the mass and barycentre location of the arbitrary-shaped object. A few tests on simple synthetic models will be illustrated, in order to evaluate the feasibility and accuracy of the new algorithm. Moreover, the method is applied to a complicated model of an abnormal object with gradiometer and AUV noise, and interference from a neighbouring illusive smaller object. In all cases tested, the estimated mass and barycentre location parameters are found to be in good agreement with the actual values
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Underwater Robots Surface in Utah
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…
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A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles
Lu, Yimeng
2018-05-01
This thesis explores a game-theoretical approach for underwater environmental monitoring applications. We first apply game-theoretical algorithm to multi-agent resource coverage problem in drifting environments. Furthermore, existing utility design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current, previous knowledge of the resource and occasional communications between agents into account, and adapt to them to reach better performance. As the motivation of this thesis is from real applications, in this work we emphasize highly on implementation phase. A ROS-Gazebo simulation environment was created for preparation of actual tests. The algorithms are implemented in simulating both the dynamics of vehicles and the environment. After that, a multi-agent underwater autonomous robotic system was developed for hardware test in real settings with local controllers to make their own decisions. These systems are used for testing above mentioned algorithms and future development of other underwater projects. After that, other works related to robotics during this thesis will be briefly mentioned, including contributions in MBZIRC robotics competition and distributed control of UAVs in an adversarial environment.
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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.
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The Tragic Bazooka Accident at Los Alamos on July 14, 1962
Energy Technology Data Exchange (ETDEWEB)
Skidmore, Cary Bradford [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
2017-09-27
In recent years the Laboratory has made information (documents, photographs, and perspectives) regarding the occupational explosives accidents that killed seven men in the late 1950s more accessible to the public. While pursuing this effort, we were reminded of similar tragedies that occurred to children of the community. The purpose of this paper is to make information that has come into our hands more available to the public regarding these accidents. Following this introduction, a brief synopsis is provided for each accident. The appendices contain source documents for the 1962 accident that are not generally available. The community of Los Alamos, New Mexico was born out of a military post created to support the secret Manhattan Project during World War II. Security was provided by military police and some training exercises were conducted using live ordnance. In two instances unexploded ordnance (UXO) from this era was found “in the field” by residents hiking in the local area and brought into town. Tragically, handling these “bazooka” rounds as “dud” munitions resulted in death for one child and injury to several others. The first accident occurred on Saturday, September 6, 1947, which resulted in injuries to two boys, ages 5 and 12. The second accident occurred on Saturday, July 14, 1962 and resulted in the death of one five-year-old boy, and injuries to four other children, ages 6 to 10 years-old. The latter accident is the primary focus of the paper.
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National Oceanic and Atmospheric Administration, Department of Commerce — Four high-precision sensor arrays at a conventional munitions disposal site off Waianae known locally as "Ordnance Reef" and one sensor array at a deep-water...
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Energy Technology Data Exchange (ETDEWEB)
NONE
1999-07-15
The U.S. Department of Energy (DOE) and the U.S. Department of the Army (DA) are conducting cleanup activities at two properties--the DOE chemical plant area and the DA ordnance works area (the latter includes the training area)--located in the Weldon Spring area in St. Charles County, Missouri. These areas are on the National Priorities List (NPL), and cleanup activities at both areas are conducted in accordance with the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), as amended. DOE and DA are conducting a joint remedial investigation (RI) and baseline risk assessment (BRA) as part of the remedial investigation/feasibility study (RI/FS) for the groundwater operable units for the two areas. This joint effort will optimize further data collection and interpretation efforts and facilitate overall remedial decision making since the aquifer of concern is common to both areas. A Work Plan issued jointly in 1995 by DOE and the DA discusses the results of investigations completed at the time of preparation of the report. The investigations were necessary to provide an understanding of the groundwater system beneath the chemical plant area and the ordnance works area. The Work Plan also identifies additional data requirements for verification of the evaluation presented.
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International Nuclear Information System (INIS)
1999-01-01
The U.S. Department of Energy (DOE) and the U.S. Department of the Army (DA) are conducting cleanup activities at two properties--the DOE chemical plant area and the DA ordnance works area (the latter includes the training area)--located in the Weldon Spring area in St. Charles County, Missouri. These areas are on the National Priorities List (NPL), and cleanup activities at both areas are conducted in accordance with the Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), as amended. DOE and DA are conducting a joint remedial investigation (RI) and baseline risk assessment (BRA) as part of the remedial investigation/feasibility study (RI/FS) for the groundwater operable units for the two areas. This joint effort will optimize further data collection and interpretation efforts and facilitate overall remedial decision making since the aquifer of concern is common to both areas. A Work Plan issued jointly in 1995 by DOE and the DA discusses the results of investigations completed at the time of preparation of the report. The investigations were necessary to provide an understanding of the groundwater system beneath the chemical plant area and the ordnance works area. The Work Plan also identifies additional data requirements for verification of the evaluation presented
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Self-Assembling Multi-Component Nanofibers for Strong Bioinspired Underwater Adhesives
Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M.; Lu, Timothy K
2014-01-01
Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly, and structure-function relationship of those natural amyloid fibers remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibers. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibers have an underwater adhesion energy approaching 20.9 mJ/m2, which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibers taken on their own at all pHs and exhibit better tolerance to auto-oxidation than Mfps at pH ≥7.0. This work establishes a platform for engineering multi-component self-assembling materials inspired by nature. PMID:25240674
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Synthesis and Development of Gold Polypyrrole Actuator for Underwater Application
Panda, S. K.; Bandopadhya, D.
2018-02-01
Electro-active polymer (EAP) such as Polypyrrole has gained much attention in the category of functional materials for fabrication of both active actuator and sensor. Particularly, PPy actuator has shown potential in fluid medium application because of high strain, large bending displacement and work density. This paper focuses on developing a low cost active actuator promising in delivering high performance in underwater environment. The proposed Au-pyrrole actuator is synthesized by adopting the layer-by-layer electrochemical polymerization technique and is fabricated as strip actuator from aqueous solution of Pyrrole and NaDBS in room temperature. In the follow-up, topographical analysis has been carried out using SEM and FESEM instruments showing surface morphology and surface integrity of chemical components of the structure. Several experiments have been conducted under DC input voltage evaluating performance effectiveness such as underwater bending displacement and tip force etc. This is observed that the actuator exhibits quite similar stress profile as of natural muscle, endowed with high modulus makes them effective in working nearly 10,000 cycles underwater environment. In addition, the bending displacement up to 5.4 mm with a low input voltage 1.3 V makes the actuator suitable for underwater micro-robotics applications.
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Experimental study on underwater electrical explosion of a copper wire
International Nuclear Information System (INIS)
Zhou Qing; Zhang Jun; Tan Xiangyu; Ren Baozhong; Zhang Qiaogen
2010-01-01
Through analyzing the physical process of underwater electrical wire explosion, electrical wire explosions with copper wires were investigated underwater using pulsed voltage in the time scale of a few microseconds. A self-integrating Rogowsky coil and a voltage divider were used for current and voltage at the wire load, respectively. The shock wave pressure is measured with a piezoelectric pressure probe at the same distance. The current rise rate was adjusted by changing the applied voltage, circuit inductance, length and diameter of copper wire. The change of the current rise rate had a great effect on the process of underwater electrical wire explosion with copper wires. At last, the effect of discharge voltage, circuit inductance, length and diameter of copper wire were obtained on the explosion voltage and current as well as shock wave pressure. (authors)
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Underwater Time Service and Synchronization Based on Time Reversal Technique
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.
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Self-flowing underwater concrete mixtures for high rise structures
International Nuclear Information System (INIS)
Yousri, K.M.
2005-01-01
Placement of conventional concrete mixtures in underwater construction results in a high percentage of material loss due to washout of cement paste. This paper presents the influence of anti washout admixture (AWA) on various properties of concrete. Eleven self-flowing concrete (SFC) mixtures using type II cement were proportioned. A combination of low water cement (w/c), high cement contents, anti washout admixtures, fly ash, and silica fume were used to enhance the resistance of fresh concrete to washout. The concrete mixtures proportioned to be highly flow able, self-leveling and cohesive. The water-cementitious materials ratios ranged between 0.356 and 0.392 which correspond a typical underwater concrete mixture. The concrete mixtures were tested for slump, slump flow, washout resistance and compressive strength. The compressive strength of each concrete mixture cast underwater was determined at 3, 7, 28 days and compared with the compressive strength of the same concrete mixture cast in normal condition (in air). Test results indicated that the use of an AWA facilitates the production of flow able concrete mixtures with the added benefit of lower washout loss. Concrete mixture proportioned using Type II cement and fly ash at level of replacement of 15% was found to develop self flowing concrete with better fresh and hardened properties and more resistant to washout. The self-flowing underwater concretes developed a 28-day compressive strengths ranging from 20 to 28 MPa
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AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation
Directory of Open Access Journals (Sweden)
Xin Yuan
2017-05-01
Full Text Available In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure.
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DUMAND-II (Deep Underwater Muon and Neutrino Detector) PROGRESS Report
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...
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Li, Ning; Cürüklü, Baran; Bastos, Joaquim; Sucasas, Victor; Fernandez, Jose Antonio Sanchez; Rodriguez, Jonathan
2017-05-04
The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV's parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power
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Directory of Open Access Journals (Sweden)
Ning Li
2017-05-01
Full Text Available The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project is to make autonomous underwater vehicles (AUVs, remote operated vehicles (ROVs and unmanned surface vehicles (USVs more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV’s parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the
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Research on the underwater target imaging based on the streak tube laser lidar
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.
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Development of underwater camera using high-definition camera
International Nuclear Information System (INIS)
Tsuji, Kenji; Watanabe, Masato; Takashima, Masanobu; Kawamura, Shingo; Tanaka, Hiroyuki
2012-01-01
In order to reduce the time for core verification or visual inspection of BWR fuels, the underwater camera using a High-Definition camera has been developed. As a result of this development, the underwater camera has 2 lights and 370 x 400 x 328mm dimensions and 20.5kg weight. Using the camera, 6 or so spent-fuel IDs are identified at 1 or 1.5m distance at a time, and 0.3mmφ pin-hole is recognized at 1.5m distance and 20 times zoom-up. Noises caused by radiation less than 15 Gy/h are not affected the images. (author)
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Time-of-flight range imaging for underwater applications
Merbold, Hannes; Catregn, Gion-Pol; Leutenegger, Tobias
2018-02-01
Precise and low-cost range imaging in underwater settings with object distances on the meter level is demonstrated. This is addressed through silicon-based time-of-flight (TOF) cameras operated with light emitting diodes (LEDs) at visible, rather than near-IR wavelengths. We find that the attainable performance depends on a variety of parameters, such as the wavelength dependent absorption of water, the emitted optical power and response times of the LEDs, or the spectral sensitivity of the TOF chip. An in-depth analysis of the interplay between the different parameters is given and the performance of underwater TOF imaging using different visible illumination wavelengths is analyzed.
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Reduced Attitude Control of a Robotic Underwater Vehicle
Directory of Open Access Journals (Sweden)
Bláha Lukáš
2017-01-01
Full Text Available This paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform a full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vectored-thrust arrangement and is built as an overactuated system, which enables to gain a better robustness and guarantees a stable controlled motion even if some thruster suddenly stop working. Because the heading angle cannot be measured, the reduced attitude control strategy is designed and the stability of reduced state of the system is proved using perturbation method.
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Study of underwater laser propulsion using different target materials.
Qiang, Hao; Chen, Jun; Han, Bing; Shen, Zhong-Hua; Lu, Jian; Ni, Xiao-Wu
2014-07-14
In order to investigate the influence of target materials, including aluminum (Al), titanium (Ti) and copper (Cu), on underwater laser propulsion, the analytical formula of the target momentum IT is deduced from the enhanced coupling theory of laser propulsion in atmosphere with transparent overlay metal target. The high-speed photography method and numerical simulation are employed to verify the IT model. It is shown that the enhanced coupling theory, which was developed originally for laser propulsion in atmosphere, is also applicable to underwater laser propulsion with metal targets.
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Feasibility of landmine detection using transgenic plants
Deyholos, Michael; Faust, Anthony A.; Miao, Minmin; Montoya, Rebecca; Donahue, D. Aaron
2006-05-01
Genetically modified plants that detect TNT and its degradation products are potentially powerful aids in humanitarian demining and detection of unexploded ordnance. Although the feasibility of TNT detection by plants and microorganisms has been demonstrated by several research teams world wide, thus far, none of these previously demonstrated systems has the sensitivity and specificity to be effective under field conditions. We are using two approaches to increase the potential effectiveness of these and related biological detection systems. First, we are expanding the repertoire of explosive-responsive promoters by conducting DNA microarray experiments with plants treated with TNT-degradation products, and characterizing the inducibility of reporter gene expression by these promoters. Second, we are evaluating the dynamics and limiting factors in the transmission of artificial signals from roots to shoots. This will increase the ability of soil-based TNT perception strategies to effect human-readable changes in shoot morphology as part of a practical plant-based explosives detection system.
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Environmental effects on underwater optical transmission
Chu, Peter C.; Breshears, Brian F.; Cullen, Alexander J.; Hammerer, Ross F.; Martinez, Ramon P.; Phung, Thai Q.; Margolina, Tetyana; Fan, Chenwu
2017-05-01
Optical communication/detection systems have potential to get around some limitations of current acoustic communications and detection systems especially increased fleet and port security in noisy littoral waters. Identification of environmental effects on underwater optical transmission is the key to the success of using optics for underwater communication and detection. This paper is to answer the question "What are the transfer and correlation functions that relate measurements of hydrographic to optical parameters?" Hydrographic and optical data have been collected from the Naval Oceanographic Office survey ships with the High Intake Defined Excitation (HIDEX) photometer and sea gliders with optical back scattering sensor in various Navy interested areas such as the Arabian Gulf, Gulf of Oman, east Asian marginal seas, and Adriatic Sea. The data include temperature, salinity, bioluminescence, chlorophyll-a fluorescence, transmissivity at two different wavelengths (TRed at 670 nm, TBlue at 490 nm), and back scattering coefficient (bRed at 700 nm, bBlue at 470 nm). Transfer and correlation functions between the hydrographic and optical parameters are obtained. Bioluminescence and fluorescence maxima, transmissivity minimum with their corresponding depths, red and blue laser beam peak attenuation coefficients are identified from the optical profiles. Evident correlations are found between the ocean mixed layer depth and the blue and red laser beam peak attenuation coefficients, bioluminescence and fluorescence maxima in the Adriatic Sea, Arabian Gulf, Gulf of Oman, and Philippine Sea. Based on the observational data, an effective algorithm is recommended for solving the radiative transfer equation (RTE) for predicting underwater laser radiance.
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A Data Link Layer in Support of Swarming of Autonomous Underwater Vehicles
Jabba Molinares, Daladier
2009-01-01
Communication underwater is challenging because of the inherent characteristics of the media. First, common radio frequency (RF) signals utilized in wireless communications cannot be used under water. RF signals are attenuated in such as way that RF communication underwater is restricted to very few meters. As a result, acoustic-based…
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A field guide to valuable underwater aquatic plants of the Great Lakes
Schloesser, Donald W.
1986-01-01
Underwater plants are a valuable part of the Great Lakes ecosystem, providing food and shelter for aquatic animals. Aquatic plants also help stabilize sediments, thereby reducing shoreline erosion. Annual fall die-offs of underwater plants provide food and shelter for overwintering small aquatic animals such as insects, snails, and freshwater shrimp.
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Muhammed, Dalhatu; Anisi, Mohammad Hossein; Zareei, Mahdi; Vargas-Rosales, Cesar; Khan, Anwar
2018-02-01
Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node's cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.
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Directory of Open Access Journals (Sweden)
Dalhatu Muhammed
2018-02-01
Full Text Available Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal, long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.
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Muhammed, Dalhatu; Anisi, Mohammad Hossein; Vargas-Rosales, Cesar; Khan, Anwar
2018-01-01
Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted. PMID:29389874
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CFD Based Added Mass Prediction in Cruise Condition of Underwater Vehicle Dynamic
Agoes Moelyadi, Mochammad; Bambang Riswandi, Bagus
2018-04-01
One of the unsteady flow behavior on the hydrodynamic characteristics of underwater vehicle is the presence of added mass. In cruising conditions, the underwater vehicle may require the addition of speed or experience the disturbance in the form of unsteady flow so that cause the hydrodynamic interaction between the surface of the vehicle with the surrounding fluid. This leads to the rise of local velocity of flow and the great changes of hydrodynamic forces which are very influential on the stability of the underwater vehicle. One of the result is an additional force called added mass. It is very useful parameter to control underwater vehicle dynamic.This paper reports the research on the added mass coefficient of underwater vehicles obtained through the Computational Fluid Dynmaic (CFD) simulation method using CFX software. Added mass coefficient is calculated by performing an unsteady simulation or known as transient simulation. Computational simulations are based on the Reynold Average Navier- Stokes (RANS) equation solution. The simulated vehicle moves forward and backward according to the sinus function, with a frequency of 0.25 Hz, a 2 m amplitude, a cruising depth of 10 m below sea level, and Vcruise 1.54 m / s (Re = 9.000.000). Simulation result data includes velocity contour, variation of force and acceleration to frequency, and added mass coefficient.
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Rohandi, M.; Tuloli, M. Y.; Jassin, R. T.
2018-02-01
This research aims to determine the development of priority of underwater tourism in Gorontalo province using the Analytical Hierarchy Process (AHP) method which is one of DSS methods applying Multi-Attribute Decision Making (MADM). This method used 5 criteria and 28 alternatives to determine the best priority of underwater tourism site development in Gorontalo province. Based on the AHP calculation it appeared that the best priority development of underwater tourism site is Pulau Cinta whose total AHP score is 0.489 or 48.9%. This DSS produced a reliable result, faster solution, time-saving, and low cost for the decision makers to obtain the best underwater tourism site to be developed.
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SEATURTLE: Sustained Engagement Autonomous Tracking of Underwater RepTiLEs
Budd, Johnathan
2015-01-01
While oceans cover the majority of our planet, these vast expanses remain relatively unexplored. Among the most interesting parts of the ocean are the shallow reef systems, which contain a huge amount of the planet’s biodiversity. The Sustained Engagement Autonomous Tracking of Underwater RepTiLEs or SEATURTLE is a low cost Autonomous Underwater Vehicle designed to carry out missions in these shallow environments. Its small displacement and precise movement make it ideal for navigating tight ...
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Validation of Underwater Sensor Package Using Feature Based SLAM
Directory of Open Access Journals (Sweden)
Christopher Cain
2016-03-01
Full Text Available Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package.
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Validation of Underwater Sensor Package Using Feature Based SLAM
Cain, Christopher; Leonessa, Alexander
2016-01-01
Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package. PMID:26999142
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L2-LBMT: A Layered Load Balance Routing Protocol for underwater multimedia data transmission
Lv, Ze; Tang, Ruichun; Tao, Ye; Sun, Xin; Xu, Xiaowei
2017-12-01
Providing highly efficient underwater transmission of mass multimedia data is challenging due to the particularities of the underwater environment. Although there are many schemes proposed to optimize the underwater acoustic network communication protocols, from physical layer, data link layer, network layer to transport layer, the existing routing protocols for underwater wireless sensor network (UWSN) still cannot well deal with the problems in transmitting multimedia data because of the difficulties involved in high energy consumption, low transmission reliability or high transmission delay. It prevents us from applying underwater multimedia data to real-time monitoring of marine environment in practical application, especially in emergency search, rescue operation and military field. Therefore, the inefficient transmission of marine multimedia data has become a serious problem that needs to be solved urgently. In this paper, A Layered Load Balance Routing Protocol (L2-LBMT) is proposed for underwater multimedia data transmission. In L2-LBMT, we use layered and load-balance Ad Hoc Network to transmit data, and adopt segmented data reliable transfer (SDRT) protocol to improve the data transport reliability. And a 3-node variant of tornado (3-VT) code is also combined with the Ad Hoc Network to transmit little emergency data more quickly. The simulation results show that the proposed protocol can balance energy consumption of each node, effectively prolong the network lifetime and reduce transmission delay of marine multimedia data.
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Modelling of the underwater disposal of uranium mine tailings in Elliot Lake
International Nuclear Information System (INIS)
Halbert, B.E.; Scharer, J.M.; Chakravatti, J.L.; Barnes, E.
1982-01-01
Underwater disposal of uranium mine tailings from the Elliot Lake area operations offers potential advantages in controlling radon gas release, emission of airborne particulate matter, and acid production from pyrites in the tailings. In addition, the proximity of the three active properties, one owned by Denison Mines Limited and two by Rio Algom Limited, to a large deep lake has spurred interest in the concept. It has been estimated that the placement of approximately 150 million tonnes of tailings from future planned production would occupy less than 20% of the lake volume. To assess the applicability of the underwater tailings disposal concept, a multi-stage study was developed in conjunction with the regulatory agencies. The most important facet identified for investigation during the first-stage investigations was an assessment of the effects of underwater disposal on water quality in the Serpent River Basin watershed. To simulate the effects of underwater disposal, a computer simulation routine was developed and integrated with a water quality model previously developed for the Basin which predicts levels of total dissolved solids, ammonia, dissolved radium-226 and pH. The underwater disposal model component reflects the effects of direct input of tailings into the hypolimnion, the chemical/biological transformation of dissolved constituents in the water column, the reactions of pyritic tailings deposited on the bottom, and the flux of dissolved constituents from the tailings into the water column. To establish site-specific values for the underwater disposal model, field and laboratory experiments were utilized to evaluate rates of pyrite and ammonia oxidation, and pH-alkalinity relationships. The results of these studies and their use in the water quality model are discussed. In addition, the results of two model run simulations are presented. (author)
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System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles
Stone, William C. (Inventor); Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kapit, Jason (Inventor); Scully, Mark (Inventor); Kimball, Peter (Inventor)
2018-01-01
A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.
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Ireland and the UNESCO Convention on the Protection of the Underwater Cultural Heritage
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.
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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
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Simulation of the behavior of pressurized underwater concrete
Directory of Open Access Journals (Sweden)
Ashraf Mohamed Heniegal
2015-06-01
Full Text Available Under-Water Concrete (UWC contains Anti-Washout Admixtures (AWA (0.0%, 0.2%, 0.3%, 0.4% and 0.5% by weight of cement with cement contents (400, 450, 500 and 550 kg/m3. All concrete mix contains silica fume and high-range water reducing (15% and 4% respectively by weight of cement. The fine to steel slag coarse aggregate was 1:1. The concrete mix was tested for slump, slump flow, compressive strength and washout resistance using two test methods based on different principles. The first method is the plunge test CRDC61 which is widely used in North America, and the second method is the pressurized air tube which has been manufactured for this research and developed to simulate the effect of water pressure on washout resistance of underwater mix. The results of compressive strength test were compared to concrete cast underwater with that cast in air. Test results indicated that the use of an AWA facilitates the production of UWC mix with the added benefit of lower washout resistance. New technique of simulating pressurized UWC is reliable for detecting UWC properties. Adding AWA (0.3–0.5% by weight of cement makes all mix acceptable according to Japanese Society of Civil Engineers.
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Cognitive Routing in Software-Defined Underwater Acoustic Networks
Directory of Open Access Journals (Sweden)
Huma Ghafoor
2017-12-01
Full Text Available There are two different types of primary users (natural acoustic and artificial acoustic, and there is a long propagation delay for acoustic links in underwater cognitive acoustic networks (UCANs. Thus, the selection of a stable route is one of the key design factors for improving overall network stability, thereby reducing end-to-end delay. Software-defined networking (SDN is a novel approach that improves network intelligence. To this end, we propose a novel SDN-based routing protocol for UCANs in order to find a stable route between source and destination. A main controller is placed in a surface buoy that is responsible for the global view of the network, whereas local controllers are placed in different autonomous underwater vehicles (AUVs that are responsible for a localized view of the network. The AUVs have fixed trajectories, and sensor nodes within transmission range of the AUVs serve as gateways to relay the gathered information to the controllers. This is an SDN-based underwater communications scheme whereby two nodes can only communicate when they have a consensus about a common idle channel. To evaluate our proposed scheme, we perform extensive simulations and improve network performance in terms of end-to-end delay, delivery ratio, and overhead.
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Multibeam 3D Underwater SLAM with Probabilistic Registration
Directory of Open Access Journals (Sweden)
Albert Palomer
2016-04-01
Full Text Available This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds. An Iterative Closest Point (ICP with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1 point-to-point association for coarse registration and (2 point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O ( n 2 to O ( n . The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.
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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.
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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.
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H∞ control for path tracking of autonomous underwater vehicle motion
Directory of Open Access Journals (Sweden)
Lin-Lin Wang
2015-05-01
Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.
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Directory of Open Access Journals (Sweden)
WONG, S.-L.
2018-05-01
Full Text Available Most underwater images tend to be dominated by a single color cast. This paper presents a solution to remove the color cast and improve the contrast in underwater images. However, after the removal of the color cast using Gray World (GW method, the resultant image is not visually pleasing. Hence, we propose an integrated approach using Adaptive GW (AGW and Differential Gray-Levels Histogram Equalization (DHE that operate in parallel. The AGW is applied to remove the color cast while DHE is used to improve the contrast of the underwater image. The outputs of both chromaticity components of AGW and intensity components of DHE are combined to form the enhanced image. The results of the proposed method are compared with three existing methods using qualitative and quantitative measures. The proposed method increased the visibility of underwater images and in most cases produces better quantitative scores when compared to the three existing methods.
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Motion analysis and trials of the deep sea hybrid underwater glider Petrel-II
Liu, Fang; Wang, Yan-hui; Wu, Zhi-liang; Wang, Shu-xin
2017-03-01
A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.
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2005-07-18
the Invention 14 The present invention generally relates to an apparatus 15 for changing the attack of a cavitator on a supercavitating 16 underwater...research model. 17 2. Description of the Prior Art 18 Supercavitating underwater vehicles and projectiles are 19 known in the art. One such... supercavitating underwater 20 projectile is described in Harkins et al., U.S. Patent No. 21 5,955,698. This projectile uses a supercavitating nose 22 section that
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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.
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Predictive Model for the Analysis of the Effects of Underwater Impulsive Sources on Marine Life
National Research Council Canada - National Science Library
Lazauski, Colin J
2007-01-01
A method is provided to predict the biological consequences to marine animals from exposure to multiple underwater impulsive sources by simulating underwater explosions over a defined period of time...
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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...
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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)
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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.
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Yu, Huadong; Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Wang, Zuobin; Li, Yiquan; Yu, Zhanjiang; Weng, Zhankun
2018-04-01
Despite the success of previous methods for fabricating underwater superoleophobic surfaces, most of the surfaces based on soft materials are prone to collapse and deformation due to their mechanically fragile nature, and they fail to perform their designed functions after the surface materials are damaged in water. In this work, the nanosecond laser-induced oxide coatings on hydrophilic bulk metals are reported which overcomes the limitation and shows the robust underwater superoleophobicity to a mechanical challenge encountered by surfaces deployed in water environment. The results show that the surface materials have the advantage that the underwater superoleophobicity is still preserved after the surfaces are scratched by knife or sandpaper and even completely destroyed because of the hydrophilic property of damaged materials in water. It is important that the results provide a guide for the design of durable underwater superoleophobic surfaces, and the development of superoleophobic materials in many potential applications such as the oil-repellent and the oil/water separation. Additionally, the nanosecond laser technology is simple, cost-effective and suitable for the large-area and mass fabrication of mechanically durable underwater superoleophobic metal materials.
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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.
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An Environment-Friendly Multipath Routing Protocol for Underwater Acoustic Sensor Network
Directory of Open Access Journals (Sweden)
Yun Li
2017-01-01
Full Text Available Underwater Acoustic Sensor Network (UASN is a promising technique by facilitating a wide range of aquatic applications. However, routing scheme in UASN is a challenging task because of the characteristics of the nodes mobility, interruption of link, and interference caused by other underwater acoustic systems such as marine mammals. In order to achieve reliable data delivery in UASN, in this work, we present a disjoint multipath disruption-tolerant routing protocol for UASN (ENMR, which incorporates the Hue, Saturation, and Value color space (HSV model to establish routing paths to greedily forward data packets to sink nodes. ENMR applies the mechanism to maintain the network topology. Simulation results show that, compared with the classic underwater routing protocols named PVBF, ENMR can improve packet delivery ratio and reduce network latency while avoiding introducing additional energy consumption.
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A study on practical use of underwater abrasive water jet cutting
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.
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Measurement and Analysis of the Diffusible Hydrogen in Underwater Wet Welding Joint
Directory of Open Access Journals (Sweden)
Kong Xiangfeng
2016-01-01
Full Text Available The diffusible hydrogen in steel weldments is one of the main reasons that led to hydrogen assisted cracking. In this paper, the results of literatures survey and preliminary tests of the diffusible hydrogen in underwater wet welding joint were presented. A fluid-discharge method of for measuring the diffusible hydrogen in weldment was introduced in detail. Two kinds of underwater welding electrode diffusible hydrogen are 26.5 mL/100g and 35.5 mL/100g by fluid-discharge method, which are high levels. The diffusible hydrogen of underwater welding is higher than atmospheric welding, and the result is closely related to welding material. The best way to control the diffusible hydrogen is adjusting welding material and improving fluidity of slag.
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Underwater navigation using diffusion-based trajectory observers
DEFF Research Database (Denmark)
Jouffroy, Jerome; Opderbecke, Jan
2007-01-01
This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing the consid...
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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.
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2008-09-01
of magnetic UXO. The prototype STAR Sensor comprises: a) A cubic array of eight fluxgate magnetometers . b) A 24-channel data acquisition/signal...array (shaded boxes) of eight low noise Triaxial Fluxgate Magnetometers (TFM) develops 24 channels of vector B- field data. Processor hardware
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Friedel, M. J.; Asch, T. H.; Oden, C.
2012-08-01
The remediation of land containing munitions and explosives of concern, otherwise known as unexploded ordnance, is an ongoing problem facing the U.S. Department of Defense and similar agencies worldwide that have used or are transferring training ranges or munitions disposal areas to civilian control. The expense associated with cleanup of land previously used for military training and war provides impetus for research towards enhanced discrimination of buried unexploded ordnance. Towards reducing that expense, a multiaxis electromagnetic induction data collection and software system, called ALLTEM, was designed and tested with support from the U.S. Department of Defense Environmental Security Technology Certification Program. ALLTEM is an on-time time-domain system that uses a continuous triangle-wave excitation to measure the target-step response rather than traditional impulse response. The system cycles through three orthogonal transmitting loops and records a total of 19 different transmitting and receiving loop combinations with a nominal spatial data sampling interval of 20 cm. Recorded data are pre-processed and then used in a hybrid discrimination scheme involving both data-driven and numerical classification techniques. The data-driven classification scheme is accomplished in three steps. First, field observations are used to train a type of unsupervised artificial neural network, a self-organizing map (SOM). Second, the SOM is used to simultaneously estimate target parameters (depth, azimuth, inclination, item type and weight) by iterative minimization of the topographic error vectors. Third, the target classification is accomplished by evaluating histograms of the estimated parameters. The numerical classification scheme is also accomplished in three steps. First, the Biot-Savart law is used to model the primary magnetic fields from the transmitter coils and the secondary magnetic fields generated by currents induced in the target materials in the
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Friedel, M.J.; Asch, T.H.; Oden, C.
2012-01-01
The remediation of land containing munitions and explosives of concern, otherwise known as unexploded ordnance, is an ongoing problem facing the U.S. Department of Defense and similar agencies worldwide that have used or are transferring training ranges or munitions disposal areas to civilian control. The expense associated with cleanup of land previously used for military training and war provides impetus for research towards enhanced discrimination of buried unexploded ordnance. Towards reducing that expense, a multiaxis electromagnetic induction data collection and software system, called ALLTEM, was designed and tested with support from the U.S. Department of Defense Environmental Security Technology Certification Program. ALLTEM is an on-time time-domain system that uses a continuous triangle-wave excitation to measure the target-step response rather than traditional impulse response. The system cycles through three orthogonal transmitting loops and records a total of 19 different transmitting and receiving loop combinations with a nominal spatial data sampling interval of 20 cm. Recorded data are pre-processed and then used in a hybrid discrimination scheme involving both data-driven and numerical classification techniques. The data-driven classification scheme is accomplished in three steps. First, field observations are used to train a type of unsupervised artificial neural network, a self-organizing map (SOM). Second, the SOM is used to simultaneously estimate target parameters (depth, azimuth, inclination, item type and weight) by iterative minimization of the topographic error vectors. Third, the target classification is accomplished by evaluating histograms of the estimated parameters. The numerical classification scheme is also accomplished in three steps. First, the Biot–Savart law is used to model the primary magnetic fields from the transmitter coils and the secondary magnetic fields generated by currents induced in the target materials in the
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3D MODELING FOR UNDERWATER ARCHAEOLOGICAL DOCUMENTATION: METRIC VERIFICATIONS
Directory of Open Access Journals (Sweden)
S. D’Amelio
2015-04-01
Full Text Available The survey in underwater environment has always presented considerable difficulties both operative and technical and this has sometimes made it difficult to use the techniques of survey commonly used for the documentation of Cultural Heritage in dry environment. The work of study concerns the evaluation in terms of capability and accuracy of the Autodesk123DCatch software for the reconstruction of a three-dimensional model of an object in underwater context. The subjects of the study are models generated from sets of photographs and sets of frames extracted from video sequence. The study is based on comparative method, using a reference model, obtained with laser scanner technique.
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Pressure vessel made by free forming using underwater explosion
Directory of Open Access Journals (Sweden)
H Iyama
2016-03-01
Full Text Available Explosive forming is one particular forming technique, in which, mostcommonly, water is used as the pressure transmission medium. In recentyears, we have done the development of the method which obtains anecessary form of the metal by the control of underwater shock wave actson the metal plate, without a metal die. On the other hand, the pressurevessel is required in various fields, but we think that the free forming usingthe underwater shock wave is advantageous in the production of pressurevessel of a simple spherical, ellipse, parabola shape. In this paper, we willintroduce an experiment and several numerical simulations that we carriedout for this technical development.
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Localization of an Underwater Control Network Based on Quasi-Stable Adjustment
Chen, Xinhua; Zhang, Hongmei; Feng, Jie
2018-01-01
There exists a common problem in the localization of underwater control networks that the precision of the absolute coordinates of known points obtained by marine absolute measurement is poor, and it seriously affects the precision of the whole network in traditional constraint adjustment. Therefore, considering that the precision of underwater baselines is good, we use it to carry out quasi-stable adjustment to amend known points before constraint adjustment so that the points fit the network shape better. In addition, we add unconstrained adjustment for quality control of underwater baselines, the observations of quasi-stable adjustment and constrained adjustment, to eliminate the unqualified baselines and improve the results’ accuracy of the two adjustments. Finally, the modified method is applied to a practical LBL (Long Baseline) experiment and obtains a mean point location precision of 0.08 m, which improves by 38% compared with the traditional method. PMID:29570627
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On the Accuracy Potential in Underwater/Multimedia Photogrammetry.
Maas, Hans-Gerd
2015-07-24
Underwater applications of photogrammetric measurement techniques usually need to deal with multimedia photogrammetry aspects, which are characterized by the necessity of handling optical rays that are refracted at interfaces between optical media with different refractive indices according to Snell's Law. This so-called multimedia geometry has to be incorporated into geometric models in order to achieve correct measurement results. The paper shows a flexible yet strict geometric model for the handling of refraction effects on the optical path, which can be implemented as a module into photogrammetric standard tools such as spatial resection, spatial intersection, bundle adjustment or epipolar line computation. The module is especially well suited for applications, where an object in water is observed by cameras in air through one or more planar glass interfaces, as it allows for some simplifications here. In the second part of the paper, several aspects, which are relevant for an assessment of the accuracy potential in underwater/multimedia photogrammetry, are discussed. These aspects include network geometry and interface planarity issues as well as effects caused by refractive index variations and dispersion and diffusion under water. All these factors contribute to a rather significant degradation of the geometric accuracy potential in underwater/multimedia photogrammetry. In practical experiments, a degradation of the quality of results by a factor two could be determined under relatively favorable conditions.
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46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.
2010-10-01
... 46 Shipping 4 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) Program options... MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.650 Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater...
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International Nuclear Information System (INIS)
Cao, Y; Wang, Z Q; Li, G F; Wu, Y; Zhou, J J
2013-01-01
Underwater electrical discharge technology is an innovative technique that can be used to enhance the stress intensity of water and improve the load addition. The technique enlarges the section area and compresses the surrounding water using a high-powered shock wave, which is induced by an underwater electrical discharge. This paper investigates the effectiveness of scale removal for special-shaped conduits employing underwater electrical discharge. Experimental results show that the pressure wave generated by underwater electrical discharge is capable of eliminating scale in special-shaped conduits. The data indicates that when the capacitance of the parallel-pulsed capacitors was 4 μF, the high pulsed power voltage was 33 kV and the primary discharge gap was 48 mm, the result of scale removal was remarkable. In laboratory tests, the scale of special equipment was removed to a great extent by this method. Because of its effectiveness and low cost, this method improves the practice and extends the lifetime of such equipment, and thus has potential application and economic value.
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Underwater explosive compaction-sintering of tungsten-copper coating on a copper surface
Chen, Xiang; Li, Xiaojie; Yan, Honghao; Wang, Xiaohong; Chen, Saiwei
2018-01-01
This study investigated underwater explosive compaction-sintering for coating a high-density tungsten-copper composite on a copper surface. First, 50% W-50% Cu tungsten-copper composite powder was prepared by mechanical alloying. The composite powder was pre-compacted and sintered by hydrogen. Underwater explosive compaction was carried out. Finally, a high-density tungsten-copper coating was obtained by diffusion sintering of the specimen after explosive compaction. A simulation of the underwater explosive compaction process showed that the peak value of the pressure in the coating was between 3.0 and 4.8 GPa. The hardness values of the tungsten-copper layer and the copper substrate were in the range of 87-133 and 49 HV, respectively. The bonding strength between the coating and the substrate was approximately 100-105 MPa.
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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.
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Network lifetime-aware data collection in Underwater Sensor ...
Indian Academy of Sciences (India)
Jalaja Janardanan Kartha
2017-09-07
Sep 7, 2017 ... existing models to assess their effectiveness and to investigate the trade-offs. Results show ... coverage drops below a predefined threshold and (vi) connectivity is .... Cost Clustering Protocol (MCCP), Distributed Underwater.
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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.
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Acquisition and tracking for underwater optical communications
Williams, Andrew J.; Laycock, Leslie L.; Griffith, Michael S.; McCarthy, Andrew G.; Rowe, Duncan P.
2017-10-01
There is a growing requirement to transfer large volumes of data between underwater platforms. As seawater is transmissive in the visible band, underwater optical communications is an active area of interest since it offers the potential for power efficient, covert and high bandwidth datalinks at short to medium ranges. Short range systems have been successfully demonstrated using sources with low directionality. To realise higher data rates and/or longer ranges, the use of more efficient directional beams is required; by necessity, these must be sufficiently aligned to achieve the required link margin. For mobile platforms, the acquisition and tracking of each node is therefore critical in order to establish and maintain an optical datalink. This paper describes work undertaken to demonstrate acquisition and tracking in a 3D underwater environment. A range of optical sources, beam steering technologies, and tracking sensors have been assessed for suitability. A novel scanning strategy exploiting variable beam divergence was developed to provide robust acquisition whilst minimising acquisition time. A prototype system was assembled and demonstrated in a large water tank. This utilised custom quadrant detectors based on Silicon PhotoMultiplier (SiPM) arrays for fine tracking, and a Wide Field of View (WFoV) sCMOS camera for link acquisition. Fluidic lenses provided dynamic control of beam divergence, and AC modulation/filtering enabled background rejection. The system successfully demonstrated robust optical acquisition and tracking between two nodes with only nanowatt received optical powers. The acquisition time was shown to be dependent on the initial conditions and the transmitted optical power.
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Cascading Multi-Hop Reservation and Transmission in Underwater Acoustic Sensor Networks
Directory of Open Access Journals (Sweden)
Jae-Won Lee
2014-10-01
Full Text Available The long propagation delay in an underwater acoustic channel makes designing an underwater media access control (MAC protocol more challenging. In particular, handshaking-based MAC protocols widely used in terrestrial radio channels have been known to be inappropriate in underwater acoustic channels, because of the inordinately large latency involved in exchanging control packets. Furthermore, in the case of multi-hop relaying in a hop-by-hop handshaking manner, the end-to-end delay significantly increases. In this paper, we propose a new MAC protocol named cascading multi-hop reservation and transmission (CMRT. In CMRT, intermediate nodes between a source and a destination may start handshaking in advance for the next-hop relaying before handshaking for the previous node is completed. By this concurrent relaying, control packet exchange and data delivery cascade down to the destination. In addition, to improve channel utilization, CMRT adopts a packet-train method where multiple data packets are sent together by handshaking once. Thus, CMRT reduces the time taken for control packet exchange and accordingly increases the throughput. The performance of CMRT is evaluated and compared with that of two conventional MAC protocols (multiple-access collision avoidance for underwater (MACA-U and MACA-U with packet trains (MACA-UPT. The results show that CMRT outperforms other MAC protocols in terms of both throughput and end-to-end delay.
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Measurement and Modeling of Narrowband Channels for Ultrasonic Underwater Communications
Directory of Open Access Journals (Sweden)
Francisco J. Cañete
2016-02-01
Full Text Available Underwater acoustic sensor networks are a promising technology that allow real-time data collection in seas and oceans for a wide variety of applications. Smaller size and weight sensors can be achieved with working frequencies shifted from audio to the ultrasonic band. At these frequencies, the fading phenomena has a significant presence in the channel behavior, and the design of a reliable communication link between the network sensors will require a precise characterization of it. Fading in underwater channels has been previously measured and modeled in the audio band. However, there have been few attempts to study it at ultrasonic frequencies. In this paper, a campaign of measurements of ultrasonic underwater acoustic channels in Mediterranean shallow waters conducted by the authors is presented. These measurements are used to determine the parameters of the so-called κ-μ shadowed distribution, a fading model with a direct connection to the underlying physical mechanisms. The model is then used to evaluate the capacity of the measured channels with a closed-form expression.
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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.
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Underwater noise generated by offshore pile driving
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
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MOSES, development of an Underwater Warfare Testbed
Lentze, S.G.
2001-01-01
The TNO underwater warfare (UWW) research programme results in a large number of models used in operational research projects. To enhance the accessibility and re-use of these models for new projects, TNO-FEL has developed the modelling environment ‘MOSES - Maritime Operations Simulation and
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77 FR 38236 - Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA
2012-06-27
...-AA08 Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA AGENCY: Coast... ensure the safety of the maritime public during the Underwater Music Festival and would do so by... Music Festival is an event which includes musical performances from a barge. Spectators approach the...
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Human Injury Criteria for Underwater Blasts
2014-09-08
further underscored the need for this new guideline based on injury data. Conference Name: Personal Armour Systems Symposium Conference Date...29. Cole, R., Underwater Explosion. (Dover Publications, Inc ., New York, N.Y., 1948) 30. Nakahara, M., Nagayama, K, Mori, Y, Japanese Journal...Abstract of the Undersea and Hyperbaric Medical Society, Inc . Annual Scientific Meeting, (1976).
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National Research Council Canada - National Science Library
Gooding, Trent
2001-01-01
.... In recent years, autonomous underwater vehicles (AUV) have emerged as a viable technology for conducting underwater search, survey, and clearance operations in support of the mine countermeasures (MCM) mission...
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Electrostatic images for underwater anisotropic conductive half spaces
International Nuclear Information System (INIS)
Flykt, M.; Lindell, I.; Eloranta, E.
1998-01-01
A static image principle makes it possible to derive analytical solutions to some basic geometries for DC fields. The underwater environment is especially difficult both from the theoretical and practical point of view. However, there are increasing demands that also the underwater geological formations should be studied in detail. The traditional image of a point source lies at the mirror point of the original. When anisotropic media is involved, however, the image location can change and the image source may be a continues, sector-like distribution. In this paper some theoretical considerations are carried out in the case where the lower half space can have a very general anisotropy in terms of electrical conductivity, while the upper half space is assumed isotropic. The reflection potential field is calculated for different values of electrical conductivity. (orig.)
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Design and development of a family of explosive ordnance disposal (EOD) robots
Reichard, Karl; Simpson, Tim; Rogan, Chris; Merenich, John; Brennan, Sean; Crow, Ed
2008-10-01
Across many consumer product industries, the prevailing practice is to design families of product variants that exploit commonality to provide the ability to easily customize a base platform for particular uses and to take advantage of commonality for streamlining design, manufacturing, maintenance and logistic; examples include Black & Decker, Seagate, and Volkswagen. This paper describes the application of product family concepts to the design and development of a family of robots to satisfy requirements for explosive ordnance disposal. To facilitate this process, we have developed a market segmentation grid that plots the desired capabilities and cost versus the target use cases. The product family design trade space is presented using a multi-dimensional trade space visualization tool which helps identify dependencies between different design variables and identify Pareto frontiers along which optimal design choices will lie. The EOD robot product family designs share common components and subsystems yet are modularized and scalable to provide functionality to satisfy a range of user requirements. This approach has been shown to significantly reduce development time and costs, manufacturing costs, maintenance and spare parts inventory, and operator and maintainer training.
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Efficient Modelling Methodology for Reconfigurable Underwater Robots
DEFF Research Database (Denmark)
Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid
2016-01-01
This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF). Th...
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Impacts of underwater noise on marine vertebrates
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
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Rao, Jionghui; Yao, Wenming; Wen, Linqiang
2015-10-01
Underwater wireless optical communication is a communication technology which uses laser as an information carrier and transmits data through water. Underwater wireless optical communication has some good features such as broader bandwidth, high transmission rate, better security, anti—interference performance. Therefore, it is promising to be widely used in the civil and military communication domains. It is also suitable for high-speed, short-range communication between underwater mobile vehicles. This paper presents a design approach of omni-directional light source used in underwater wireless optical communication, using TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and using the modulated DPSS green laser in the transmitter module to output the laser beam in small divergence angles, after expanded by the combination refraction-reflection solid, the angle turns into a space divergence angle of 2π, achieving the omni-directional light source of hemisphere space, and test in the air and underwater, the result shows that the effect is fine. This paper analyzes the experimental test in the air and water, in order to make further improvement of the uniformity of light distribution, we optimize the reflector surface parameters of combination refraction-reflection solid and test in the air and water. The result shows that omni-directional light source used in underwater wireless optical communication optimized could achieve the uniformity of light distribution of underwater space divergence angle of 2π. Omni-directional light source used in underwater wireless optical communication designed in this paper has the characteristics of small size and uniformity of light distribution, it is suitable for application between UUVs, AUVs, Swimmer Delivery Vehicles (SDVs) and other underwater vehicle fleet, it realizes point-to-multipoint communications.
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Underwater image enhancement based on the dark channel prior and attenuation compensation
Guo, Qingwen; Xue, Lulu; Tang, Ruichun; Guo, Lingrui
2017-10-01
Aimed at the two problems of underwater imaging, fog effect and color cast, an Improved Segmentation Dark Channel Prior (ISDCP) defogging method is proposed to solve the fog effects caused by physical properties of water. Due to mass refraction of light in the process of underwater imaging, fog effects would lead to image blurring. And color cast is closely related to different degree of attenuation while light with different wavelengths is traveling in water. The proposed method here integrates the ISDCP and quantitative histogram stretching techniques into the image enhancement procedure. Firstly, the threshold value is set during the refinement process of the transmission maps to identify the original mismatching, and to conduct the differentiated defogging process further. Secondly, a method of judging the propagating distance of light is adopted to get the attenuation degree of energy during the propagation underwater. Finally, the image histogram is stretched quantitatively in Red-Green-Blue channel respectively according to the degree of attenuation in each color channel. The proposed method ISDCP can reduce the computational complexity and improve the efficiency in terms of defogging effect to meet the real-time requirements. Qualitative and quantitative comparison for several different underwater scenes reveals that the proposed method can significantly improve the visibility compared with previous methods.
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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...
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SOUNET: Self-Organized Underwater Wireless Sensor Network
Directory of Open Access Journals (Sweden)
Hee-won Kim
2017-02-01
Full Text Available In this paper, we propose an underwater wireless sensor network (UWSN named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the timevarying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR, and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment.
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SOUNET: Self-Organized Underwater Wireless Sensor Network.
Kim, Hee-Won; Cho, Ho-Shin
2017-02-02
In this paper, we propose an underwater wireless sensor network (UWSN) named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the timevarying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR), and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment.
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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.
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Underwater noise modelling for environmental impact assessment
International Nuclear Information System (INIS)
Farcas, Adrian; Thompson, Paul M.; Merchant, Nathan D.
2016-01-01
Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.
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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.)
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Underwater noise from a wave energy converter
DEFF Research Database (Denmark)
Tougaard, Jakob
A recent addition to the anthropogenic sources of underwater noise is offshore wave energy converters. Underwater noise was recorded from the Wavestar wave energy converter located at Hastholm, Denmark (57°7.73´N, 8°37.23´E). The Wavestar is a full-scale test and demonstration converter...... in full operation and start and stop of the converter. Median broad band (10 Hz – 20 kHz) sound pressure level (Leq) was 123 dB re. 1 Pa, irrespective of status of the wave energy converter (stopped, running or starting/stopping). The most pronounced peak in the third-octave spectrum was in the 160 Hz...... significant noise above ambient could be detected above the 250 Hz band. The absolute increase in noise above ambient was very small. L50 third-octave levels in the four bands with the converter running were thus only 1-2 dB above ambient L50 levels. The noise recorded 25 m from the wave energy converter...
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20-meter underwater wireless optical communication link with 15 Gbps data rate
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.
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20-meter underwater wireless optical communication link with 15 Gbps data rate
Shen, Chao; Guo, Yong; Oubei, Hassan M.; Ng, Tien Khee; Liu, Guangyu; Park, Kihong; Ho, Kang-Ting; Alouini, Mohamed-Slim; Ooi, Boon S.
2016-01-01
The video streaming, data transmission, and remote control in underwater call for high speed (Gbps) communication link with a long channel length (∼10 meters). We present a compact and low power consumption underwater wireless optical communication (UWOC) system utilizing a 450-nm laser diode (LD) and a Si avalanche photodetector. With the LD operating at a driving current of 80 mA with an optical power of 51.3 mW, we demonstrated a high-speed UWOC link offering a data rate up to 2 Gbps over a 12-meter-long, and 1.5 Gbps over a record 20-meter-long underwater channel. The measured bit-error rate (BER) are 2.8 × 10-5, and 3.0 × 10-3, respectively, which pass well the forward error correction (FEC) criterion. © 2016 Optical Society of America.
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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.)
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In-air versus underwater comparison of 3D reconstruction accuracy using action sport cameras.
Bernardina, Gustavo R D; Cerveri, Pietro; Barros, Ricardo M L; Marins, João C B; Silvatti, Amanda P
2017-01-25
Action sport cameras (ASC) have achieved a large consensus for recreational purposes due to ongoing cost decrease, image resolution and frame rate increase, along with plug-and-play usability. Consequently, they have been recently considered for sport gesture studies and quantitative athletic performance evaluation. In this paper, we evaluated the potential of two ASCs (GoPro Hero3+) for in-air (laboratory) and underwater (swimming pool) three-dimensional (3D) motion analysis as a function of different camera setups involving the acquisition frequency, image resolution and field of view. This is motivated by the fact that in swimming, movement cycles are characterized by underwater and in-air phases what imposes the technical challenge of having a split volume configuration: an underwater measurement volume observed by underwater cameras and an in-air measurement volume observed by in-air cameras. The reconstruction of whole swimming cycles requires thus merging of simultaneous measurements acquired in both volumes. Characterizing and optimizing the instrumental errors of such a configuration makes mandatory the assessment of the instrumental errors of both volumes. In order to calibrate the camera stereo pair, black spherical markers placed on two calibration tools, used both in-air and underwater, and a two-step nonlinear optimization were exploited. The 3D reconstruction accuracy of testing markers and the repeatability of the estimated camera parameters accounted for system performance. For both environments, statistical tests were focused on the comparison of the different camera configurations. Then, each camera configuration was compared across the two environments. In all assessed resolutions, and in both environments, the reconstruction error (true distance between the two testing markers) was less than 3mm and the error related to the working volume diagonal was in the range of 1:2000 (3×1.3×1.5m 3 ) to 1:7000 (4.5×2.2×1.5m 3 ) in agreement with the
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Digital Repository Service at National Institute of Oceanography (India)
Ganesan, P.
carefully identified comers of the underwater artifacts) is found to be more accurate, faster, and reliable. This method can be effectively used only for shallow water near shore underwater archaeo- GLIMPSES OF MARINE ARCHAEOLOGY IN INDIA logical... Trak (placed over selected ground controi station) and a multi-prism (placed over carefully identified comers of the artifact). The standard survey procedures prescribed in the Laser Trak operation manual (Make III model) were used to carry out...
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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...
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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.
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Energy Technology Data Exchange (ETDEWEB)
Anagnostou, Marios N., E-mail: managnostou@ath.hcmr.g [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Nystuen, Jeffrey A. [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Applied Physics Laboratory, University of Washington, Seattle, WA (United States); Anagnostou, Emmanouil N. [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Department of Civil and Environmental Engineering, University of Connecticut, CT (United States); Papadopoulos, Anastasios [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Lykousis, Vassilios [Hellenic Center for Marine Research, Department of Oceanography, Anavissos (Greece)
2011-01-21
The ambient sound field in the ocean is a combination of natural and manmade sounds. Consequently, the interpretation of the ambient sound field can be used to quantify these processes. In the frequency range from 1 to 50 kHz, the general character of ocean ambient sound is a slowly changing background that is closely associated with local wind speed, interspersed with shorter time scale events such as rain storms, ships and animal calls. At lower frequencies the underwater ambient sound budget includes geologically generated sound activities including underwater volcanic eruptions, seismic and seepage faults that generate bubbles, etc. that can also potentially be classified and quantified. Acoustic data are collected on hydrophones. Hydrophones are simple, robust sensors that can be deployed on most ocean instrumentation systems including surface or sub-surface moorings, bottom mounted systems, drifters, ARGO floats or autonomous underwater platforms. A dedicated oceanic underwater recorder called a passive acoustic listener (PAL) has been developed. A principal issue is to accurately distinguish different sound sources so that they can be quantified as part of a sound budget, and then quantified if appropriate. Based on ongoing data collected from the Poseidon II network the retrieval potential of multi-parameters from underwater sound, including meteorological (i.e., precipitation and winds) and in general geophysical, anthropogenetic (i.e., ships, submarines, etc.) and biological (whales, etc.) sources is presented.
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International Nuclear Information System (INIS)
Hino, Takehisa; Tamura, Masataka; Tanaka, Yoshimi; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Matsunaga, Keiji
2009-01-01
Stress corrosion cracking (SCC) has been reported at the aged components in many nuclear power plants. Toshiba has been developing the underwater laser welding. This welding technique can be conducted without draining the water in the reactor vessel. It is beneficial for workers not to exposure the radiation. The welding speed can be attaining twice as fast as that of Gas Tungsten Arc Welding (GTAW). The susceptibility of SCC can also be lower than the Alloy 600 base metal. (author)
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DEFF Research Database (Denmark)
Christensen-Dalsgaard, J.; Brandt, Christian; Willis, K. L.
2012-01-01
Turtles, like other amphibious animals, face a trade-off between terrestrial and aquatic hearing. We used laser vibrometry and auditory brainstem responses to measure their sensitivity to vibration stimuli and to airborne versus underwater sound. Turtles are most sensitive to sound underwater, an...
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Latest Trends in the Monitoring of Ships’s Hull Underwater Part and Analysis of Its Effectiveness
Urbahs, A; Carjova, K; Vulans, P; Straume, R
2012-01-01
Ship operation is not possible without regular maintenance, inspection and certification, established by international and domestic law, where one of the main goals is an effective operation of a ship. To achieve this, it is important to reduce time and costs involved in carrying out the surveys. This paper explores the law under which it’s required for ship to have inspection of underwater part; identifies problems of ship’s hull underwater part; analyze latest trends in ship's hull underwat...
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Accuracy Assessment of Underwater Photogrammetric Three Dimensional Modelling for Coral Reefs
Guo, T.; Capra, A.; Troyer, M.; Gruen, A.; Brooks, A. J.; Hench, J. L.; Schmitt, R. J.; Holbrook, S. J.; Dubbini, M.
2016-06-01
Recent advances in automation of photogrammetric 3D modelling software packages have stimulated interest in reconstructing highly accurate 3D object geometry in unconventional environments such as underwater utilizing simple and low-cost camera systems. The accuracy of underwater 3D modelling is affected by more parameters than in single media cases. This study is part of a larger project on 3D measurements of temporal change of coral cover in tropical waters. It compares the accuracies of 3D point clouds generated by using images acquired from a system camera mounted in an underwater housing and the popular GoPro cameras respectively. A precisely measured calibration frame was placed in the target scene in order to provide accurate control information and also quantify the errors of the modelling procedure. In addition, several objects (cinder blocks) with various shapes were arranged in the air and underwater and 3D point clouds were generated by automated image matching. These were further used to examine the relative accuracy of the point cloud generation by comparing the point clouds of the individual objects with the objects measured by the system camera in air (the best possible values). Given a working distance of about 1.5 m, the GoPro camera can achieve a relative accuracy of 1.3 mm in air and 2.0 mm in water. The system camera achieved an accuracy of 1.8 mm in water, which meets our requirements for coral measurement in this system.
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Underwater target positioning with a single acoustic sensor
Digital Repository Service at National Institute of Oceanography (India)
David, M-S; Pascoal, A.M.; Joaquin, A.
The availability of reliable underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or an autonomous surface vessel is key to the operation of some classes of AUVs...
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Underwater microwave ignition of hydrophobic thermite powder enabled by the bubble-marble effect
International Nuclear Information System (INIS)
Meir, Yehuda; Jerby, Eli
2015-01-01
Highly energetic thermite reactions could be useful for a variety of combustion and material-processing applications, but their usability is yet limited by their hard ignition conditions. Furthermore, in virtue of their zero-oxygen balance, exothermic thermite reactions may also occur underwater. However, this feature is also hard to utilize because of the hydrophobic properties of the thermite powder, and its tendency to agglomerate on the water surface rather than to sink into the water. The recently discovered bubble-marble (BM) effect enables the insertion and confinement of a thermite-powder batch into water by a magnetic field. Here, we present a phenomenon of underwater ignition of a thermite-BM by localized microwaves. The thermite combustion underwater is observed in-situ, and its microwave absorption and optical spectral emission are detected. The vapour pressure generated by the thermite reaction is measured and compared to theory. The combustion products are examined ex-situ by X-ray photo-electron spectroscopy which verifies the thermite reaction. Potential applications of this underwater combustion effect are considered, e.g., for detonation, wet welding, thermal drilling, material processing, thrust generation, and composite-material production, also for other oxygen-free environments
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Underwater microwave ignition of hydrophobic thermite powder enabled by the bubble-marble effect
Energy Technology Data Exchange (ETDEWEB)
Meir, Yehuda; Jerby, Eli, E-mail: jerby@eng.tau.ac.il [Faculty of Engineering, Tel Aviv University, Ramat Aviv 6997801 (Israel)
2015-08-03
Highly energetic thermite reactions could be useful for a variety of combustion and material-processing applications, but their usability is yet limited by their hard ignition conditions. Furthermore, in virtue of their zero-oxygen balance, exothermic thermite reactions may also occur underwater. However, this feature is also hard to utilize because of the hydrophobic properties of the thermite powder, and its tendency to agglomerate on the water surface rather than to sink into the water. The recently discovered bubble-marble (BM) effect enables the insertion and confinement of a thermite-powder batch into water by a magnetic field. Here, we present a phenomenon of underwater ignition of a thermite-BM by localized microwaves. The thermite combustion underwater is observed in-situ, and its microwave absorption and optical spectral emission are detected. The vapour pressure generated by the thermite reaction is measured and compared to theory. The combustion products are examined ex-situ by X-ray photo-electron spectroscopy which verifies the thermite reaction. Potential applications of this underwater combustion effect are considered, e.g., for detonation, wet welding, thermal drilling, material processing, thrust generation, and composite-material production, also for other oxygen-free environments.
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Secci, Massimiliano
2017-08-01
The 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage is slowly but peremptorily becoming a standard reference tool for underwater archaeology and underwater cultural heritage management. The many provisions included within the Convention touch on many aspects that are key to an effective protection and promotion of the underwater cultural heritage. Within the web of these provisions many aspects are gaining consideration and driving research in underwater archaeology worldwide. These provisions, when seen within a wider frame of social, economical and technological dynamics, pinpoint many aspects requiring further scrutiny from the disciplinary circle. In the framework of the 2001 UNESCO Convention, this article will analyze the path traveled in technological acquisition in the practice of Italian underwater archaeology and how this has affected the approach to underwater cultural heritage management, particularly highlighting how this process has been further influenced by the adoption in 2001 of the Convention and Italy's ratification of it in 2010.
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Particle Filter for Fault Diagnosis and Robust Navigation of Underwater Robot
DEFF Research Database (Denmark)
Zhao, Bo; Skjetne, Roger; Blanke, Mogens
2014-01-01
A particle filter based robust navigation with fault diagnosis is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switchingmode hidden Markov model. By extensively running a particle...... filter on the model, the fault diagnosis and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods...
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The vortex mechanism of suppression of tsunami waves by underwater obstacles
Boshenyatov, B. V.
2017-12-01
A theoretical model explaining the effect of anomalous suppression of the energy (up to 70%) of tsunami-type waves by thin (compared to the wavelength) underwater obstacles is developed based on the integral laws of conservation of mass and energy fluxes. It is shown that the analytical dependences for the coefficients of reflection and transmission of waves across an underwater obstacle that have been obtained using the theoretical model proposed by the author agree with the results of the experiments and numerical simulation based on the complete Navier-Stokes equations.
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Development of underwater YAG laser repair welding robots for tanks
International Nuclear Information System (INIS)
Miwa, Yasuhiro; Satoh, Syuichi; Ito, Kosuke; Kochi, Tsutomu; Kojima, Toshio; Ohwaki, Katsura; Morita, Ichiro
1999-01-01
A remote-controlled repair welding robot which uses YAG laser welding technology in underwater environment was developed. This is an underwater robot technology combined with a laser welding technology. This report will describe the structure and performance of this robot, and the welding test results. The repair welding robot consists of two parts. The one is driving equipment, and the other is welding unit. It can swim in the tank, move around the tank wall, and stay on the welding area. After that it starts YAG laser repair welding. The target of this technology is inner surface repair of some tanks made of austenitic stainless steel, for example RW (Radioactive Waste) tanks. A degradation by General Corrosion and so on might be occurred at inner surface of these tanks in BWR type nuclear power plants. If the damaged area is wide, repair welding works are done. Some workers go into the tank and set up scaffolding after full drainage. In many cases it spends too much time for draining water and repair welding preparation. If the repair welding works can be done in underwater environment, the outage period will be reduced. This is a great advantage. (author)
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Event localization in underwater wireless sensor networks using Monitoring Courses
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.
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Directory of Open Access Journals (Sweden)
Xi Qiao
2017-09-01
Full Text Available Sea cucumbers usually live in an environment where lighting and visibility are generally not controllable, which cause the underwater image of sea cucumbers to be distorted, blurred, and severely attenuated. Therefore, the valuable information from such an image cannot be fully extracted for further processing. To solve the problems mentioned above and improve the quality of the underwater images of sea cucumbers, pre-processing of a sea cucumber image is attracting increasing interest. This paper presents a new method based on contrast limited adaptive histogram equalization and wavelet transform (CLAHE-WT to enhance the sea cucumber image quality. CLAHE was used to process the underwater image for increasing contrast based on the Rayleigh distribution, and WT was used for de-noising based on a soft threshold. Qualitative analysis indicated that the proposed method exhibited better performance in enhancing the quality and retaining the image details. For quantitative analysis, the test with 120 underwater images showed that for the proposed method, the mean square error (MSE, peak signal to noise ratio (PSNR, and entropy were 49.2098, 13.3909, and 6.6815, respectively. The proposed method outperformed three established methods in enhancing the visual quality of sea cucumber underwater gray image.
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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.
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An explanatory model of underwater adaptation
Directory of Open Access Journals (Sweden)
Joaquín Colodro
Full Text Available The underwater environment is an extreme environment that requires a process of human adaptation with specific psychophysiological demands to ensure survival and productive activity. From the standpoint of existing models of intelligence, personality and performance, in this explanatory study we have analyzed the contribution of individual differences in explaining the adaptation of military personnel in a stressful environment. Structural equation analysis was employed to verify a model representing the direct effects of psychological variables on individual adaptation to an adverse environment, and we have been able to confirm, during basic military diving courses, the structural relationships among these variables and their ability to predict a third of the variance of a criterion that has been studied very little to date. In this way, we have confirmed in a sample of professionals (N = 575 the direct relationship of emotional adjustment, conscientiousness and general mental ability with underwater adaptation, as well as the inverse relationship of emotional reactivity. These constructs are the psychological basis for working under water, contributing to an improved adaptation to this environment and promoting risk prevention and safety in diving activities.
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Neyer, F.; Nocerino, E.; Gruen, A.
2018-05-01
Creating 3-dimensional (3D) models of underwater scenes has become a common approach for monitoring coral reef changes and its structural complexity. Also in underwater archeology, 3D models are often created using underwater optical imagery. In this paper, we focus on the aspect of detecting small changes in the coral reef using a multi-temporal photogrammetric modelling approach, which requires a high quality control network. We show that the quality of a good geodetic network limits the direct change detection, i.e., without any further registration process. As the photogrammetric accuracy is expected to exceed the geodetic network accuracy by at least one order of magnitude, we suggest to do a fine registration based on a number of signalized points. This work is part of the Moorea Island Digital Ecosystem Avatar (IDEA) project that has been initiated in 2013 by a group of international researchers (https://mooreaidea.ethz.ch/).
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Behavioural Response Thresholds in New Zealand Crab Megalopae to Ambient Underwater Sound
Stanley, Jenni A.; Radford, Craig A.; Jeffs, Andrew G.
2011-01-01
A small number of studies have demonstrated that settlement stage decapod crustaceans are able to detect and exhibit swimming, settlement and metamorphosis responses to ambient underwater sound emanating from coastal reefs. However, the intensity of the acoustic cue required to initiate the settlement and metamorphosis response, and therefore the potential range over which this acoustic cue may operate, is not known. The current study determined the behavioural response thresholds of four species of New Zealand brachyuran crab megalopae by exposing them to different intensity levels of broadcast reef sound recorded from their preferred settlement habitat and from an unfavourable settlement habitat. Megalopae of the rocky-reef crab, Leptograpsus variegatus, exhibited the lowest behavioural response threshold (highest sensitivity), with a significant reduction in time to metamorphosis (TTM) when exposed to underwater reef sound with an intensity of 90 dB re 1 µPa and greater (100, 126 and 135 dB re 1 µPa). Megalopae of the mud crab, Austrohelice crassa, which settle in soft sediment habitats, exhibited no response to any of the underwater reef sound levels. All reef associated species exposed to sound levels from an unfavourable settlement habitat showed no significant change in TTM, even at intensities that were similar to their preferred reef sound for which reductions in TTM were observed. These results indicated that megalopae were able to discern and respond selectively to habitat-specific acoustic cues. The settlement and metamorphosis behavioural response thresholds to levels of underwater reef sound determined in the current study of four species of crabs, enables preliminary estimation of the spatial range at which an acoustic settlement cue may be operating, from 5 m to 40 km depending on the species. Overall, these results indicate that underwater sound is likely to play a major role in influencing the spatial patterns of settlement of coastal crab
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Autonomous underwater vehicle for research and rescue operations
CSIR Research Space (South Africa)
Holtzhausen S
2008-11-01
Full Text Available Autonomous under water vehicles are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures...
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A Doubly-Curved Piezoelectric Composite with 1-3 Connectivity for Underwater Transducer Applications
Zhang, Yanjun; Wang, Likun; Qin, Lei; Liao, Qingwei; Zhong, Chao
2018-03-01
Aim to increase the horizontal and vertical beam width of the high frequency transducer simultaneously, we present a doubly-curved 1-3 piezoelectric composite element. It consists of 54% piezoelectric ceramic volume fraction and two phases polymer matrix. The finite element analysis (FEA) is used to evaluate the dynamic response of composite. Electroacoustic response in water was measured for the doubly-curved composite being considered as underwater transducer. An underwater transducer was fabricated using the doubly-curved 1-3 piezoelectric composite element. The -3 dB full angle beam width of transducer is approximately 106° and 36° in the horizontal and vertical plane respectively. Both the FEA simulations and experimental results show the potential of a broad covered area of the composite transducer in underwater environment.
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20-meter underwater wireless optical communication link with 1.5 Gbps data rate.
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.
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Research on key technology of prognostic and health management for autonomous underwater vehicle
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.
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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.
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Will an underwater robot ever replace the diver? A rather poor progress or a great success?
Directory of Open Access Journals (Sweden)
Olejnik Adam
2016-03-01
Full Text Available The article deals with the subject matter related to the development of underwater works technologies. Nearly 15 years ago one of the authors of this study published a material in the monthly magazine of “Podwodny Świat” (The Underwater World entitled “The Future of Underwater Technologies – the diver or the robot?” where he noted that the time of great changes in technologies aimed at researching the depths and conducting works under water has arrived. This new era mainly consists in the fact that on an increasing number of occasions the diver is replaced by an underwater robot. The presented material constitutes an attempt to provide an answer to the question whether the then posed thesis is still valid. In the article the authors discuss issues concerned with the development of techniques and technologies applied in the conquest of depths that leads them to the conclusion that the previously observed tendency of a double-tracked development of underwater technologies is gaining in strength, which causes that the works and exploration of bodies of water at great depths will be possible only with the use of unmanned techniques.
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Optical aberrations in underwater photogrammetry with flat and hemispherical dome ports
Menna, Fabio; Nocerino, Erica; Remondino, Fabio
2017-06-01
The paper analyses differences between dome and flat port housings used for underwater photogrammetry. The underwater environment negatively affects image quality and 3D reconstructions, but this influence on photogrammetric measurements, so far, has not been addressed properly in the literature. In this work, motivations behind the need for systematic underwater calibrations are provided, then experimental tests using a specifically designed photogrammetric modular test object in laboratory and at sea are reported. The experiments are carried out using a Nikon D750 24 Mpx DSLR camera with a 24 mm f2.8 AF/D lens coupled with a NIMAR NI3D750ZM housing, equipped first with a dome and, successively, with a flat port. To quantify the degradation of image quality, MTF measurements are carried out, then the outcomes of self-calibrating bundle adjustment calibrations are shown and commented. Optical phenomena like field curvature as well as chromatic aberration and astigmatism are analysed and their implications on the degradation of image quality is factored in the bundle adjustment through a different weighting of 2D image observations.
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The development of controller and navigation algorithm for underwater wall crawler
Energy Technology Data Exchange (ETDEWEB)
Cho, Hyung Suck; Kim, Kyung Hoon; Kim, Min Young [Korea Advanced Institute of Science and Technology, Taejon (Korea)
1999-01-01
In this project, the control system of a underwater robotic vehicle(URV) for underwater wall inspection in the nuclear reactor pool or the related facilities has been developed. The following 4-sub projects have been studied for this project: (1) Development of the controller and motor driver for the URV (2) Development of the control algorithm for the tracking control of the URV (3) Development of the localization system (4) Underwater experiments of the developed system. First, the dynamic characteristic of thruster with the DC servo-motor was analyzed experimentally. Second the controller board using the INTEL 80C196 was designed and constructed, and the software for the communication and motor control is developed. Third the PWM motor-driver was developed. Fourth the localization system using the laser scanner and inclinometer was developed and tested in the pool. Fifth the dynamics of the URV was studied and the proper control algorithms for the URV was proposed. Lastly the validation of the integrated system was experimentally performed. (author). 27 refs., 51 figs., 8 tabs.
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Development of an underwater Cherenkov detector to reveal sources of technogenic radionuclides
International Nuclear Information System (INIS)
Chernyaev, A.M.; Gaponov, I.A.; Lapushkina, L.V.
1999-01-01
The major difference of the Cherenkov underwater detector from a scintillation detector is that its operation does not require a primary transducer (scintillator). Detected particle energy conversion into a light flash occurs directly in sea water (radiator) due to the Cherenkov effect. Consequently, photoreceiver of the underwater Cherenkov detector registers light from radiator of actually infinite volume. The circumstance is of principle importance, as it permits attaining the utmost sensitivity in case of the minimal overall dimensions and weight of detecting equipment
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Computer Simulations Imply Forelimb-Dominated Underwater Flight in Plesiosaurs.
Directory of Open Access Journals (Sweden)
Shiqiu Liu
2015-12-01
Full Text Available Plesiosaurians are an extinct group of highly derived Mesozoic marine reptiles with a global distribution that spans 135 million years from the Early Jurassic to the Late Cretaceous. During their long evolutionary history they maintained a unique body plan with two pairs of large wing-like flippers, but their locomotion has been a topic of debate for almost 200 years. Key areas of controversy have concerned the most efficient biologically possible limb stroke, e.g. whether it consisted of rowing, underwater flight, or modified underwater flight, and how the four limbs moved in relation to each other: did they move in or out of phase? Previous studies have investigated plesiosaur swimming using a variety of methods, including skeletal analysis, human swimmers, and robotics. We adopt a novel approach using a digital, three-dimensional, articulated, free-swimming plesiosaur in a simulated fluid. We generated a large number of simulations under various joint degrees of freedom to investigate how the locomotory repertoire changes under different parameters. Within the biologically possible range of limb motion, the simulated plesiosaur swims primarily with its forelimbs using an unmodified underwater flight stroke, essentially the same as turtles and penguins. In contrast, the hindlimbs provide relatively weak thrust in all simulations. We conclude that plesiosaurs were forelimb-dominated swimmers that used their hind limbs mainly for maneuverability and stability.
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First hvdc underwater transmission links mainland and Vancouver
Energy Technology Data Exchange (ETDEWEB)
1967-06-01
Delicate and complex equipment for North America's first hvdc underwater transmission line is being installed. The power link will connect British Columbia Hydro and power authority's switchyards on the mainland near Ladner with the western terminus of the transmission scheme at Duncan on Vancouver Island, a distance of 42 miles. Nearly 19 miles of the transmission will be underwater, between Tsawwassen and Galiano Island, and between Parker and Saltspring Islands. The remaining distance will be spanned by a conventional aerial conductor. The submarine conductor cable will be approximately 3-1/2 inches in diameter and its copper core will be sheathed in lead and armored with a ring of steel wire. The cable, which is being manufactured in Calais, France, and coiled in a planned sequence aboard the cable laying vessel, Marcel Bayard, will be placed across the Gulf of Georgia in the spring of 1968.
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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...
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ACCURACY ASSESSMENT OF UNDERWATER PHOTOGRAMMETRIC THREE DIMENSIONAL MODELLING FOR CORAL REEFS
Directory of Open Access Journals (Sweden)
T. Guo
2016-06-01
Full Text Available Recent advances in automation of photogrammetric 3D modelling software packages have stimulated interest in reconstructing highly accurate 3D object geometry in unconventional environments such as underwater utilizing simple and low-cost camera systems. The accuracy of underwater 3D modelling is affected by more parameters than in single media cases. This study is part of a larger project on 3D measurements of temporal change of coral cover in tropical waters. It compares the accuracies of 3D point clouds generated by using images acquired from a system camera mounted in an underwater housing and the popular GoPro cameras respectively. A precisely measured calibration frame was placed in the target scene in order to provide accurate control information and also quantify the errors of the modelling procedure. In addition, several objects (cinder blocks with various shapes were arranged in the air and underwater and 3D point clouds were generated by automated image matching. These were further used to examine the relative accuracy of the point cloud generation by comparing the point clouds of the individual objects with the objects measured by the system camera in air (the best possible values. Given a working distance of about 1.5 m, the GoPro camera can achieve a relative accuracy of 1.3 mm in air and 2.0 mm in water. The system camera achieved an accuracy of 1.8 mm in water, which meets our requirements for coral measurement in this system.
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International Nuclear Information System (INIS)
Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung
2009-01-01
This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.
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Effects of the partially movable control fin with end plate of underwater vehicle
Directory of Open Access Journals (Sweden)
Chul-Min Jung
2017-01-01
Full Text Available Underwater torpedo has control fin with very low aspect ratio due to launching from limited size of cylindrical torpedo tube. If the aspect ratio of control fin of underwater vehicle is very low three-dimensional flow around control fin largely reduces control forces. In this study, the end plate was applied to reduce the three-dimensional flow effects of partially movable control fin of underwater vehicle. Through numerical simulations the flow field around control fin was examined with and without end plate for different flap angles. The pressure, vorticity, lift and torque on the control fin were analyzed and compared to experiments. The comparison have shown a reasonable agreement between numerical and experimental results and the effect of end plate on a low aspect ratio control fin. When the end plate was attached to the movable control fin, the lift increased and the actuator shaft torque did not significantly change. As this means less consumption of the actuator shaft torque compared to the control fin that has the same control force, the inner actuator capacity can be reduced and energy consumption can be saved. Considering this, it is expected to be effectively applied to the control fin design of underwater vehicles such as torpedoes.
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Multi-layer protective armour for underwater shock wave mitigation
Directory of Open Access Journals (Sweden)
Ahmed Hawass
2015-12-01
The strain gauge data and displacement sensors results showed that the multi-layer plates have higher level of underwater shock wave mitigation than the triple aluminum plates with strain and deflection of nearly 50%.
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International Nuclear Information System (INIS)
Zhang, Jingqing; Shen, Yifu; Yao, Xin; Xu, Haisheng; Li, Bo
2014-01-01
Highlights: • 6061-T6 Al and pure Cu were successfully underwater friction stir lap welded. • The underwater weld was analyzed via comparing with the classical weld. • The oxidation of Cu was prevented via the external water. • The amount of Al–Cu intermetallic was decreased by the external water. • The thickness of Al–Cu diffusion interlayer was decreased by the external water. - Abstract: Friction stir welding (classical FSW) is considered to offer advantages over the traditional fusion welding techniques in terms of dissimilar welding. However, some challenges still exist in the dissimilar friction stir lap welding of the aluminum/copper (Al/Cu) metallic couple, among which the formation of the Al–Cu intermetallic compounds is the major problem. In the present research, due to the fact that the formation and growth of the intermetallic are significantly controlled by the thermal history, the underwater friction stir welding (underwater FSW) was employed for fabricating the weld, and the weld obtained by underwater FSW (underwater weld) was analyzed via comparing with the weld obtained under same parameters by classical FSW (classical weld). In order to investigate the effect of the external water on the thermal history, the K-type thermocouple was utilized to measure the weld temperature, and it is found that the water could decrease the peak temperature and shorten the thermal cycle time. The XRD results illustrate that the interface of the welds mainly consist of the Al–Cu intermetallic compounds such as CuAl 2 and Cu 9 Al 4 together with some amounts of Al and Cu, and it is also found that the amount of the intermetallic in the underwater weld is obvious less than in the classical weld. The SEM images and the EDS line scan results also illustrate that the Al–Cu diffusion interlayer at the Al–Cu interface of the underwater weld was obviously thinner than that of the classical weld
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Christensen-Dalsgaard, Jakob; Brandt, Christian; Willis, Katie L; Christensen, Christian Bech; Ketten, Darlene; Edds-Walton, Peggy; Fay, Richard R; Madsen, Peter T; Carr, Catherine E
2012-07-22
Turtles, like other amphibious animals, face a trade-off between terrestrial and aquatic hearing. We used laser vibrometry and auditory brainstem responses to measure their sensitivity to vibration stimuli and to airborne versus underwater sound. Turtles are most sensitive to sound underwater, and their sensitivity depends on the large middle ear, which has a compliant tympanic disc attached to the columella. Behind the disc, the middle ear is a large air-filled cavity with a volume of approximately 0.5 ml and a resonance frequency of approximately 500 Hz underwater. Laser vibrometry measurements underwater showed peak vibrations at 500-600 Hz with a maximum of 300 µm s(-1) Pa(-1), approximately 100 times more than the surrounding water. In air, the auditory brainstem response audiogram showed a best sensitivity to sound of 300-500 Hz. Audiograms before and after removing the skin covering reveal that the cartilaginous tympanic disc shows unchanged sensitivity, indicating that the tympanic disc, and not the overlying skin, is the key sound receiver. If air and water thresholds are compared in terms of sound intensity, thresholds in water are approximately 20-30 dB lower than in air. Therefore, this tympanic ear is specialized for underwater hearing, most probably because sound-induced pulsations of the air in the middle ear cavity drive the tympanic disc.
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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...
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NBL Pistol Grip Tool for Underwater Training of Astronauts
Liszka, Michael; Ashmore, Matthew; Behnke, Mark; Smith, Walter; Waterman, Tod
2011-01-01
A document discusses a lightweight, functional mockup of the Pistol Grip Tool for use during underwater astronaut training. Previous training tools have caused shoulder injuries. This new version is more than 50 percent lighter [in water, weight is 2.4 lb (=1.1 kg)], and can operate for a six-hour training session after 30 minutes of prep for submersion. Innovations in the design include the use of lightweight materials (aluminum and Delrin(Registered TradeMark)), creating a thinner housing, and the optimization of internal space with the removal of as much excess material as possible. This reduces tool weight and maximizes buoyancy. Another innovation for this tool is the application of a vacuum that seats the Orings in place and has shown to be reliable in allowing underwater usage for up to six hours.
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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 ...
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Geophex Airborne Unmanned Survey System
International Nuclear Information System (INIS)
Won, I.L.; Keiswetter, D.
1995-01-01
Ground-based surveys place personnel at risk due to the proximity of buried unexploded ordnance (UXO) items or by exposure to radioactive materials and hazardous chemicals. The purpose of this effort is to design, construct, and evaluate a portable, remotely-piloted, airborne, geophysical survey system. This non-intrusive system will provide stand-off capability to conduct surveys and detect buried objects, structures, and conditions of interest at hazardous locations. During a survey, the operators remain remote from, but within visual distance of, the site. The sensor system never contacts the Earth, but can be positioned near the ground so that weak geophysical anomalies can be detected. The Geophex Airborne Unmanned Survey System (GAUSS) is designed to detect and locate small-scale anomalies at hazardous sites using magnetic and electromagnetic survey techniques. The system consists of a remotely-piloted, radio-controlled, model helicopter (RCH) with flight computer, light-weight geophysical sensors, an electronic positioning system, a data telemetry system, and a computer base-station. The report describes GAUSS and its test results
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Kuwaiti reconstruction project unprecedented in size, complexity
Energy Technology Data Exchange (ETDEWEB)
Tippee, B.
1993-03-15
There had been no challenge like it: a desert emirate ablaze; its main city sacked; the economically crucial oil industry devastated; countryside shrouded in smoke from oil well fires and littered with unexploded ordnance, disabled military equipment, and unignited crude oil. Like the well-documented effort that brought 749 burning wells under control in less than 7 months, Kuwaiti reconstruction had no precedent. Unlike the firefight, reconstruction is no-where complete. It nevertheless has placed two of three refineries back on stream, restored oil production to preinvasion levels, and repaired or rebuilt 17 of 26 oil field gathering stations. Most of the progress has come since the last well fire went out on Nov. 6, 1991. Expatriates in Kuwait since the days of Al-Awda- the return,' in Arabic- attribute much of the rapid progress under Al-Tameer- the reconstruction'- to decisions and preparations made while the well fires still raged. The article describes the planning for Al-Awda, reentering the country, drilling plans, facilities reconstruction, and special problems.
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Modeling the tagged-neutron UXO identification technique using the Geant4 toolkit
International Nuclear Information System (INIS)
Zhou, Y.; Zhu, X.; Wang, Y.; Mitra, S.
2012-01-01
It is proposed to use 14 MeV neutrons tagged by the associated particle neutron time-of-flight technique (APnTOF) to identify the fillers of unexploded ordnances (UXO) by characterizing their carbon, nitrogen and oxygen contents. To facilitate the design and construction of a prototype system, a preliminary simulation model was developed, using the Geant4 toolkit. This work established the toolkit environment for (a) generating tagged neutrons, (b) their transport and interactions within a sample to induce emission and detection of characteristic gamma-rays, and (c) 2D and 3D-image reconstruction of the interrogated object using the neutron and gamma-ray time-of-flight information. Using the modeling, this article demonstrates the novelty of the tagged-neutron approach for extracting useful signals with high signal-to-background discrimination of an object-of-interest from that of its environment. Simulations indicated that an UXO filled with the RDX explosive, hexogen (C 3 H 6 O 6 N 6 ), can be identified to a depth of 20 cm when buried in soil. (author)
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Geophex Airborne Unmanned Survey System
Energy Technology Data Exchange (ETDEWEB)
Won, I.L.; Keiswetter, D.
1995-12-31
Ground-based surveys place personnel at risk due to the proximity of buried unexploded ordnance (UXO) items or by exposure to radioactive materials and hazardous chemicals. The purpose of this effort is to design, construct, and evaluate a portable, remotely-piloted, airborne, geophysical survey system. This non-intrusive system will provide stand-off capability to conduct surveys and detect buried objects, structures, and conditions of interest at hazardous locations. During a survey, the operators remain remote from, but within visual distance of, the site. The sensor system never contacts the Earth, but can be positioned near the ground so that weak geophysical anomalies can be detected. The Geophex Airborne Unmanned Survey System (GAUSS) is designed to detect and locate small-scale anomalies at hazardous sites using magnetic and electromagnetic survey techniques. The system consists of a remotely-piloted, radio-controlled, model helicopter (RCH) with flight computer, light-weight geophysical sensors, an electronic positioning system, a data telemetry system, and a computer base-station. The report describes GAUSS and its test results.
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Inspecting the inside of underwater hull
Valkovic, Vladivoj; Sudac, Davorin
2009-05-01
In order to demonstrate the possibility of identifying the material within ship's underwater hull, sunken ships and other objects on the sea floor tests with the 14 MeV sealed tube neutron generator incorporated inside a small submarine submerged in the test basin filled with sea water have been performed. Results obtained for inspection of diesel fuel and explosive presence behind single and double hull constructions are presented.
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Directory of Open Access Journals (Sweden)
Wendy E D Piniak
Full Text Available Sea turtles spend much of their life in aquatic environments, but critical portions of their life cycle, such as nesting and hatching, occur in terrestrial environments, suggesting that it may be important for them to detect sounds in both air and water. In this study we compared underwater and aerial hearing sensitivities in five juvenile green sea turtles (Chelonia mydas by measuring auditory evoked potential responses to tone pip stimuli. Green sea turtles detected acoustic stimuli in both media, responding to underwater stimuli between 50 and 1600 Hz and aerial stimuli between 50 and 800 Hz, with maximum sensitivity between 200 and 400 Hz underwater and 300 and 400 Hz in air. When underwater and aerial hearing sensitivities were compared in terms of pressure, green sea turtle aerial sound pressure thresholds were lower than underwater thresholds, however they detected a wider range of frequencies underwater. When thresholds were compared in terms of sound intensity, green sea turtle sound intensity level thresholds were 2-39 dB lower underwater particularly at frequencies below 400 Hz. Acoustic stimuli may provide important environmental cues for sea turtles. Further research is needed to determine how sea turtles behaviorally and physiologically respond to sounds in their environment.
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Localization of Energy Harvesting Empowered Underwater Optical Wireless Sensor Networks
Saeed, Nasir
2017-12-20
In this paper, a received signal strength (RSS) based localization technique is developed for energy harvesting underwater optical wireless sensor networks (EH-UOWSNs), where the optical noise sources and channel impairments of seawater pose significant challenges for range estimation. Energy limitation is another major problem due to the limited battery power and difficulty in replacing or recharging the battery of an underwater sensor node. In the proposed framework, sensor nodes with insufficient battery, harvest the energy and starts communicating once it has sufficient energy storage. Network localization is carried out by measuring the RSSs of active nodes, which are modeled based on the underwater optical communication channel characteristics. Thereafter, block kernel matrices are computed for the RSS based range measurements. Unlike the traditional shortest-path approach, the proposed technique reduces the shortest path estimation for each block kernel matrix. Once the complete block kernel matrices are available, a closed form localization technique is developed to find the location of every optical sensor node in the network. Furthermore, an analytical expression for Cramer Rao lower bound (CRLB) is derived as a benchmark to compare the localization performance of the proposed technique. Finally, extensive simulations show that the proposed technique outperforms the well-known network localization techniques.
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Remote-Controlled Inspection Robot for Nuclear Facilities in Underwater Environment
International Nuclear Information System (INIS)
Yasuhiro Miwa; Syuichi Satoh; Naoya Hirose
2002-01-01
A remote-controlled inspection robot for nuclear facilities was developed. This is a underwater robot technology combined with inspection and flaw removal technologies. This report will describe the structure and performance of this robot. The inspection robot consists of two parts. The one is driving equipment, and the other is inspection and grinding units. It can swim in the tank, move around the tank wall, and stay on the inspection area. After that it starts inspection and flaw removal with a special grinding wheel. This technology had been developed to inspect some Radioactive Waste (RW) tanks in operating nuclear power plants. There are many RW tanks in these plants, which human workers can be hard to access because of a high level dose. This technology is too useful for inspection works of human-inaccessible areas. And also, in conventional inspection process, some worker go into the tank and set up scaffolding after full drainage and decontamination. It spends too much time for these preparations. If tank inspection and flaw removal can be performed in underwater, the outage period will be reduced. Remote-controlled process can be performed in underwater. This is the great advantage for plant owners. Since 1999 we have been applying this inspection robot to operating nuclear 11 facilities in Japan. (authors)
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2010-10-01
..., underwater survey, and alternate hull exam intervals. 71.50-3 Section 71.50-3 Shipping COAST GUARD...-3 Drydock examination, internal structural examination, underwater survey, and alternate hull exam... wooden hulls must undergo two drydock and two internal structural examinations within any five year...
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Sources of underwater sound and their characterisation (abstract)
Ainslie, M.A.; Jong, C.A.F. de
2013-01-01
After centuries of speculation, punctuated by occasional theoretical or experimental advances, the first intensive research into underwater sound took place 100 years ago, applied initially to provide advance warning of icebergs after the loss of RMS Titanic in 1912, and later to counter the U-boat
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Underwater sediment-contact radiation survey method
International Nuclear Information System (INIS)
Lee, D.R.; St. Aubin, M.; Welch, S.J.
1991-01-01
The authors are striving to produce a practical system for mapping lateral distributions in gamma activity on submerged sediments. This is in response to the need for quality control and interpretation of data obtainable by sediment sampling and analyses near nuclear utilities. A prototype gamma probe has been constructed and tested. The prototype is essentially a background survey meter packaged in a 53-cm-long x 5.4-cm-diam waterproof vehicle. This usage-shaped vehicle is connected to a cable for towing in contact with bottom sediments of lakes, rivers, and coastal waters. This vehicle, or sediment probe as it is called, was initially developed for measuring sediment electrical conductances, a parameter that can be used to locate underwater areas of groundwater and contaminant upwelling. During towing, the probe does not roll or twist around its longitudinal axis by more than 10 deg, so that sensors, which have been fixed within the vehicle, can be oriented to look up, down, or sideways. In over 450 lin-km of underwater survey, only a single sediment probe has been irretrievably snagged on sunken rocks or other debris. Work in the Ottawa River near the Chalk River Laboratories has shown good agreement among point measurements of river sediment with continuous measurements using the moving probe
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An ancient harbour at Dwarka: Study based on the recent underwater explorations
Digital Repository Service at National Institute of Oceanography (India)
Gaur, A.S.; Sundaresh; Tripati, S.
vegetation were rarely n o ticed. A number of artifacts were discovered du r ing offshore ex - plo rations between 3 and 16 m water depths. Broadly, these artifacts can be d i vi ded into the following two categories. (A) Structures : Underwater... of underwater struc tures at Dwarka. A 19th century map of the area indicates that shoreline has advanced land - ward by 550 m du r ing the last 130 years 24 with an ave - rage of 4 m/yr. The pr e sent offshore explorations have indi - cated that most...
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Directory of Open Access Journals (Sweden)
Yuanfeng ZHANG
2014-02-01
Full Text Available There are many technical challenges for designing large-scale underwater sensor networks, especially the sensor node localization. Although many papers studied for large-scale sensor node localization, previous studies mainly study the location algorithm without the cross layer design for localization. In this paper, by utilizing the network hierarchical structure of underwater sensor networks, we propose a new large-scale underwater acoustic localization scheme based on cross layer design. In this scheme, localization is performed in a hierarchical way, and the whole localization process focused on the physical layer, data link layer and application layer. We increase the pipeline parameters which matched the acoustic channel, added in MAC protocol to increase the authenticity of the large-scale underwater sensor networks, and made analysis of different location algorithm. We conduct extensive simulations, and our results show that MAC layer protocol and the localization algorithm all would affect the result of localization which can balance the trade-off between localization accuracy, localization coverage, and communication cost.
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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.
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Incremental Validity of Personality Measures in Predicting Underwater Performance and Adaptation.
Colodro, Joaquín; Garcés-de-Los-Fayos, Enrique J; López-García, Juan J; Colodro-Conde, Lucía
2015-03-17
Intelligence and personality traits are currently considered effective predictors of human behavior and job performance. However, there are few studies about their relevance in the underwater environment. Data from a sample of military personnel performing scuba diving courses were analyzed with regression techniques, testing the contribution of individual differences and ascertaining the incremental validity of the personality in an environment with extreme psychophysical demands. The results confirmed the incremental validity of personality traits (ΔR 2 = .20, f 2 = .25) over the predictive contribution of general mental ability (ΔR 2 = .07, f 2 = .08) in divers' performance. Moreover, personality (R(L)2 = .34) also showed a higher validity to predict underwater adaptation than general mental ability ( R(L)2 = .09). The ROC curve indicated 86% of the maximum possible discrimination power for the prediction of underwater adaptation, AUC = .86, p personality traits as predictors of an effective response to the changing circumstances of military scuba diving. They also may improve the understanding of the behavioral effects and psychophysiological complications of diving and can also provide guidance for psychological intervention and prevention of risk in this extreme environment.
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Development of a tentacle propulsion technique for underwater application
International Nuclear Information System (INIS)
Alamgir, T; Rashid, M M; Khan, M R
2013-01-01
As robotic technology matures and more platforms are fielded in unstructured real-world situations, the more new areas of applications are being thought for robotic deployment. After successes in industrial robots, researchers are now trying to explore new robots with biological features of different biological creatures like, snake, bird, and spider for their stunning advantages. Underwater exploration using robots is a new avenue. Research on the tentacle robot for underwater application is a new field of research besides the other research in this arena. There are few researches on this topic are explored and mostly are on biological robot. Besides those researches this paper aims to propose and demonstrate another technique to build a tentacle for propulsion purposes. Therefore, in this paper will discuss more on mathematical development for the propulsion technique and its software verification technique in considering the environmental constrains
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LAKE BAIKAL: Underwater neutrino detector
International Nuclear Information System (INIS)
Anon.
1991-01-01
A new underwater detector soon to be deployed in Lake Baikal in Siberia, the world's deepest lake with depths down to 1.7 kilometres, could help probe the deepest mysteries of physics. One of the big unsolved problems of astrophysics is the origin of very energetic cosmic rays. However there are many ideas on how particles could be accelerated by exotic concentrations of matter and provide the majority of the Galaxy's high energy particles. Clarification would come from new detectors picking up the energetic photons and neutrinos from these sources
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van Leijen, A.V.; Rothkranz, L.J.M.; Groen, F.C.A.
2009-01-01
This work reports on an experiment from the Maritime Rapid Environmental Assessment sea trials in 2007, where autonomous underwater vehicles were deployed for environmental assessment. Even though these underwater vehicles are very quiet platforms, this work investigates the potential of vehicle
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Micromachined fiber optic Fabry-Perot underwater acoustic probe
Wang, Fuyin; Shao, Zhengzheng; Hu, Zhengliang; Luo, Hong; Xie, Jiehui; Hu, Yongming
2014-08-01
One of the most important branches in the development trend of the traditional fiber optic physical sensor is the miniaturization of sensor structure. Miniature fiber optic sensor can realize point measurement, and then to develop sensor networks to achieve quasi-distributed or distributed sensing as well as line measurement to area monitoring, which will greatly extend the application area of fiber optic sensors. The development of MEMS technology brings a light path to address the problems brought by the procedure of sensor miniaturization. Sensors manufactured by MEMS technology possess the advantages of small volume, light weight, easy fabricated and low cost. In this paper, a fiber optic extrinsic Fabry-Perot interferometric underwater acoustic probe utilizing micromachined diaphragm collaborated with fiber optic technology and MEMS technology has been designed and implemented to actualize underwater acoustic sensing. Diaphragm with central embossment, where the embossment is used to anti-hydrostatic pressure which would largely deflect the diaphragm that induce interferometric fringe fading, has been made by double-sided etching of silicon on insulator. By bonding the acoustic-sensitive diaphragm as well as a cleaved fiber end in ferrule with an outer sleeve, an extrinsic Fabry-Perot interferometer has been constructed. The sensor has been interrogated by quadrature-point control method and tested in field-stable acoustic standing wave tube. Results have been shown that the recovered signal detected by the sensor coincided well with the corresponding transmitted signal and the sensitivity response was flat in frequency range from 10 Hz to 2kHz with the value about -154.6 dB re. 1/μPa. It has been manifest that the designed sensor could be used as an underwater acoustic probe.
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Underwater Adhesives Retrofit Pipelines with Advanced Sensors
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.
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Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network
Directory of Open Access Journals (Sweden)
Zhibin Yu
2017-01-01
Full Text Available Underwater inherent optical properties (IOPs are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.
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Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network.
Yu, Zhibin; Wang, Yubo; Zheng, Bing; Zheng, Haiyong; Wang, Nan; Gu, Zhaorui
2017-01-01
Underwater inherent optical properties (IOPs) are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA) deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.
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Submerged Pagodas of Mahabalipuram - Study based on underwater investigations
Digital Repository Service at National Institute of Oceanography (India)
Sundaresh; Gaur, A.S.; Tripati, S.; Vora, K.H.; Rao, K.M.
damaged and scattered due to underwater strong currents and swells. Though thick biological growth cover the details, if any, on the stone blocks, based on the structural alignment and form, they are considered to be man made structures. The available data...
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MA-23-6000: underwater bilateral servo master slave manipulator
International Nuclear Information System (INIS)
Vertut, Jean
The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr
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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%. PMID:26351656
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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%.
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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%.
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Study on the pressure self-adaptive water-tight junction box in underwater vehicle
Directory of Open Access Journals (Sweden)
Haocai Huang
2012-09-01
Full Text Available Underwater vehicles play a very important role in underwater engineering. Water-tight junction box (WJB is one of the key components in underwater vehicle. This paper puts forward a pressure self-adaptive water-tight junction box (PSAWJB which improves the reliability of the WJB significantly by solving the sealing and pressure problems in conventional WJB design. By redundancy design method, the pressure self-adaptive equalizer (PSAE is designed in such a way that it consists of a piston pressure-adaptive compensator (PPAC and a titanium film pressure-adaptive compensator (TFPAC. According to hydro-mechanical simulations, the operating volume of the PSAE is more than or equal to 11.6 % of the volume of WJB liquid system. Furthermore, the required operating volume of the PSAE also increases as the gas content of oil, hydrostatic pressure or temperature difference increases. The reliability of the PSAWJB is proved by hyperbaric chamber tests.
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Underwater photography - A visual survey method
Digital Repository Service at National Institute of Oceanography (India)
Sharma, R.
Content-Type text/plain; charset=UTF-8 173 Underwater photography - A visual survey method Rahul Sharma National Institute of Oceanography, Dona Paula, Goa-403004 rsharma@nio.org Introduction “Photography as a means of observing...-sea photographs were those made by Maurice Ewing and his co-workers during cruises on Atlantis in 1940-48. Their subject was the seafloor and their method of clicking was to trigger the camera mechanically when its mounting struck bottom. This is the only...
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Underwater Activities in the Soviet Union
1975-03-01
morska , no. 12, 1967, 558-559. Eighty hours under the ice. Poseidon, no. 10 (70), 1967, inside front cover, 433-438, and 465. Fisera, M. A tent, a...Schiffbautechnik, no. 10, 1968. 568-574. 222. Kullnski, J. Meduza-2 underwater base for divers. Technika i gospodarka morska , no. 1, 1969, 44-46. 223...Technika i gospodarka morska , no. 4, 1973, 225-226. Baras, J., S. A. Guljar, and J. N. Kiklewitsch. The Ikhtiandr experiments. Poseidon, no. 4(136
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Kastelein, R.A.; Heul, S. van der; Verboom, W.C.; Triesscheijn, R.J.V.; Jennings, N.V.
2006-01-01
To prevent grounding of ships and collisions between ships in shallow coastal waters, an underwater data collection and communication network (ACME) using underwater sounds to encode and transmit data is currently under development. Marine mammals might be affected by ACME sounds since they may use
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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 ...
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Indications and complications of tube thoracostomy with improvised underwater seal bottles
Directory of Open Access Journals (Sweden)
Sunday A Edaigbini
2014-01-01
Full Text Available Background: Tube thoracostomy is a lifesaving and frequently performed procedure in hospitals where the expertise and necessary tools are available. Where the ideal drainage receptacle is unavailable, the underwater seal device can be improvised with bottled water plastic can especially in emergency situations. Aims and Objectives: To determine the frequencies of the various indications and complications of tube thoracostomy with improvised underwater seal. Materials and Methods: A cross-sectional study with a structured proforma was used for assessment over a 3-year period (May 2010-April 2013. The proforma was filled at the time of the procedure by the performing surgeon and patients were followed up with serial chest X-rays until certified cured. A 1.5 L bottled water container was used as the underwater seal receptacle. The data was analysed with SPSS 15 software program. Results: A total of 167 patients were managed. There were 106 (63.5% males and 61 (36.5% females. The mean age was 34.85 ± 16.72 with a range of 1-80 years. The most frequent indication was for malignant/paramalignant effusion, 46 (27.5%. Others were trauma, 44 (26.3%, Parapneumonic effusion, 20 (12%, postthoracotomy 14 (8.4%, empyema thoracis 12 (7.2%, heart disease and tuberculous effusion 11 (6.6% each, pneumothorax 8 (4.8% and misdiagnosis 1 (0.6%. A hundred and one (60.5% of the procedures were performed by registrars, 41 (24.6% by consultants, house officers 15 (9% and senior registrars 10 (6%. The overall complication rate was 16.8% with the more frequent complications been empyema (5.6% and pneumothorax (3.6%. The average duration of tube placement was 13.02 ± 12.362 days and range of 1-110 days. Conclusion : Tube thoracostomy can be a relatively safe procedure with acceptable complication rates even with improvised underwater seal drainage bottles.
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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)
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Influence of range-gated intensifiers on underwater imaging system SNR
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
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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.
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Acoustic and Vibration Control for an Underwater Structure under Mechanical Excitation
Directory of Open Access Journals (Sweden)
Shi-Jian Zhu
2014-01-01
Full Text Available Acoustic and vibration control for an underwater structure under mechanical excitation has been investigated by using negative feedback control algorithm. The underwater structure is modeled with cylindrical shells, conical shells, and circular bulkheads, of which the motion equations are built with the variational approach, respectively. Acoustic property is analyzed by the Helmholtz integration formulation with boundary element method. Based on negative feedback control algorithm, a control loop with a coupling use of piezoelectric sensor and actuator is built, and accordingly some numerical examples are carried out on active control of structural vibration and acoustic response. Effects of geometrical and material parameters on acoustic and vibration properties are investigated and discussed.
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Development of maintenance technology with underwater TIG welding for spent fuel storage pool
International Nuclear Information System (INIS)
Obana, Takeshi; Hamada, Yasumitsu; Ooeda, Kaoru; Katou, Masahide; Ootsuka, Toshihiro; Toyoda, Seiichi; Hosogane, Atsushi
2007-01-01
The core technology of underwater TIG welding process has been developed and welding equipment system has been manufactured, for application to the maintenance of the spent fuel storage pool of Rokkasho reprocessing plant. Basic experiments for understanding the conditions of dry area and the range of welding conditions was performed, and mock examination for simulation of real environment by using the developed welding equipment was also carried out to judge the applicability of the system. For the purpose that can be selected water removing method for different spatial conditions of the parts to be maintained in underwater, two kinds of welding equipment systems of Chamber type and Partition type were developed and manufactured. On the basis of fundamental experiments, the conditions of dry area formation and welding parameters range for high-reliability weld were discussed. Thus the proper condition in this process was able to be established. With the welding equipment systems of the Chamber type and Partition type, the practical use examination of underwater TIG welding process was executed by mock examination for simulating the real environment. As a result, it was confirmed that the underwater TIG welding could obtain the same reliability as a usual in-air TIG welding, and the operation and the control at remote distance were also possible. And the reliability of the patch-plate fillet weld could be evaluated by remote inspection with the expansion visual test. (author)
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Underwater sound and vibrations due to oil & gas activities
Beek, P.J.G. van; Binnerts, B.; Nennie, E.D.; Benda-Beckmann, A.M. von
2014-01-01
In the oil & gas industry there is a trend towards more subsea activities. To improve gas recovery from existing and new fields at greater depths, the produced gas will be compressed, processed and transported via subsea templates and underwater networks (pipelines, flexible risers, etc.). Besides
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A highly versatile autonomous underwater vehicle with biomechanical propulsion
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.
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Efficient Underwater RSS Value to Distance Inversion Using the Lambert Function
Directory of Open Access Journals (Sweden)
Majid Hosseini
2014-01-01
Full Text Available There are many applications for using wireless sensor networks (WSN in ocean science; however, identifying the exact location of a sensor by itself (localization is still a challenging problem, where global positioning system (GPS devices are not applicable underwater. Precise distance measurement between two sensors is a tool of localization and received signal strength (RSS, reflecting transmission loss (TL phenomena, is widely used in terrestrial WSNs for that matter. Underwater acoustic sensor networks have not been used (UASN, due to the complexity of the TL function. In this paper, we addressed these problems by expressing underwater TL via the Lambert W function, for accurate distance inversion by the Halley method, and compared this to Newton-Raphson inversion. Mathematical proof, MATLAB simulation, and real device implementation demonstrate the accuracy and efficiency of the proposed equation in distance calculation, with fewer iterations, computation stability for short and long distances, and remarkably short processing time. Then, the sensitivities of Lambert W function and Newton-Raphson inversion to alteration in TL were examined. The simulation results showed that Lambert W function is more stable to errors than Newton-Raphson inversion. Finally, with a likelihood method, it was shown that RSS is a practical tool for distance measurement in UASN.
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A Localization Based Cooperative Routing Protocol for Underwater Wireless Sensor Networks
Directory of Open Access Journals (Sweden)
Nadeem Javaid
2017-01-01
Full Text Available Localization is one of the major aspects in underwater wireless sensor networks (UWSNs. Therefore, it is important to know the accurate position of the sensor node in large scale applications like disaster prevention, tactical surveillance, and monitoring. Due to the inefficiency of the global positioning system (GPS in UWSN, it is very difficult to localize a node in underwater environment compared to terrestrial networks. To minimize the localization error and enhance the localization coverage of the network, two routing protocols are proposed; the first one is mobile autonomous underwater vehicle (MobiL-AUV and the second one is cooperative MobiL (CO-MobiL. In MobiL-AUV, AUVs are deployed and equipped with GPS and act as reference nodes. These reference nodes are used to localize all the nonlocalized ordinary sensor nodes in order to reduce the localization error and maximize the network coverage. CO-MobiL is presented in order to improve the network throughput by using the maximal ratio combining (MRC as diversity technique which combines both signals, received from the source and received from the relay at the destination. It uses amplify-and-forward (AF mechanism to improve the signal between the source and the destination. To support our claims, extensive simulations are performed.
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Measurement and analysis of self-noise in hybrid-driven underwater gliders
Directory of Open Access Journals (Sweden)
LIU Lu
2017-08-01
Full Text Available The Hybrid-driven Underwater Glider (HUG is a new type of submersible vehicle which combines the functions of traditional Autonomous Underwater Vehicles(AUVand Autonomous Underwater Gliders(AUG. In order to study its noise source distribution and basic self-noise characteristics, a self-noise acquisition system based on the HUG was designed and developed, and a noise analysis test carried out in a free-field pool. In August 2016, the sea trial of the Petrel II glider was conducted in the South China Sea, with observation data at a depth range of 1 000 m as the research object. The self-noise data of the glider platform under different working conditions was obtained through the step-by-step operation method. The experimental analysis and results show that the self-noise acquisition system is stable. The contribution of mechanical noise to self-noise is greatest when the glider works in the gliding mode, while the self-noise band above 500 Hz is closely related to the work of the buoyancy adjustment unit, and peaks at 1 kHz. According to the analysis of the basic characteristics of self-noise, this provides some guidance for the implementation of vibration and noise reduction.
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A matched Bow-tie antenna at 433MHz for use in underwater wireless sensor networks
International Nuclear Information System (INIS)
Abdou, A A; Shaw, A; Mason, A; Al-Shamma'a, A; Cullen, J; Wylie, S; Diallo, M
2013-01-01
Electromagnetic (EM) wave propagation underwater is been disregarded because of attenuation at high frequencies, however the theory predicts that propagation is possible at some useful distance in the lower Industrial, Scientific and Medical (ISM) band. Common transceivers rely on narrowband antennas and matching circuit. The aim of this paper is to design a broadband 433MHz bow-tie antenna and experiment it in air and water without a matching circuit. This antenna could be attached to wireless transceivers and form a Wireless Sensor Network for deployment in various underwater applications. The bow-tie antennas were designed, simulated and constructed in laboratory. Experiments were setup carefully by using a completely isolated transmitter from electronics to avoid airborne transmission. The 433MHz. bow-tie proved its suitability for use in Underwater.
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Acoustically sticky topographic metasurfaces for underwater sound absorption.
Lee, Hunki; Jung, Myungki; Kim, Minsoo; Shin, Ryung; Kang, Shinill; Ohm, Won-Suk; Kim, Yong Tae
2018-03-01
A class of metasurfaces for underwater sound absorption, based on a design principle that maximizes thermoviscous loss, is presented. When a sound meets a solid surface, it leaves a footprint in the form of thermoviscous boundary layers in which energy loss takes place. Considered to be a nuisance, this acoustic to vorticity/entropy mode conversion and the subsequent loss are often ignored in the existing designs of acoustic metamaterials and metasurfaces. The metasurface created is made of a series of topographic meta-atoms, i.e., intaglios and reliefs engraved directly on the solid object to be concealed. The metasurface is acoustically sticky in that it rather facilitates the conversion of the incident sound to vorticity and entropy modes, hence the thermoviscous loss, leading to the desired anechoic property. A prototype metasurface machined on a brass object is tested for its anechoicity, and shows a multitude of absorption peaks as large as unity in the 2-5 MHz range. Computations also indicate that a topographic metasurface is robust to hydrostatic pressure variation, a quality much sought-after in underwater applications.
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Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility.
Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios
2016-03-19
Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability.
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Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility
Directory of Open Access Journals (Sweden)
Mariam Akbar
2016-03-01
Full Text Available Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS, i.e., an autonomous underwater vehicle (AUV, and also courier nodes (CNs, to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability.
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Wang, Zhen-yu; Yu, Jian-cheng; Zhang, Ai-qun; Wang, Ya-xing; Zhao, Wen-tao
2017-12-01
Combining high precision numerical analysis methods with optimization algorithms to make a systematic exploration of a design space has become an important topic in the modern design methods. During the design process of an underwater glider's flying-wing structure, a surrogate model is introduced to decrease the computation time for a high precision analysis. By these means, the contradiction between precision and efficiency is solved effectively. Based on the parametric geometry modeling, mesh generation and computational fluid dynamics analysis, a surrogate model is constructed by adopting the design of experiment (DOE) theory to solve the multi-objects design optimization problem of the underwater glider. The procedure of a surrogate model construction is presented, and the Gaussian kernel function is specifically discussed. The Particle Swarm Optimization (PSO) algorithm is applied to hydrodynamic design optimization. The hydrodynamic performance of the optimized flying-wing structure underwater glider increases by 9.1%.
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Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis.
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.
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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.
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Synthesis of a Controller for Swarming Robots Performing Underwater Mine Countermeasures
National Research Council Canada - National Science Library
Tan, Yong
2004-01-01
This Trident Scholar project involved the synthesis of a swarm controller that is suitable for controlling movements of a group of autonomous robots performing underwater mine countermeasures (UMCM...
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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
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A COMPARISON BETWEEN ACTIVE AND PASSIVE TECHNIQUES FOR UNDERWATER 3D APPLICATIONS
Directory of Open Access Journals (Sweden)
G. Bianco
2012-09-01
Full Text Available In the field of 3D scanning, there is an increasing need for more accurate technologies to acquire 3D models of close range objects. Underwater exploration, for example, is very hard to perform due to the hostile conditions and the bad visibility of the environment. Some application fields, like underwater archaeology, require to recover tridimensional data of objects that cannot be moved from their site or touched in order to avoid possible damages. Photogrammetry is widely used for underwater 3D acquisition, because it requires just one or two digital still or video cameras to acquire a sequence of images taken from different viewpoints. Stereo systems composed by a pair of cameras are often employed on underwater robots (i.e. ROVs, Remotely Operated Vehicles and used by scuba divers, in order to survey archaeological sites, reconstruct complex 3D structures in aquatic environment, estimate in situ the length of marine organisms, etc. The stereo 3D reconstruction is based on the triangulation of corresponding points on the two views. This requires to find in both images common points and to match them (correspondence problem, determining a plane that contains the 3D point on the object. Another 3D technique, frequently used in air acquisition, solves this point-matching problem by projecting structured lighting patterns to codify the acquired scene. The corresponding points are identified associating a binary code in both images. In this work we have tested and compared two whole-field 3D imaging techniques (active and passive based on stereo vision, in underwater environment. A 3D system has been designed, composed by a digital projector and two still cameras mounted in waterproof housing, so that it can perform the various acquisitions without changing the configuration of optical devices. The tests were conducted in a water tank in different turbidity conditions, on objects with different surface properties. In order to simulate a typical
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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
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Role of Confined Water in Underwater Adhesion
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.
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Injury rate in a helicopter underwater escape trainer (HUET) from 2005-2012.
Brooks, Christopher J; MacDonald, Conor V; Gibbs, Peter N A
2014-08-01
Helicopter underwater escape training (HUET) carries a potential for injury and this paper identifies the injury rate. A marine survival training school registry of all students trained between 2005-2012 in HUET and the coinciding accident records were examined. There were 8902 students trained in a helicopter underwater escape simulator for a total of 59,245 underwater escapes. There were 40 cases where only first-aid was required and 3 serious injuries (a laceration requiring 5 sutures, 1 dislocated shoulder, and 1 water aspiration requiring hospitalization). There were no deaths and no problems reported with using the Emergency Breathing System (EBS) or Air Pocket. Of the injuries, 11 were due to the student using a poor escape technique. The overall probability of injury was 0.74 per 1000 ascents. In HUET training, there is a very low injury rate with almost no significant severity. Although not scientifically proven, this would suggest that the low incident rate is due to good medical screening and the attention given by instructors to anxious students. Compared to other training such as diving, parachute jumping, and submarine escape training, the rate of injury was considerably lower.
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Development of measuring and control systems for underwater cutting of radioactive components
International Nuclear Information System (INIS)
Drews, P.; Fuchs, K.
1990-01-01
The underwater dismantling of nuclear power plants has to be remotely controlled with simultaneous optical control by underwater cameras. It is this optical control in particular that leads to problems as, for example, abrasive wheel cutting is subjected to a wide range of interferences so that a minimum of contrast and blurred contours of camera images must be accounted for. This paper describes a new image processing system that has been developed in addition to the use of a modified underwater TV camera for optical cutting process control (plasma and abrasive wheel cutting). Workpiece recognition is performed through the comparison of actually measured objects with pre-trained reference patterns allowing the determination of object location and orientation, the data of which are then supplied to the handling controller. A completely satisfactory prototype system has been built, which is capable of performing image analysis (workpiece recognition, workpiece position, etc.) as well as the control of a handling system with an inductive sensor (distance detection, edge recognition and distance control). With an additional camera the operator has the means of visual process observation. The overall functioning of the system has been tested and demonstrated with a four-axes handling system. (author)
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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
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In Situ Preservation of Underwater Cultural Heritage as an International Legal Principle
Aznar, Mariano J.
2018-04-01
In situ preservation is not necessarily the best underwater archaeological solution, nor is it legally required in all circumstances. Rather, it is the first and, perhaps, the most technically desirable option, when archaeological, legal, and political circumstances—in that order—so advise. Otherwise, the removal of the historical object or objects found under the sea and their conservation outside the marine environment is another plausible option, provided the archaeological standards accepted by the international scientific community are met. This paper aims to clarify the legal contours of this rule, as codified by the UNESCO Convention on the Protection of the Underwater Cultural Heritage. To this end, it proposes the following basic hypothesis: in situ preservation, as a current legal principle in underwater archaeological activities, is the first option for the protection of that heritage; because it is an option, this preservation may take a different form depending on the circumstances; nothing legally prevents the removal of remains from the seabed, provided it is done properly and they are appropriately preserved; and, finally, if necessary, this should be done as soon as possible, given the circumstances.
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Localization of Energy Harvesting Empowered Underwater Optical Wireless Sensor Networks
Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim
2017-01-01
with insufficient battery, harvest the energy and starts communicating once it has sufficient energy storage. Network localization is carried out by measuring the RSSs of active nodes, which are modeled based on the underwater optical communication channel
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Event localization in underwater wireless sensor networks using Monitoring Courses
Debont, Matthew John Robert; Jamshaid, Kamran; Shihada, Basem; Ho, Pin-Han
2012-01-01
We propose m-courses (Monitoring Courses), a novel solution to localize events in an underwater wireless sensor network. These networks consists of surface gateways and relay nodes. GPS can localize the position of surface gateways which can
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Isolation and biochemical characterization of underwater adhesives from diatoms.
Poulsen, Nicole; Kröger, Nils; Harrington, Matthew J; Brunner, Eike; Paasch, Silvia; Buhmann, Matthias T
2014-01-01
Many aquatic organisms are able to colonize surfaces through the secretion of underwater adhesives. Diatoms are unicellular algae that have the capability to colonize any natural and man-made submerged surfaces. There is great technological interest in both mimicking and preventing diatom adhesion, yet the biomolecules responsible have so far remained unidentified. A new method for the isolation of diatom adhesive material is described and its amino acid and carbohydrate composition determined. The adhesive materials from two model diatoms show differences in their amino acid and carbohydrate compositions, but also share characteristic features including a high content of uronic acids, the predominance of hydrophilic amino acid residues, and the presence of 3,4-dihydroxyproline, an extremely rare amino acid. Proteins containing dihydroxyphenylalanine, which mediate underwater adhesion of mussels, are absent. The data on the composition of diatom adhesives are consistent with an adhesion mechanism based on complex coacervation of polyelectrolyte-like biomolecules.
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Cosmic ray muons and their associated shower particles underwater
International Nuclear Information System (INIS)
Anderson, S.N.
1978-01-01
The nucleonic contamination of the underwater cosmic ray muon flux is studied as a function of depth. Stacks of Ilford G-5 photographic emulsions were assembled and processed in an underground laboratory (9 hg/cm 2 below sea level). In between the assembly and the development they were exposed, stored in small pressure chambers, at various depths underwater for periods of time up to six months. At each depth approximately 10 cm 3 of emulsion were scanned for stopping particles and nuclear disintegrations. Altogether approximately 2000 stopping muons, 50 stopping mesons, and 200 recoil protons were found and analyzed. Comparison with theories as to how the underground cosmic ray muon beam produces a secondary flux of nuclearly active particles are made. Additionally measurements on the residue flux at 440mwe underground are made. Projected rates from the shallow depth studies are used to analyze the results at large depth. Anomalous particle production is observed at the large depth
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The cormorant ear – an adaptation to underwater hearing?
DEFF Research Database (Denmark)
Larsen, Ole Næsbye; Wahlberg, Magnus; Christensen-Dalsgaard, Jakob
Depending on species, diving birds may spend 2-20 minutes under water during a single foraging dive when they may reach depths ranging from one to several hundred meters. Surprisingly little is known about avian underwater hearing despite the fact that several hundred species dive for food. We do...... was similar to that reported for birds of the same size in air. The bandwidth and slopes of the audiograms were similar in air and water. However, in air the highest sensitivity was found at 1-2 kHz, whereas it was displaced towards lower frequencies under water. These results suggest that cormorants have...... rather poor in-air hearing compared to similar-sized birds. Their underwater hearing sensitivity, however, is higher than what would have been expected for purely air-adapted ears. A possible reason for the poor in-air sensitivity is the special ear anatomy with the central eardrum shaped as a rigid...