Falkenberg, Thomas; Gregersen, Rene Tavs; Blanke, Mogens
This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using dierent approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal...... based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude...
FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor... VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING 5. FUNDING NUMBERS 6. AUTHOR(S) Jake A. Jones 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS...underwater vehicles (AUVs), robot vision, autonomy, visual odometry, underwater color shift, optical properties of water 15. NUMBER OF PAGES 75 16
Full Text Available This paper introduces a novel thruster fault diagnosis and accommodation system for open-frame underwater vehicles with abrupt faults. The proposed system consists of two subsystems: a fault diagnosis subsystem and a fault accommodation sub-system. In the fault diagnosis subsystem a ICMAC(Improved Credit Assignment Cerebellar Model Articulation Controllers neural network is used to realize the on-line fault identification and the weighting matrix computation. The fault accommodation subsystem uses a control algorithm based on weighted pseudo-inverse to find the solution of the control allocation problem. To illustrate the proposed method effective, simulation example, under multi-uncertain abrupt faults, is given in the paper.
Full Text Available A novel thruster fault diagnosis and accommodation method for open-frame underwater vehicles is presented in the paper. The proposed system consists of two units: a fault diagnosis unit and a fault accommodation unit. In the fault diagnosis unit an ICMAC (Improved Credit Assignment Cerebellar Model Articulation Controllers neural network information fusion model is used to realize the fault identification of the thruster. The fault accommodation unit is based on direct calculations of moment and the result of fault identification is used to find the solution of the control allocation problem. The approach resolves the continuous faulty identification of the UV. Results from the experiment are provided to illustrate the performance of the proposed method in uncertain continuous faulty situation.
Full Text Available Manipulator is of vital importance to the remotely operated vehicle (ROV, especially when it works in the nuclear reactor pool. Two degrees of freedom (2-DOF underwater manipulator is designed to the ROV, which is composed of control cabinet, buoyancy module, propellers, depth gauge, sonar, a monocular camera and other attitude sensors. The manipulator can be used to salvage small parts like bolts and nuts to accelerate the progress of the overhaul. It can move in the vertical direction alone through the control of the second joint, and can grab object using its unique designed gripper. A monocular vision based localization algorithm is applied to help the manipulator work independently and intelligently. Eventually, field experiment is conducted in the swimming pool to verify the effectiveness of the manipulator and the monocular vision based algorithm.
Zhao, Bo; Skjetne, Roger; Blanke, Mogens
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...
Full Text Available Assessing the risks of steering system faults in underwater vehicles is a human-machine-environment (HME systematic safety field that studies faults in the steering system itself, the driver’s human reliability (HR and various environmental conditions. This paper proposed a fault risk assessment method for an underwater vehicle steering system based on virtual prototyping and Monte Carlo simulation. A virtual steering system prototype was established and validated to rectify a lack of historic fault data. Fault injection and simulation were conducted to acquire fault simulation data. A Monte Carlo simulation was adopted that integrated randomness due to the human operator and environment. Randomness and uncertainty of the human, machine and environment were integrated in the method to obtain a probabilistic risk indicator. To verify the proposed method, a case of stuck rudder fault (SRF risk assessment was studied. This method may provide a novel solution for fault risk assessment of a vehicle or other general HME system.
Full Text Available Autonomous Underwater Vehicles (AUVs generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.
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.
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.
Zool H. Ismail
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.
Baldini, Alessandro; Ciabattoni, Lucio; Felicetti, Riccardo; Ferracuti, Francesco; Freddi, Alessandro; Monteriù, Andrea
In this paper, we present a two stages actuator Fault Tolerant Control (FTC) strategy for the trajectory tracking of a Remotely Operated Vehicle (ROV). Dynamic Surface Control (DSC) is used to generate the moment and forces required by the vehicle to perform the desired motion. In the second stage of the control system, a fault tolerant thruster allocation policy is employed to distribute moment and forces among the thrusters. Exhaustive simulations have been carried out in order to compare the performance of the proposed solution with respect to different control techniques (i.e., PID, backstepping and sliding mode approaches). Saturations, actuator dynamics, sensor noises and time discretization are considered, in fault-free and faulty conditions. Furthermore, in order to provide a fair and exhaustive comparison of the control techniques, the same meta-heuristic approach, namely Artificial Bee Colony algorithm (ABC), has been employed to tune the controllers parameters. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Mingjun Zhang; Baoji Yin; Xing Liu; Jia Guo
A novel thruster fault identification method for autonomous underwater vehicle is presented in this article. It uses the proposed peak region energy method to extract fault feature and uses the proposed least square grey relational grade method to estimate fault degree. The peak region energy method is developed from fusion feature modulus maximum method. It applies the fusion feature modulus maximum method to get fusion feature and then regards the maximum of peak region energy in the convol...
Full Text Available This paper presents a vision-based navigation system for an autonomous underwater vehicle in semistructured environments with poor visibility. In terrestrial and aerial applications, the use of visual systems mounted in robotic platforms as a control sensor feedback is commonplace. However, robotic vision-based tasks for underwater applications are still not widely considered as the images captured in this type of environments tend to be blurred and/or color depleted. To tackle this problem, we have adapted the lαβ color space to identify features of interest in underwater images even in extreme visibility conditions. To guarantee the stability of the vehicle at all times, a model-free robust control is used. We have validated the performance of our visual navigation system in real environments showing the feasibility of our approach.
Full Text Available A novel thruster fault identification method for autonomous underwater vehicle is presented in this article. It uses the proposed peak region energy method to extract fault feature and uses the proposed least square grey relational grade method to estimate fault degree. The peak region energy method is developed from fusion feature modulus maximum method. It applies the fusion feature modulus maximum method to get fusion feature and then regards the maximum of peak region energy in the convolution operation results of fusion feature as fault feature. The least square grey relational grade method is developed from grey relational analysis algorithm. It determines the fault degree interval by the grey relational analysis algorithm and then estimates fault degree in the interval by least square algorithm. Pool experiments of the experimental prototype are conducted to verify the effectiveness of the proposed methods. The experimental results show that the fault feature extracted by the peak region energy method is monotonic to fault degree while the one extracted by the fusion feature modulus maximum method is not. The least square grey relational grade method can further get an estimation result between adjacent standard fault degrees while the estimation result of the grey relational analysis algorithm is just one of the standard fault degrees.
Full Text Available Open-frame is one of the major types of structures of Remote Operated Vehicles (ROV because it is easy to place sensors and operations equipment onboard. Firstly, this paper designed a petri-based recurrent neural network (PRFNN to improve the robustness with response to nonlinear characteristics and strong disturbance of an open-frame underwater vehicle. A threshold has been set in the third layer to reduce the amount of calculations and regulate the training process. The whole network convergence is guaranteed with the selection of learning rate parameters. Secondly, a fault tolerance control (FTC scheme is established with the optimal allocation of thrust. Infinity-norm optimization has been combined with 2-norm optimization to construct a bi-criteria primal-dual neural network FTC scheme. In the experiments and simulation, PRFNN outperformed fuzzy neural networks in motion control, while bi-criteria optimization outperformed 2-norm optimization in FTC, which demonstrates that the FTC controller can improve computational efficiency, reduce control errors, and implement fault tolerable thrust allocation.
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.
Blas, Morten Rufus
The emergence of widely available vision technologies is enabling for a wide range of automation tasks in industry and other areas. Agricultural vehicle guidance systems have benefitted from advances in 3D vision based on stereo camera technology. By automatically guiding vehicles along crops...... the field that is seen by the stereo camera, it is possible to support the guidance system by storing salient information about the environment. By tracking the motion of the vehicle, vision output can be fused over time to create more reliable and robust estimates of crop location. This thesis approaches...... in tracking vehicle motion using 3D vision is demonstrated to allow unprecedented high accuracy maps to be created of the local environment. Features in the environment are extracted and tracked using novel feature detectors relying on approximating the Laplacian operator with a bi-level octagonal kernel...
Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan
This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera’s viewing axis, into the environment. Using both lasers...... for distance estimation, the sensor offers three dimensional interpretation of the environment. This is obtained by triangulation of points extracted from the image using the Hough Transform. We evaluate the system in simulation and by physical proof-of-concept experiments on an OpenROV platform...
Wang, Xiaoxian; Guo, Jie; Lu, Siliang; Shen, Changqing; He, Qingbo
Diagnosis of motor bearing faults under variable speed is a problem. In this study, a new computer-vision-based order tracking method is proposed to address this problem. First, a video recorded by a high-speed camera is analyzed with the speeded-up robust feature extraction and matching algorithm to obtain the instantaneous rotating speed (IRS) of the motor. Subsequently, an audio signal recorded by a microphone is equi-angle resampled for order tracking in accordance with the IRS curve, through which the frequency-domain signal is transferred to an angular-domain one. The envelope order spectrum is then calculated to determine the fault characteristic order, and finally the bearing fault pattern is determined. The effectiveness and robustness of the proposed method are verified with two brushless direct-current motor test rigs, in which two defective bearings and a healthy bearing are tested separately. This study provides a new noninvasive measurement approach that simultaneously avoids the installation of a tachometer and overcomes the disadvantages of tacholess order tracking methods for motor bearing fault diagnosis under variable speed.
Micklethwaite, S.; Vasuki, Y.; Turner, D.; Kovesi, P.; Holden, E.; Lucieer, A.
Our ability to characterise fractures depends upon the accuracy and precision of field techniques, as well as the quantity of data that can be collected. Unmanned Aerial Vehicles (UAVs; otherwise known as "drones") and photogrammetry, provide exciting new opportunities for the accurate mapping of fracture networks, over large surface areas. We use a highly stable, 8 rotor, UAV platform (Oktokopter) with a digital SLR camera and the Structure-from-Motion computer vision technique, to generate point clouds, wireframes, digital elevation models and orthorectified photo mosaics. Furthermore, new image analysis methods such as phase congruency are applied to the data to semiautomatically map fault networks. A case study is provided of intersecting fault networks and associated damage, from Piccaninny Point in Tasmania, Australia. Outcrops >1 km in length can be surveyed in a single 5-10 minute flight, with pixel resolution ~1 cm. Centimetre scale precision can be achieved when selected ground control points are measured using a total station. These techniques have the potential to provide rapid, ultra-high resolution mapping of fracture networks, from many different lithologies; enabling us to more accurately assess the "fit" of observed data relative to model predictions, over a wide range of boundary conditions.igh resolution DEM of faulted outcrop (Piccaninny Point, Tasmania) generated using the Oktokopter UAV (inset) and photogrammetric techniques.
The first underwater panoramic images were added to Google Maps™, the company announced on 25 September. This first “underwater Street View collection,” launched in partnership with the Caitlin Seaview Survey, provides people with the opportunity to “become the next virtual Jacques Cousteau.” For more information, see: maps.google.com/ocean.
Dick, James L
There is thus provided an underwater vehicle having facility for maneuvering alongside a retrieving vehicle, as by manipulation of bow and stern planes, for engaging a hull surface of the retrieving...
National Oceanic and Atmospheric Administration, Department of Commerce — Over one hundred years after the devastating Great 1906 Earthquake that nearly destroyed San Francisco, this expedition explored the Northern San Andreas Fault, the...
Habitat information in the region on the underwater San Andreas Fault - Topic: Exploring the Undersea San Andreas Fault: Revealing the Past, Present, and Future at the Centennial of the Great 1906 Earthquake
National Oceanic and Atmospheric Administration, Department of Commerce — During this exploration, the first comprehensive high-resolution multi-beam sonar and seismic reflection survey of the Northern San Andreas Fault (NSAF) was...
Heredia, Guillermo; Caballero, Fernando; Maza, Iván; Merino, Luis; Viguria, Antidio; Ollero, Aníbal
This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and Identification (FDI) in a multi-UAV context. Differential Global Positioning System (DGPS) and inertial sensors are used for sensor FDI in each UAV. The method uses additional position estimations that augment individual UAV FDI system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multi-UAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented. PMID:22400008
Heredia, Guillermo; Caballero, Fernando; Maza, Iván; Merino, Luis; Viguria, Antidio; Ollero, Aníbal
This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and Identification (FDI) in a multi-UAV context. Differential Global Positioning System (DGPS) and inertial sensors are used for sensor FDI in each UAV. The method uses additional position estimations that augment individual UAV FDI system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multi-UAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented.
Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens
The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....... and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own...
Schrum, P.B.; Cohen, G.H.
Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.
Schrum, P.B.; Cohen, G.H.
Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer ±45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer ±10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion
Federal Laboratory Consortium — The Underwater Sound Reference Division (USRD) serves as the U.S. standardizing activity in the area of underwater acoustic measurements, as the National Institute...
Chen, Zhe; Wang, Huibin; Xu, Lizhong; Shen, Jie
Due to the major obstacles originating from the strong light absorption and scattering in a dynamic underwater environment, underwater optical information acquisition and processing suffer from effects such as limited range, non-uniform lighting, low contrast, and diminished colors, causing it to become the bottleneck for marine scientific research and projects. After studying and generalizing the underwater biological visual mechanism, we explore its advantages in light adaption which helps animals to precisely sense the underwater scene and recognize their prey or enemies. Then, aiming to transform the significant advantage of the visual adaptation mechanism into underwater computer vision tasks, a novel knowledge-based information weighting fusion model is established for underwater object extraction. With this bionic model, the dynamical adaptability is given to the underwater object extraction task, making them more robust to the variability of the optical properties in different environments. The capability of the proposed method to adapt to the underwater optical environments is shown, and its outperformance for the object extraction is demonstrated by comparison experiments.
This report provides an overview and description of the design and construction of underwater geotechnical foundations and offers preliminary guidance based on past and current technology applications...
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…
Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew
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.
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.
There is an explosion in the quantity and quality of IMINT data being captured in Intelligence Surveillance and Reconnaissance (ISR) today. While automated exploitation techniques involving computer vision are arriving, only a few architectures can manage both the storage and bandwidth of large volumes of IMINT data and also present results to analysts quickly. Lockheed Martin Advanced Technology Laboratories (ATL) has been actively researching in the area of applying Big Data cloud computing techniques to computer vision applications. This paper presents the results of this work in adopting a Lambda Architecture to process and disseminate IMINT data using computer vision algorithms. The approach embodies an end-to-end solution by processing IMINT data from sensors to serving information products quickly to analysts, independent of the size of the data. The solution lies in dividing up the architecture into a speed layer for low-latent processing and a batch layer for higher quality answers at the expense of time, but in a robust and fault-tolerant way. This approach was evaluated using a large corpus of IMINT data collected by a C-130 Shadow Harvest sensor over Afghanistan from 2010 through 2012. The evaluation data corpus included full motion video from both narrow and wide area field-of-views. The evaluation was done on a scaled-out cloud infrastructure that is similar in composition to those found in the Intelligence Community. The paper shows experimental results to prove the scalability of the architecture and precision of its results using a computer vision algorithm designed to identify man-made objects in sparse data terrain.
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.
Jenkins, Scott A; Humphreys, Douglas E; Sherman, Jeff; Osse, Jim; Jones, Clayton; Leonard, Naomi; Graver, Joshua; Bachmayer, Ralf; Clem, Ted; Carroll, Paul; Davis, Philip; Berry, Jon; Worley, Paul; Wasyl, Joseph
The goals of this study are to determine how to advance from present capabilities of underwater glider (and hybrid motorglider) technology to what could be possible within the next few years; and to identify critical research issues that must be resolved to make such advancements possible. These goals were pursued by merging archival flight data with numerical model results and system spreadsheet analysis to extrapolate from the present state-of-the–art in underwater (UW) gliders to potential...
The article discusses the relevance of the underwater vehicles' ability to solve a wide range of problems. The idea put in the basis of this research is designing a modular underwater robot. It allows to mount various equipment and test it in underwater environment. The paper deals with the concept of the robot and its characteristics.
Wallace, Michael L.; Freitas, William M.
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…
... Prevalence Rates for Low Vision by Age, and Race/Ethnicity Table for 2010 U.S. Age-Specific Prevalence ... Ethnicity 2010 Prevalence Rates of Low Vision by Race Table for 2010 Prevalence Rates of Low Vision ...
Federal Laboratory Consortium — The Vision Lab personnel perform research, development, testing and evaluation of eye protection and vision performance. The lab maintains and continues to develop...
Gomaa, Walid; El-Sherif, Ashraf F.; El-Sharkawy, Yasser H.
The conventional method used to detect an underwater target is by sending and receiving some form of acoustic energy. But the acoustic systems have limitations in the range resolution and accuracy; while, the potential benefits of a laserbased underwater target detection include high directionality, high response, and high range accuracy. Lasers operating in the blue-green region of the light spectrum(420 : 570nm)have a several applications in the area of detection and ranging of submersible targets due to minimum attenuation through water ( less than 0.1 m-1) and maximum laser reflection from estimated target (like mines or submarines) to provide a long range of detection. In this paper laser attenuation in water was measured experimentally by new simple method by using high resolution spectrometer. The laser echoes from different targets (metal, plastic, wood, and rubber) were detected using high resolution CCD camera; the position of detection camera was optimized to provide a high reflection laser from target and low backscattering noise from the water medium, digital image processing techniques were applied to detect and discriminate the echoes from the metal target and subtract the echoes from other objects. Extraction the image of target from the scattering noise is done by background subtraction and edge detection techniques. As a conclusion, we present a high response laser imaging system to detect and discriminate small size, like-mine underwater targets.
Javaid Muhammad Yasar
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.
Attorney Docket No. 300009 1 of 8 A CARBON NANOTUBE UNDERWATER ACOUSTIC THERMOPHONE STATEMENT OF GOVERNMENT INTEREST  The...the Invention  The present invention is an acoustically transparent carbon nanotube thermophone. (2) Description of the Prior Art [0004...amplitude of the resulting sound waves.  Recently, there has been development of underwater acoustic carbon nanotube (CNT) yarn sheets capable
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.
Byalko, Alexey V.
We present the first experimental observation of a new hydrodynamic phenomenon, the underwater tornado. Simple measurements show that the tornado forms a vortex of the Rankine type, i.e. the rising gas rotates as a solid body and the liquid rotates with a velocity decreasing hyperbolically with the radius. We obtain the dependence of the tornado radius a on the gas stream value j theoretically: a ∼ j2/5. Processing of a set of experiments yielded the value 0.36 for the exponent in this expression. We also report the initial stages of the theoretical study of this phenomenon.
National Oceanic and Atmospheric Administration, Department of Commerce — Through the study of faults and their effects, much can be learned about the size and recurrence intervals of earthquakes. Faults also teach us about crustal...
Students from Stockbridge High School Robotics Team invention is a low cost underwater video and data capturing device. This system is capable of shooting time-lapse photography and/or video for up to 3 days of video at a time. It can be used in remote locations without having to change batteries or adding additional external hard drives for data storage. The video capturing device has a unique base and mounting system which houses a pi drive and a programmable raspberry pi with a camera module. This system is powered by two 12 volt batteries, which makes it easier for users to recharge after use. Our data capturing device has the same unique base and mounting system as the underwater camera. The data capturing device consists of an Arduino and SD card shield that is capable of collecting continuous temperature and pH readings underwater. This data will then be logged onto the SD card for easy access and recording. The low cost underwater video and data capturing device can reach depths up to 100 meters while recording 36 hours of video on 1 terabyte of storage. It also features night vision infrared light capabilities. The cost to build our invention is $500. The goal of this was to provide a device that can easily be accessed by marine biologists, teachers, researchers and citizen scientists to capture photographic and water quality data in marine environments over extended periods of time.
Willis, Katie L
The hearing of turtles is poorly understood compared with the other reptiles. Although the mechanism of transduction of sound into a neural signal via hair cells has been described in detail, the rest of the auditory system is largely a black box. What is known is that turtles have higher hearing thresholds than other reptiles, with best frequencies around 500 Hz. They also have lower underwater hearing thresholds than those in air, owing to resonance of the middle ear cavity. Further studies demonstrated that all families of turtles and tortoises share a common middle ear cavity morphology, with scaling best suited to underwater hearing. This supports an aquatic origin of the group. Because turtles hear best under water, it is important to examine their vulnerability to anthropogenic noise. However, the lack of basic data makes such experiments difficult because only a few species of turtles have published audiograms. There are also almost no behavioral data available (understandable due to training difficulties). Finally, few studies show what kinds of sounds are behaviorally relevant. One notable paper revealed that the Australian snake-necked turtle (Chelodina oblonga) has a vocal repertoire in air, at the interface, and under water. Findings like these suggest that there is more to the turtle aquatic auditory scene than previously thought.
Hernandez, J.E.; Sherwood, R.J.; Whitman, S.R.
VISION is a flexible and extensible object-oriented programming environment for prototyping computer-vision and pattern-recognition algorithms. This year's effort focused on three major areas: documentation, graphics, and support for new applications
Bunch, Richard H.
A fault finder for locating faults along a high voltage electrical transmission line. Real time monitoring of background noise and improved filtering of input signals is used to identify the occurrence of a fault. A fault is detected at both a master and remote unit spaced along the line. A master clock synchronizes operation of a similar clock at the remote unit. Both units include modulator and demodulator circuits for transmission of clock signals and data. All data is received at the master unit for processing to determine an accurate fault distance calculation.
The book is suitable for advanced courses in computer vision and image processing. In addition to providing an overall view of computational vision, it contains extensive material on topics that are not usually covered in computer vision texts (including parallel distributed processing and neural networks) and considers many real applications.
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
Leautier, R.; Pilot, G.
This report describes the work done to develop underwater plasma arc cutting techniques, to characterise aerosols from cutting operations on radioactive and non-radioactive work-pieces, and to develop suitable ventilation and filtration techniques. The work has been carried out in the framework of a contract between CEA-CEN Cadarache and the Commission of European Communities. Furthermore, this work has been carried out in close cooperation with CEA-CEN Saclay mainly for secondary emissions and radioactive analysis. The contract started in May 1986 and was completed in December 1988 by a supplementary agreement. This report has been compiled from several progress reports submitted during the work period, contains the main findings of the work and encloses the results of comparative tests on plasma arc cutting
Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.
. This stresses for implementation of multiple safety measures of a high degree so that the platform operates continuously in a fail-safe mode. This paper discusses issues on safety measures implemented on the autonomous underwater platforms namely MAYA AUV...
The growing need for underwater observation and subsea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, biogeochemical, evolutionary, and ecological changes in the sea, ocean, and lake environments, and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. Models are presented for three kinds of optical wireless communication links: (a) a line-of-sight link, (b) a modulating retroreflector link, and (c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered light it was possible to mitigate this decrease in some cases. It is concluded from the analysis that a high-data-rate underwater optical wireless network is a feasible solution for emerging applications such as UUV-to-UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.
Nature still outperforms the most powerful computers in routine functions involving perception, sensing and actuation like vision, audition, and motion control, and is, most strikingly, orders of magnitude more energy-efficient than its artificial competitors. The reasons for the superior performance of biological systems are subject to diverse investigations, but it is clear that the form of hardware and the style of computation in nervous systems are fundamentally different from what is used in artificial synchronous information processing systems. Very generally speaking, biological neural systems rely on a large number of relatively simple, slow and unreliable processing elements and obtain performance and robustness from a massively parallel principle of operation and a high level of redundancy where the failure of single elements usually does not induce any observable system performance degradation. In the late 1980's, Carver Mead demonstrated that silicon VLSI technology can be employed in implementing ''neuromorphic'' circuits that mimic neural functions and fabricating building blocks that work like their biological role models. Neuromorphic systems, as the biological systems they model, are adaptive, fault-tolerant and scalable, and process information using energy-efficient, asynchronous, event-driven methods. In this paper, some basics of neuromorphic electronic engineering and its impact on recent developments in optical sensing and artificial vision are presented. It is demonstrated that bio-inspired vision systems have the potential to outperform conventional, frame-based vision acquisition and processing systems in many application fields and to establish new benchmarks in terms of redundancy suppression/data compression, dynamic range, temporal resolution and power efficiency to realize advanced functionality like 3D vision, object tracking, motor control, visual feedback loops, etc. in real-time. It is argued that future artificial vision systems
Diabetes - vision loss; Retinopathy - vision loss; Low vision; Blindness - vision loss ... Low vision is a visual disability. Wearing regular glasses or contacts does not help. People with low vision have ...
Vukic, Z.; Ozbolt, H.; Blanke, M.
The paper gives an introduction and an overview of the field of fault detection and isolation for control systems. The summary of analytical (quantitative model-based) methodds and their implementation are presented. The focus is given to mthe analytical model-based fault-detection and fault diag...... diagnosis methods, often viewed as the classical or deterministic ones. Emphasis is placed on the algorithms suitable for ship automation, unmanned underwater vehicles, and other systems of automatic control....
The primary circuit structures of different nuclear powerplants are constructed out of stainless steels, ferritic steels, plated ferritic steels and alloys of aluminium. According to the level of the specific radiation of these structures, it is necessary for dismantling to work with remote controlled cutting techniques. The most successful way to protect the working crew against exposure of radiation is to operate underwater in different depths. The following thermal cutting processes are more or less developed to work under water: For ferritic steels only - flame cutting; For ferritic steels, stainless steels, cladded steels and aluminium alloys - oxy-arc-cutting, arc-waterjet-cutting with a consumable electrode, arc-saw-cutting, plasma-arc-cutting and plasma-arc-saw. The flame cutting is a burning process, all the other processes are melt-cutting processes. This paper explains the different techniques, giving a short introduction of the theory, a discussion of the possibilities with the advantages and disadvantages of these processes giving a view into the further research work in this interesting field. (author)
Ohba, Kohtaro; Ohara, Kenichi
In the field of the micro vision, there are few researches compared with macro environment. However, applying to the study result for macro computer vision technique, you can measure and observe the micro environment. Moreover, based on the effects of micro environment, it is possible to discovery the new theories and new techniques.
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.
The objective of the research in this area of fault management is to develop and implement a decision aiding concept for diagnosing faults, especially faults which are difficult for pilots to identify, and to develop methods for presenting the diagnosis information to the flight crew in a timely and comprehensible manner. The requirements for the diagnosis concept were identified by interviewing pilots, analyzing actual incident and accident cases, and examining psychology literature on how humans perform diagnosis. The diagnosis decision aiding concept developed based on those requirements takes abnormal sensor readings as input, as identified by a fault monitor. Based on these abnormal sensor readings, the diagnosis concept identifies the cause or source of the fault and all components affected by the fault. This concept was implemented for diagnosis of aircraft propulsion and hydraulic subsystems in a computer program called Draphys (Diagnostic Reasoning About Physical Systems). Draphys is unique in two important ways. First, it uses models of both functional and physical relationships in the subsystems. Using both models enables the diagnostic reasoning to identify the fault propagation as the faulted system continues to operate, and to diagnose physical damage. Draphys also reasons about behavior of the faulted system over time, to eliminate possibilities as more information becomes available, and to update the system status as more components are affected by the fault. The crew interface research is examining display issues associated with presenting diagnosis information to the flight crew. One study examined issues for presenting system status information. One lesson learned from that study was that pilots found fault situations to be more complex if they involved multiple subsystems. Another was pilots could identify the faulted systems more quickly if the system status was presented in pictorial or text format. Another study is currently under way to
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.
Cain, Christopher; Leonessa, Alexander
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.
Cain, Christopher; Leonessa, Alexander
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
DeLong, M. [Lawrence Livermore National Lab., CA (United States)
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.
Fedorov, V. M.; Pustovetov, V. P.; Trubkin, Y. A.; Kirilenkov, A. V.
Experimental measurements of cosmic ray muon intensity deep underwater aimed at determining a muon absorption curve are of considerable interest, as they allow to reproduce independently the muon energy spectrum at sea level. The comparison of the muon absorption curve in sea water with that in rock makes it possible to determine muon energy losses caused by nuclear interactions. The data available on muon absorption in water and that in rock are not equivalent. Underground measurements are numerous and have been carried out down to the depth of approx. 15km w.e., whereas underwater muon intensity have been measured twice and only down to approx. 3km deep.
Barrow, H. G.; Tenenbaum, J. M.
The range of fundamental computational principles underlying human vision that equally apply to artificial and natural systems is surveyed. There emerges from research a view of the structuring of vision systems as a sequence of levels of representation, with the initial levels being primarily iconic (edges, regions, gradients) and the highest symbolic (surfaces, objects, scenes). Intermediate levels are constrained by information made available by preceding levels and information required by subsequent levels. In particular, it appears that physical and three-dimensional surface characteristics provide a critical transition from iconic to symbolic representations. A plausible vision system design incorporating these principles is outlined, and its key computational processes are elaborated.
Gennery, D.; Cunningham, R.; Saund, E.; High, J.; Ruoff, C.
The field of computer vision is surveyed and assessed, key research issues are identified, and possibilities for a future vision system are discussed. The problems of descriptions of two and three dimensional worlds are discussed. The representation of such features as texture, edges, curves, and corners are detailed. Recognition methods are described in which cross correlation coefficients are maximized or numerical values for a set of features are measured. Object tracking is discussed in terms of the robust matching algorithms that must be devised. Stereo vision, camera control and calibration, and the hardware and systems architecture are discussed.
Yang, Miao; Sowmya, Arcot
Quality evaluation of underwater images is a key goal of underwater video image retrieval and intelligent processing. To date, no metric has been proposed for underwater color image quality evaluation (UCIQE). The special absorption and scattering characteristics of the water medium do not allow direct application of natural color image quality metrics especially to different underwater environments. In this paper, subjective testing for underwater image quality has been organized. The statistical distribution of the underwater image pixels in the CIELab color space related to subjective evaluation indicates the sharpness and colorful factors correlate well with subjective image quality perception. Based on these, a new UCIQE metric, which is a linear combination of chroma, saturation, and contrast, is proposed to quantify the non-uniform color cast, blurring, and low-contrast that characterize underwater engineering and monitoring images. Experiments are conducted to illustrate the performance of the proposed UCIQE metric and its capability to measure the underwater image enhancement results. They show that the proposed metric has comparable performance to the leading natural color image quality metrics and the underwater grayscale image quality metrics available in the literature, and can predict with higher accuracy the relative amount of degradation with similar image content in underwater environments. Importantly, UCIQE is a simple and fast solution for real-time underwater video processing. The effectiveness of the presented measure is also demonstrated by subjective evaluation. The results show better correlation between the UCIQE and the subjective mean opinion score.
The techniques of calibration of underwater sound transducers for farfield, near-field and closed environment conditions are reviewed in this paper .The design of acoustic calibration tank is mentioned. The facilities available at Naval Physical & Oceanographic Laboratory, Cochin for calibration of transducers are also listed.
Severs, S.; Toll, H.V.
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)
Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd
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…
Anagnostou, Marios N.; Nystuen, Jeffrey A.; Anagnostou, Emmanouil N.; Papadopoulos, Anastasios; Lykousis, Vassilios
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.
This dissertation is concerned with the introduction of vision-based application s in the ship building industry. The industrial research project is divided into a natural seq uence of developments, from basic theoretical projective image generation via CAD and subpixel analysis to a description...... is present ed, and the variability of the parameters is examined and described. The concept of using CAD together with vision information is based on the fact that all items processed at OSS have an associated complete 3D CAD model that is accessible at all production states. This concept gives numerous...... possibilities for using vision in applications which otherwise would be very difficult to automate. The requirement for low tolerances in production is, despite the huge dimensions of the items involved, extreme. This fact makes great demands on the ability to do robust sub pixel estimation. A new method based...
Physical layer in UASNs Our main investigations are about underwater communications using acoustic waves. Elec- tromagnetic and optical waves do not...Shengli, Z., and Jun-Hong, C. (2008), Prospects and problems of wireless communication for underwater sensor networks, Wirel. Commun . Mob. Comput., 8(8... Wireless Communications , 9(9), 2934–2944.  Pompili, D. and Akyildiz, I. (2010), A multimedia cross-layer protocol for underwater acoustic sensor networks
Cheng, Xilin; Cheng, Xiang
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...
Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick
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, ...
... an efficient and cost-effective method to identify children with visual impairment or eye conditions that are likely to lead ... main goal of vision screening is to identify children who have or are at ... visual impairment unless treated in early childhood. Other problems that ...
... for Kids >> Healthy Vision Tips Listen All About Vision About the Eye Ask a Scientist Video Series ... Links to More Information Optical Illusions Printables Healthy Vision Tips Healthy vision starts with you! Use these ...
Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell
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
Few original portraits exist of René Descartes, yet his theories of vision were central to Enlightenment thought. French philosophers combined his emphasis on sight with the English approach of insisting that ideas are not innate, but must be built up from experience. In particular, Denis Diderot criticised Descartes's views by describing how Nicholas Saunderson--a blind physics professor at Cambridge--relied on touch. Diderot also made Saunderson the mouthpiece for some heretical arguments against the existence of God.
Zarbin, M; Montemagno, C; Leary, J; Ritch, R
A number treatment options are emerging for patients with retinal degenerative disease, including gene therapy, trophic factor therapy, visual cycle inhibitors (e.g., for patients with Stargardt disease and allied conditions), and cell transplantation. A radically different approach, which will augment but not replace these options, is termed neural prosthetics ("artificial vision"). Although rewiring of inner retinal circuits and inner retinal neuronal degeneration occur in association with photoreceptor degeneration in retinitis pigmentosa (RP), it is possible to create visually useful percepts by stimulating retinal ganglion cells electrically. This fact has lead to the development of techniques to induce photosensitivity in cells that are not light sensitive normally as well as to the development of the bionic retina. Advances in artificial vision continue at a robust pace. These advances are based on the use of molecular engineering and nanotechnology to render cells light-sensitive, to target ion channels to the appropriate cell type (e.g., bipolar cell) and/or cell region (e.g., dendritic tree vs. soma), and on sophisticated image processing algorithms that take advantage of our knowledge of signal processing in the retina. Combined with advances in gene therapy, pathway-based therapy, and cell-based therapy, "artificial vision" technologies create a powerful armamentarium with which ophthalmologists will be able to treat blindness in patients who have a variety of degenerative retinal diseases.
Full Text Available The objective of this paper is to present recent developments in the field of machine fault signature analysis with particular regard to vibration analysis. The different types of faults that can be identified from the vibration signature analysis are, for example, gear fault, rolling contact bearing fault, journal bearing fault, flexible coupling faults, and electrical machine fault. It is not the intention of the authors to attempt to provide a detailed coverage of all the faults while detailed consideration is given to the subject of the rolling element bearing fault signature analysis.
Full Text Available We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF, which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF. Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates.
Stoorvogel, Antonie Arij; Niemann, H.H.; Saberi, A.; Sannuti, P.
We consider here both fault identification and fault signal estimation. Regarding fault identification, we seek either exact or almost fault identification. On the other hand, regarding fault signal estimation, we seek either $H_2$ optimal, $H_2$ suboptimal or Hinfinity suboptimal estimation. By
Lones, Joe J.; Stachiw, Jerry D.
Both acrylic plastic and glass are common materials for hyperbaric optical windows. Although glass continues to be used occasionally for small windows, virtually all large viewports are made of acrylic. It is easy to uderstand the wide use of acrylic when comparing design properties of this plastic with those of glass, and glass windows are relatively more difficult to fabricate and use. in addition there are published guides for the design and fabrication of acrylic windows to be used in the hyperbaric environment of hydrospace. Although these procedures for fabricating the acrylic windows are somewhat involved, the results are extremely reliable. Acrylic viewports are now fabricated to very large sizes for manned observation or optical quality instrumen tation as illustrated by the numerous acrylic submersible vehicle hulls for hu, an occupancy currently in operation and a 3600 large optical window recently developed for the Walt Disney Circle Vision under-water camera housing.
Bosch, Josep; Gracias, Nuno; Ridao, Pere; Istenič, Klemen; Ribas, David
This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time. PMID:27023547
Cho, Byung-Hak; Byun, Seung-Hyun; Shin, Chang-Hoon; Yang, Jang-Bum; Song, Sung-Il; Oh, Jung-Mook
An underwater robotic system for visual inspection of reactor vessel internals has been developed. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor based measuring unit, a master control station and a servo control station. The vision processor based measuring unit employs a first-of-a-kind engineering technology in nuclear robotics. The vision processor makes use of a camera located at the top of the water level referenced to the reactor center line to get an image of the robot, and computes the location and orientation of the robot. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with ±1 cm positioning and ±2 deg. heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The installation process consists of hooking a vision camera on the guide rail of the refueling machine and putting a small robot (14.5 kg in weight) in the reactor cavity pool. The easy installation and automatic operation meet the demand of shortening the reactor outage and reducing the number of inspection personnel. The developed robotic system was successfully deployed at the Yonggwang Nuclear Unit 1 for the visual inspection of reactor internals
Grodal, Torben Kragh
melodramas - from evolutionary and psychological perspectives, the author also reflects on social issues at the intersection of film theory and neuropsychology. These include moral problems in film viewing, ow we experience realism and character identification, and the value of the subjective forms......Embodied Visions presents a groundbreaking analysis of film through the lens of bioculturalism, revealing how human biology as well as human culture determine how films are made and experienced. Throughout the book the author uses the breakthroughs of modern brain science to explain general...
In this thesis we consider different methods to localize events in a multi-hop wireless sensor network operating underwater using acoustic modems. The network consists of surface gateway nodes and relay nodes. Localization of surface gateways can be achieved through GPS, but we cannot rely on this technology for localizing underwater nodes. Surface Gateway nodes can distribute their locations through the network using the incoming signals by the acoustic modems from the relay nodes. Relay nodes are deployed to remain static but due to water currents, floating, and the untethered nature of the nodes, they often suffer from frequent drifting which can result in a deployed network suffering link failures. In this work, we developed a novel concept of an underwater alarming system, which adapts a cyclic graph model. In the event of link failure, a series of alarm packets are broadcasted in the network. These alarms are then captured through a novel concept of underwater Monitoring Courses (M-Courses), which can also be used to assure network connectivity and identify node faults. M-Courses also allow the network to localize events and identify network issues at a local level before forwarding any results upwards to a Surface Gateway nodes. This reduces the amount of communication overhead needed and allowing for distributed management of nodes in a network which may be constantly moving. We show that the proposed algorithms can reduce the number of send operations needed for an event to be localized in a network. We have found that M-Course routing reduces the number of sends required to report an event to a Surface Gateway by up to 80% in some cases when compared to a naive routing implementation. But this is achieved by increasing the time for an event to reach a Surface Gateway. These effects are both due to the buffering effect of M-Course routing, which allows us to efficiently deal with multiple events in an local area and we find that the performance of M
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.
Yu, Zhibin; Wang, Yubo; Zheng, Bing; Zheng, Haiyong; Wang, Nan; Gu, Zhaorui
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.
Stephan, Thomas; Frühberger, Peter; Werling, Stefan; Heizmann, Michael
The inspection of offshore parks, dam walls and other infrastructure under water is expensive and time consuming, because such constructions must be inspected manually by divers. Underwater buildings have to be examined visually to find small cracks, spallings or other deficiencies. Automation of underwater inspection depends on established water-proved imaging systems. Most underwater imaging systems are based on acoustic sensors (sonar). The disadvantage of such an acoustic system is the loss of the complete visual impression. All information embedded in texture and surface reflectance gets lost. Therefore acoustic sensors are mostly insufficient for these kind of visual inspection tasks. Imaging systems based on optical sensors feature an enormous potential for underwater applications. The bandwidth from visual imaging systems reach from inspection of underwater buildings via marine biological applications through to exploration of the seafloor. The reason for the lack of established optical systems for underwater inspection tasks lies in technical difficulties of underwater image acquisition and processing. Lightening, highly degraded images make a computational postprocessing absolutely essential.
... Asked Questions Español Condiciones Chinese Conditions Pediatric Low Vision What is Low Vision? Partial vision loss that cannot be corrected causes ... and play. What are the signs of Low Vision? Some signs of low vision include difficulty recognizing ...
Jørgensen, Michael Søgaard; Grosu, Dan
or not work. The theoretical part of the paper presents an actor-network theory approach to the analyses of visions and visioning processes, where the shaping of the visions and the visioning and what has made them work or not work is analysed. The empirical part is based on analyses of the roles of visions...... important aspect of visioning processes include the types of actors participating in the processes and the types of expertise included in the processes (scientific, lay, business etc.). The empirical part of the paper analyses eight national foresight activities from Denmark, Germany, Hungary, Malta...
Xu, Wen; Cheng, Qianliu; Zhao, Hangfang
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.
Stoustrup, Jakob; Niemann, Hans Henrik
The problem of fault detection and isolation of parametric faults is considered in this paper. A fault detection problem based on parametric faults are associated with internal parameter variations in the dynamical system. A fault detection and isolation method for parametric faults is formulated...... in a standard setup and a synthesis method for fault detectors is given. Further, fault detection problems with both parametric faults and faults described by external input signals are also shortly considered....
Collettini, C.; Niemeijer, A.; Viti, C.; Marone, C.
Geological and geophysical evidence suggests that some crustal faults are weak1–6 compared to laboratory measurements of frictional strength7. Explanations for fault weakness include the presence of weak minerals4, high fluid pressures within the fault core8,9 and dynamic processes such as
Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential
The Visi Screen OSS-C, marketed by Vision Research Corporation, incorporates image processing technology originally developed by Marshall Space Flight Center. Its advantage in eye screening is speed. Because it requires no response from a subject, it can be used to detect eye problems in very young children. An electronic flash from a 35 millimeter camera sends light into a child's eyes, which is reflected back to the camera lens. The photorefractor then analyzes the retinal reflexes generated and produces an image of the child's eyes, which enables a trained observer to identify any defects. The device is used by pediatricians, day care centers and civic organizations that concentrate on children with special needs.
Brito, Mario Paulo; Griffiths, Gwyn; Challenor, Peter
Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics. Here, we describe the use of a risk management process tailored to AUV operations, the implementation of which requires the elicitation of expert judgment. We conducted a formal judgment elicitation process where eight world experts in AUV design and operation were asked to assign a probability of AUV loss given the emergence of each fault or incident from the vehicle's life history of 63 faults and incidents. After discussing methods of aggregation and analysis, we show how the aggregated risk estimates obtained from the expert judgments were used to create a risk model. To estimate AUV survival with mission distance, we adopted a statistical survival function based on the nonparametric Kaplan-Meier estimator. We present theoretical formulations for the estimator, its variance, and confidence limits. We also present a numerical example where the approach is applied to estimate the probability that the Autosub3 AUV would survive a set of missions under Pine Island Glacier, Antarctica in January-March 2009. © 2010 Society for Risk Analysis.
... life. Alternative Names Loss of vision; No light perception (NLP); Low vision; Vision loss and blindness Images ... ADAM Health Solutions. About MedlinePlus Site Map FAQs Customer Support Get email updates Subscribe to RSS Follow ...
... an external Non-Government web site. Impairments to Vision Normal Vision Diabetic Retinopathy Age-related Macular Degeneration In this ... pictures, fixate on the nose to simulate the vision loss. In diabetic retinopathy, the blood vessels in ...
... Prevalence Rates for Vision Impairment by Age and Race/Ethnicity Table for 2010 U.S. Age-Specific Prevalence ... Ethnicity 2010 Prevalence Rates of Vision Impairment by Race Table for 2010 Prevalence Rates of Vision Impairment ...
Villanueva, Alex; Bresser, Scott; Chung, Sanghun; Tadesse, Yonas; Priya, Shashank
An unmanned underwater vehicle (UUV) was designed inspired by the form and functionality of a Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency of locomotion, lack of natural predators, proper form and shape to incorporate payload, and varying range of sizes. The structure consists of a hub body surrounded by bell segments and microcontroller based drive system. The locomotion of UUV was achieved by shape memory alloy "Biometal Fiber" actuation which possesses large strain and blocking force with adequate response time. The main criterion in design of UUV was the use of low-profile shape memory alloy actuators which act as artificial muscles. In this manuscript, we discuss the design of two Jellyfish prototypes and present experimental results illustrating the performance and power consumption.
Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito
The underwater sympathetic detonation of pellet explosives was taken by high-speed photography. The diameter and the thickness of the pellet were 20 and 10 mm, respectively. The experimental system consists of the precise electric detonator, two grams of composition C4 booster and three pellets, and these were set in water tank. High-speed video camera, HPV-X made by Shimadzu was used with 10 Mfs. The underwater explosions of the precise electric detonator, the C4 booster and a pellet were also taken by high-speed photography to estimate the propagation processes of the underwater shock waves. Numerical simulation of the underwater sympathetic detonation of the pellet explosives was also carried out and compared with experiment.
The fortified Susquehanna Flats, the largest bed of underwater grasses in the Chesapeake Bay, seems able to withstand a major weather punch. Its resilience is contributing to an overall increase in the Bay’s submerged aquatic vegetation.
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.
Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren
This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (radio frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring.
Cheong, Chang Sik; Lee, Kwang Sik; Choi, Man Sik
Rb-Sr and K-Ar dating results for the fault rocks suggest the occurrence of recurrent fault activity around 80-95 Ma, 70 Ma, 50 Ma, 30 Ma and 23 Ma along the Yangsan fault zone. The apparent K-Ar ages tend to be older than Rb-Sr ages, probably indicating the effect of excess radiogenic Ar, which will be furthur investigated by Ar-Ar method. The OSL SAR protocol using 220 .deg. C cut-heat yields reproducible and stratigraphically consistent OSL ages ranging from 71 ka to 48 ka for beach deposits of the marine terrace No 2. The apparent OSL ages for the marine terrace No 3 range from 92 ka to 61 ka. These ages constrain the minimum age of the platform considering the underestimation effect resulted from deposition underwater. Therefore we regard the formation age of the terrace No 3 as MIS(Marine Isotopic Stage) 5c or 5e. Rb-Sr and K-Ar dating results for the fault rocks suggest the occurrence of recurrent fault activity around 40 Ma, 30 Ma and 23 Ma along the Ulsan fault zone. Relatively young (< 10 Ma) fault activities are recognized in the Oesa, Janghangri and Wonwonsa sites
Cheong, Chang Sik; Lee, Kwang Sik; Choi, Man Sik [Korea Basic Science Institute, Taejon (Korea, Republic of)] (and others)
Rb-Sr and K-Ar dating results for the fault rocks suggest the occurrence of recurrent fault activity around 80-95 Ma, 70 Ma, 50 Ma, 30 Ma and 23 Ma along the Yangsan fault zone. The apparent K-Ar ages tend to be older than Rb-Sr ages, probably indicating the effect of excess radiogenic Ar, which will be furthur investigated by Ar-Ar method. The OSL SAR protocol using 220 .deg. C cut-heat yields reproducible and stratigraphically consistent OSL ages ranging from 71 ka to 48 ka for beach deposits of the marine terrace No 2. The apparent OSL ages for the marine terrace No 3 range from 92 ka to 61 ka. These ages constrain the minimum age of the platform considering the underestimation effect resulted from deposition underwater. Therefore we regard the formation age of the terrace No 3 as MIS(Marine Isotopic Stage) 5c or 5e. Rb-Sr and K-Ar dating results for the fault rocks suggest the occurrence of recurrent fault activity around 40 Ma, 30 Ma and 23 Ma along the Ulsan fault zone. Relatively young (< 10 Ma) fault activities are recognized in the Oesa, Janghangri and Wonwonsa sites.
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.)
Merchant, Nathan D.; Brookes, Kate L.; Faulkner, Rebecca C.; Bicknell, Anthony W. J.; Godley, Brendan J.; Witt, Matthew J.
Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). ...
Volpe, Daniele; Pavan, Davide; Morris, Meg; Guiotto, Annamaria; Iansek, Robert; Fortuna, Sofia; Frazzitta, Giuseppe; Sawacha, Zimi
Although hydrotherapy is one of the physical therapies adopted to optimize gait rehabilitation in people with Parkinson disease, the quantitative measurement of gait-related outcomes has not been provided yet. This work aims to document the gait improvements in a group of parkinsonians after a hydrotherapy program through 2D and 3D underwater and on land gait analysis. Thirty-four parkinsonians and twenty-two controls were enrolled, divided into two different cohorts. In the first one, 2 groups of patients underwent underwater or land based walking training; controls underwent underwater walking training. Hence pre-treatment 2D underwater and on land gait analysis were performed, together with post-treatment on land gait analysis. Considering that current literature documented a reduced movement amplitude in parkinsonians across all lower limb joints in all movement planes, 3D underwater and on land gait analysis were performed on a second cohort of subjects (10 parkinsonians and 10 controls) who underwent underwater gait training. Baseline land 2D and 3D gait analysis in parkinsonians showed shorter stride length and slower speed than controls, in agreement with previous findings. Comparison between underwater and on land gait analysis showed reduction in stride length, cadence and speed on both parkinsonians and controls. Although patients who underwent underwater treatment exhibited significant changes on spatiotemporal parameters and sagittal plane lower limb kinematics, 3D gait analysis documented a significant (p<0.05) improvement in all movement planes. These data deserve attention for research directions promoting the optimal recovery and maintenance of walking ability. Crown Copyright © 2016. Published by Elsevier B.V. All rights reserved.
Pilipenko, Vladimir; Arnon, Shlomi
In recent years the need for high data rate underwater wireless communication (WC) has increased. Nowadays, the conventional technology for underwater communication is acoustic. However, the maximum data rate that acoustic technology can provide is a few kilobits per second. On the other hand, emerging applications such as underwater imaging, networks of sensors and swarms of underwater vehicles require much faster data rates. As a result, underwater optical WC, which can provide much higher data rates, has been proposed as an alternative means of communication. In addition to high data rates, affordable communication systems become an important feature in the development requirements. The outcome of these requirements is a new system design based on off-the-shelf components such as blue and green light emitting diodes (LEDs). This is due to the fact that LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness. However, there are some challenges to be met when incorporating LEDs as part of the optical transmitter, such as low modulation rates and non linearity. In this paper, we review the main challenges facing the incorporation of LEDs as an integral part of underwater WC systems and propose some techniques to mitigate the LED limitations in order to achieve high data rate communication
The growing need for underwater observation and sub-sea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, bio-geochemical, evolutionary and ecological changes in the sea, ocean and lake environments and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. We present models of three kinds of optical wireless communication links a) a line-of-sight link, b) a modulating retro-reflector link and c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered lighted it was possible to mitigate this decrease in some cases. We conclude from the analysis that a high data rate underwater optical wireless network is a feasible solution for emerging applications such as UUV to UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.
Haasl, D.F.; Roberts, N.H.; Vesely, W.E.; Goldberg, F.F.
This handbook describes a methodology for reliability analysis of complex systems such as those which comprise the engineered safety features of nuclear power generating stations. After an initial overview of the available system analysis approaches, the handbook focuses on a description of the deductive method known as fault tree analysis. The following aspects of fault tree analysis are covered: basic concepts for fault tree analysis; basic elements of a fault tree; fault tree construction; probability, statistics, and Boolean algebra for the fault tree analyst; qualitative and quantitative fault tree evaluation techniques; and computer codes for fault tree evaluation. Also discussed are several example problems illustrating the basic concepts of fault tree construction and evaluation
Full Text Available Along with rising awareness of public and scientific societies about environmental and ecological impacts of underwater noise, the need for underwater noise modelling in the shallow Lithuanian area of Baltic Sea emerged. Marine Strategy Framework Directive issues regarding underwater noise indicators refers to possibility of evaluation of Good Environmental State using underwater noise measurements as well as possibility to model underwater noise. Main anthropogenic underwater noise contributor in the Seas is the shipping lanes as known due to date, with no exclusion of Lithuanian Baltic Sea area. In this manuscript, it is presented the methods of development of simplistic underwater ambient noise model purposed for computation of underwater soundscape in shallow area of the Lithuanian Baltic Sea.
Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José
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
Swallom, D.W.; Sadovnik, I.; Gibbs, J.S.; Gurol, H.; Nguyen, L.
The development of magnetohydrodynamic propulsion systems for underwater vehicles is discussed. According to the authors, it is a high risk endeavor that offers the possibility of a number of significant advantages over conventional propeller propulsion systems. These advantages may include the potential for greater stealth characteristics, increased maneuverability, enhanced survivability, elimination of cavitation limits, and addition of a significant emergency propulsion system. The possibility of increased stealth is by far the most important advantage. A conceptual design study has been completed with numerical results that shows that these advantages may be obtained with a magnetohydrodynamic propulsion system in an annular configuration externally surrounding a generic study submarine that is neutrally buoyant and can operate with the existing submarine propulsion system power plant. The classical submarine mission requirements make the use of these characteristics of the magnetohydrodynamic propulsion system particularly appropriate for submarine missions. The magnetohydrodynamic annular propulsion system for a generic attack class submarine has been designed to take advantage of the magnetohydrodynamic thruster characteristics
Davis, Russ E.; Leonard, Naomi E.; Fratantoni, David M.
Gliders are autonomous underwater vehicles that achieve long operating range by moving at speeds comparable to those of, or slower than, typical ocean currents. This paper addresses routing gliders to rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory "ray" equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as measured by objective mapping error, of arrays of vehicles. In order to produce data sets that are readily interpretable, both approaches focus sampling near predetermined "ideal tracks" by measuring mapping skill only on those tracks, which are laid out with overall mapping skill in mind. One approach directly selects each vehicle's headings to maximize instantaneous mapping skill integrated over the entire array. Because mapping skill decreases when measurements are clustered, this method automatically coordinates glider arrays to maintain spacing. A simpler method that relies on manual control for array coordination employs a first-order control loop to balance staying close to the ideal track and maintaining vehicle speed to maximize mapping skill. While the various techniques discussed help in dealing with the slow speed of gliders, nothing can keep performance from being degraded when current speeds are comparable to vehicle speed. This suggests that glider utility could be greatly enhanced by the ability to operate high speeds for short periods when currents are strong.
Blas, Morten Rufus; Blanke, Mogens
This paper presents results for an automatic navigation system for agricultural vehicles. The system uses stereo-vision, inertial sensors and GPS. Special emphasis has been placed on modeling the natural environment in conjunction with a fault-tolerant navigation system. The results are exemplified...... by an agricultural vehicle following cut grass (swath). It is demonstrated how faults in the system can be detected and diagnosed using state of the art techniques from fault-tolerant literature. Results in performing fault-diagnosis and fault accomodation are presented using real data....
Stoustrup, Jakob; Niemann, H.
An architecture for fault tolerant feedback controllers based on the Youla parameterization is suggested. It is shown that the Youla parameterization will give a residual vector directly in connection with the fault diagnosis part of the fault tolerant feedback controller. It turns out...... that there is a separation be-tween the feedback controller and the fault tolerant part. The closed loop feedback properties are handled by the nominal feedback controller and the fault tolerant part is handled by the design of the Youla parameter. The design of the fault tolerant part will not affect the design...
Full Text Available This paper researches an AUV (Autonomous Underwater Vehicle positioning method based on SINS (Strapdown Inertial Navigation System/LBL (Long Base Line tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy correlation peak problem of underwater LBL acoustic propagation multipath could be solved based on SINS positional information, thus improving LBL positional accuracy. Moreover, introduction of SINS-centered LBL locating information could compensate accumulative AUV position error effectively and regularly. Compared to loosely coupled algorithm, this tightly coupled algorithm can still provide accurate location information when there are fewer than four available hydrophones (or within the signal receiving range. Therefore, effective positional calibration area of tightly coupled system based on LBL array is wider and has higher reliability and fault tolerance than loosely coupled. It is more applicable to AUV positioning based on SINS/LBL.
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)
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.
Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong
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
Offer, H.P.; Chapman, T.L.; Willis, E.R.; Maslakowski, J.; Van Diemen, P.; Smith, B.W.
As nuclear plants age and reactor internal components begin to show increased evidence of age-related phenomena such as corrosion and fatigue, interest in the development of cost-effective mitigation and repair remedies grows. One technology currently receiving greater development and application program focus is underwater welding. Underwater welding, as used herein, is the application of weld metal to a substrate surface that is wet, but locally dry in the immediate area surrounding the welding torch. The locally dry environment is achieved by the use of a mechanical device that is specifically designed for water exclusion from the welding torch, surface to be welded, and the welding groove. This paper will explore recent developments in the use of underwater welding as a mitigation and repair technique. (author)
Stoustrup, Jakob; Niemann, Hans Henrik
The problem of fault detection and isolation of parametric faults is considered in this paper. A fault detection problem based on parametric faults are associated with internal parameter variations in the dynamical system. A fault detection and isolation method for parametric faults is formulated...
Iowa State University GIS Support and Research Facility — This fault coverage locates and identifies all currently known/interpreted fault zones in Iowa, that demonstrate offset of geologic units in exposure or subsurface...
Gabbar, Hossam A.; Sayed, Hanaa E.; Osunleke, Ajiboye S.; Masanobu, Hara
Fault simulator is proposed to understand and evaluate all possible fault propagation scenarios, which is an essential part of safety design and operation design and support of chemical/production processes. Process models are constructed and integrated with fault models, which are formulated in qualitative manner using fault semantic networks (FSN). Trend analysis techniques are used to map real time and simulation quantitative data into qualitative fault models for better decision support and tuning of FSN. The design of the proposed fault simulator is described and applied on experimental plant (G-Plant) to diagnose several fault scenarios. The proposed fault simulator will enable industrial plants to specify and validate safety requirements as part of safety system design as well as to support recovery and shutdown operation and disaster management.
... UAVs or Organic Air Vehicles. The approach of this effort was to analyze fault management requirements of formation flight for fleets of UAVs, and develop a layered fault management architecture which demonstrates significant...
Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid
This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF......). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities...... in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters....
Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.
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
Erbe, Christine; McCauley, Robert; McPherson, Craig; Gavrilov, Alexander
Underwater acoustic recordings of six Floating Production Storage and Offloading (FPSO) vessels moored off Western Australia are presented. Monopole source spectra were computed for use in environmental impact assessments of underwater noise. Given that operations on the FPSOs varied over the period of recording, and were sometimes unknown, the authors present a statistical approach to noise level estimation. No significant or consistent aspect dependence was found for the six FPSOs. Noise levels did not scale with FPSO size or power. The 5th, 50th (median), and 95th percentile source levels (broadband, 20 to 2500 Hz) were 188, 181, and 173 dB re 1 μPa @ 1 m, respectively.
Fault tolerance involves the provision of strategies for error detection damage assessment, fault treatment and error recovery. A survey is given of the different sorts of strategies used in highly reliable computing systems, together with an outline of recent research on the problems of providing fault tolerance in parallel and distributed computing systems. (orig.)
Niemann, Hans Henrik
Different aspects of fault detection and fault isolation in closed-loop systems are considered. It is shown that using the standard setup known from feedback control, it is possible to formulate fault diagnosis problems based on a performance index in this general standard setup. It is also shown...
Hydrocarbons may leak to the near-surface from subsurface accumulations, from mature source rock, or by buoyancy along major cross-strata routes. The presence of migrating near-surface hydrocarbons can provide strong evidence for the presence of a working petroleum system, as well as valuable information on source, maturity, and migration pathways. Detection and characterization of hydrocarbons in the water column may then help to de-risk hydrocarbon plays at a very preliminary stage of an exploration program. In order to detect hydrocarbons in the water column, an underwater glider survey was conducted in an offshore frontier area. Driven by buoyancy variation, underwater gliders enable collecting data autonomously along the water column for weeks to months. Underwater gliders are regularly piloted from shore by satellite telemetry and do not require a surface supervising vessel resulting in substantial operational costs savings. The data compiled, over 700m depth of the water column, included temperature, salinity, pressure, dissolved oxygen and hydrocarbon components (phenanthrene and naphthalene) measured by "MINIFLUO" sensors to particularly target representative crude oil compounds Two gliders were deployed at sea, one from coast in shallow water and the other one offshore on the survey area. Both accurately squared the survey area following pre-defined lines and cross lines. Data files were transmitted by satellite telemetry in near real time during the performance of the mission for real time observations and appropriate re-positioning of the gliders. Using rechargeable underwater gliders increased reliability reducing the risk of leakage and associated logistics during operation at sea. Despite strong evidences of seabed seepages such as pockmarks, faults, etc, over the area of interest, no hydrocarbon indices were detected in the water column, which was confirmed later by seabed sample analysis. The use of glider platforms for hydrocarbon detection has
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Chemical industry leaders articulated a long-term vision for the industry, its markets, and its technology in the groundbreaking 1996 document Technology Vision 2020 - The U.S. Chemical Industry. (PDF 310 KB).
Klingstedt, G.; Leisio, C. [ed.
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
Butler, Ricky W.; Boerschlein, David P.
Fault-Tree Compiler (FTC) program, is software tool used to calculate probability of top event in fault tree. Gates of five different types allowed in fault tree: AND, OR, EXCLUSIVE OR, INVERT, and M OF N. High-level input language easy to understand and use. In addition, program supports hierarchical fault-tree definition feature, which simplifies tree-description process and reduces execution time. Set of programs created forming basis for reliability-analysis workstation: SURE, ASSIST, PAWS/STEM, and FTC fault-tree tool (LAR-14586). Written in PASCAL, ANSI-compliant C language, and FORTRAN 77. Other versions available upon request.
Niemann, Hans Henrik; Poulsen, Niels Kjølstad
Fault detection and isolation, (FDI) of parametric faults in dynamic systems will be considered in this paper. An active fault diagnosis (AFD) approach is applied. The fault diagnosis will be investigated with respect to different information levels from the external inputs to the systems....... These inputs are disturbance inputs, reference inputs and auxilary inputs. The diagnosis of the system is derived by an evaluation of the signature from the inputs in the residual outputs. The changes of the signatures form the external inputs are used for detection and isolation of the parametric faults....
Niemann, Hans Henrik; Stoustrup, Jakob
In this paper, we shall show that an unlimited number of additive single faults can be isolated under mild conditions if a general isolation scheme is applied. Multiple faults are also covered. The approach is algebraic and is based on a set representation of faults, where all faults within a set...... can occur simultaneously, whereas faults belonging to different fault sets appear disjoint in time. The proposed fault detection and isolation (FDI) scheme consists of three steps. A fault detection (FD) step is followed by a fault set isolation (FSI) step. Here the fault set is isolated wherein...... the faults have occurred. The last step is a fault isolation (FI) of the faults occurring in a specific fault set, i.e. equivalent with the standard FI step....
Howard, Andrew B.; Ansar, Adnan I.; Litwin, Todd E.; Goldberg, Steven B.
The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses
Croon, G.C.H.E. de; Sprinkhuizen-Kuyper, I.G.; Postma, E.O.
Active vision models can simplify visual tasks, provided that they can select sensible actions given incoming sensory inputs. Many active vision models have been proposed, but a comparative evaluation of these models is lacking. We present a comparison of active vision models from two different
Croon, G.C.H.E. de; Sprinkhuizen-Kuyper, I.G.; Postma, E.O.
Active vision models can simplify visual tasks, provided that they can select sensible actions given incoming sensory inputs. Many active vision models have been proposed, but a comparative evaluation of these models is lacking. We present a comparison of active vision models from two different
Robinson, D. P.; Das, S.; Searle, M. P.
Motivated by the observation that the rare earthquakes which propagated for significant distances at supershear speeds occurred on very long straight segments of faults, we examine every known major active strike-slip fault system on land worldwide and identify those with long (> 100 km) straight portions capable not only of sustained supershear rupture speeds but having the potential to reach compressional wave speeds over significant distances, and call them "fault superhighways". The criteria used for identifying these are discussed. These superhighways include portions of the 1000 km long Red River fault in China and Vietnam passing through Hanoi, the 1050 km long San Andreas fault in California passing close to Los Angeles, Santa Barbara and San Francisco, the 1100 km long Chaman fault system in Pakistan north of Karachi, the 700 km long Sagaing fault connecting the first and second cities of Burma, Rangoon and Mandalay, the 1600 km Great Sumatra fault, and the 1000 km Dead Sea fault. Of the 11 faults so classified, nine are in Asia and two in North America, with seven located near areas of very dense populations. Based on the current population distribution within 50 km of each fault superhighway, we find that more than 60 million people today have increased seismic hazards due to them.
sufficiently waterproofed ...................................................................... 20 Objective: Calibration method can be used both topside... additional background variability is observed at early times, as illustrated in Figure 15. The layout of this figure is the same as Figure 14. Now the...are discussed in the following sections and summarized in Table 5. Objective: System is sufficiently waterproofed The array remained underwater up to
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.
2nd International Conference on Underwater Acoustic Measurements, Crete, Greece, 2007. 16  P.T. Gough and D.W. Hawkins “Imaging algorithms...course. Runs 275 and 325 folla.v the same trad < and run 322 foUows a track on the opposite side of the swath. The LF SAS image of run 325 is shown
Cannelli, L; Leus, G.; Dol, H.S.; Walree, P.A. van
In this paper a multiband transceiver designed for underwater channels is presented. Multi-branch filtering at the receiver is used to leverage the diversity offered by a multi-scale multi-lag scenario. The multi-branch bank of filters is constructed by estimating scale and delay coefficients
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
A key innovation in the history of whales was the evolution of a sonar system together with high-frequency hearing. Fossils of an archaic toothed whale's inner ear bones provide clues for a stepwise emergence of underwater echolocation ability. Copyright © 2016 Elsevier Ltd. All rights reserved.
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
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
Barrow, H. G.; Tenenbaum, J. M.
Vision is examined in terms of a computational process, and the competence, structure, and control of computer vision systems are analyzed. Theoretical and experimental data on the formation of a computer vision system are discussed. Consideration is given to early vision, the recovery of intrinsic surface characteristics, higher levels of interpretation, and system integration and control. A computational visual processing model is proposed and its architecture and operation are described. Examples of state-of-the-art vision systems, which include some of the levels of representation and processing mechanisms, are presented.
Implementing standard vision screening techniques in the primary care practice is the most effective means to detect children with potential vision problems at an age when the vision loss may be treatable. A critical period of vision development occurs in the first few weeks of life; thus, it is imperative that serious problems are detected at this time. Although it is not possible to quantitate an infant's vision, evaluating ocular health appropriately can mean the difference between sight and blindness and, in the case of retinoblastoma, life or death. Copyright © 2014 Elsevier Inc. All rights reserved.
Full Text Available Jellyfish can form erratic blooms in response to seasonal and irregular changes in environmental conditions with often large, transient effects on local ecosystem structure as well as effects on several sectors of the marine and maritime economy. Early warning systems able to detect conditions for jelly fish proliferation can enable management responses to mitigate such effects providing benefit to local ecosystems and economies. We propose here the creation of a research team in response to the EU call for proposal under the European Maritime and Fisheries Fund called “Blue Labs: innovative solutions for maritime challenges”. The project will establish a BLUELAB team with a strong cross-sectorial component that will benefit of the expertise of researchers in IT and Marine Biology, Computer Vision and embedded systems, which will work in collaboration with Industry and Policy maker to develop an early warning system using a new underwater imaging system based on Time of Flight Laser cameras. The camera will be combined to machine learning algorithm allowing autonomous early detection of jellyfish species (e.g. polyp, ephyra and planula stages. The team will develop the system and the companion software and will demonstrate its applications in real case conditions.
Simunovic, M P
Colour vision deficiency is one of the commonest disorders of vision and can be divided into congenital and acquired forms. Congenital colour vision deficiency affects as many as 8% of males and 0.5% of females--the difference in prevalence reflects the fact that the commonest forms of congenital colour vision deficiency are inherited in an X-linked recessive manner. Until relatively recently, our understanding of the pathophysiological basis of colour vision deficiency largely rested on behavioural data; however, modern molecular genetic techniques have helped to elucidate its mechanisms. The current management of congenital colour vision deficiency lies chiefly in appropriate counselling (including career counselling). Although visual aids may be of benefit to those with colour vision deficiency when performing certain tasks, the evidence suggests that they do not enable wearers to obtain normal colour discrimination. In the future, gene therapy remains a possibility, with animal models demonstrating amelioration following treatment.
Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang
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.
Niemann, Hans Henrik; Poulsen, Niels Kjølstad
A fault tolerant control (FTC) architecture based on active fault diagnosis (AFD) and the YJBK (Youla, Jarb, Bongiorno and Kucera)parameterization is applied in this paper. Based on the FTC architecture, fault tolerant control of uncertain systems with slowly varying parametric faults...... is investigated. Conditions are given for closed-loop stability in case of false alarms or missing fault detection/isolation....
Shi, Hongyang; Miao, Zhiyong; Zhang, Yi
Multiple AUVs cooperative localization as a new kind of underwater positioning technology, not only can improve the positioning accuracy, but also has many advantages the single AUV does not have. It is necessary to detect and isolate the fault to increase the reliability and availability of the AUVs cooperative localization system. In this paper, the Extended Multiple Model Adaptive Cubature Kalmam Filter (EMMACKF) method is presented to detect the fault. The sensor failures are simulated based on the off-line experimental data. Experimental results have shown that the faulty apparatus can be diagnosed effectively using the proposed method. Compared with Multiple Model Adaptive Extended Kalman Filter and Multi-Model Adaptive Unscented Kalman Filter, both accuracy and timelines have been improved to some extent.
Presents fault activity with an emphasis on earthquakes and changes in continent shapes. Identifies three types of fault movement: normal, reverse, and strike faults. Discusses the seismic gap theory, plate tectonics, and the principle of superposition. Vignettes portray fault movement, and the locations of the San Andreas fault and epicenters of…
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...
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.
Safdar Hussain Bouk
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.
Full Text Available In the face of harsh natural environment applications such as earth-orbiting and deep space satellites, underwater sea vehicles, strong electromagnetic interference and temperature stress, the circuits faults appear easily. Circuit faults will inevitably lead to serious losses of availability or impeded mission success without self-repair over the mission duration. Traditional fault-repair methods based on redundant fault-tolerant technique are straightforward to implement, yet their area, power and weight cost can be excessive. Moreover they utilize all plug-in or component level circuits to realize redundant backup, such that their applicability is limited. Hence, a novel self-repair technology based on evolvable hardware (EHW and reparation balance technology (RBT is proposed. Its cost is low, and fault self-repair of various circuits and devices can be realized through dynamic configuration. Making full use of the fault signals, correcting circuit can be found through EHW technique to realize the balance and compensation of the fault output-signals. In this paper, the self-repair model was analyzed which based on EHW and RBT technique, the specific self-repair strategy was studied, the corresponding self-repair circuit fault system was designed, and the typical faults were simulated and analyzed which combined with the actual electronic devices. Simulation results demonstrated that the proposed fault self-repair strategy was feasible. Compared to traditional techniques, fault self-repair based on EHW consumes fewer hardware resources, and the scope of fault self-repair was expanded significantly.
remote control of such vehicles requires the use of a tether , limiting the vehicle’s range; however operating underwater vehicles autonomously requires...URBI Universal Robot Body Interface UUV Unmanned Underwater Vehicle UNCLASSIFIED xi DSTO–TN–1194 UNCLASSIFIED THIS PAGE IS INTENTIONALLY BLANK xii... underwater environment, where many platforms are still reliant upon an umbilical tether for power and high bandwidth communications. This tether
waves for Underwater Wireless Communication (UWC); radio waves, optical waves, and acoustic waves are few to name. Radio waves are good for extra low...2211 underwater communication , wireless sensors, mutual information REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S) 10. SPONSOR...Cotae, “On the Performance of the Underwater Wireless Communication Sensor Networks: Work in Progress” ASEE Mid-Atlantic Fall 2014 Conference
Hino, Takehisa; Tamura, Masataka; Kono, Wataru; Kawano, Shohei; Yoda, Masaki
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)
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)
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.)
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: firstname.lastname@example.org [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)
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.
Rudnick, Daniel L.
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.
Morfopoulos, Arin C.; Pham, Thang D.
JPL has produced a series of FPGA (field programmable gate array) vision algorithms that were written with custom interfaces to get data in and out of each vision module. Each module has unique requirements on the data interface, and further vision modules are continually being developed, each with their own custom interfaces. Each memory module had also been designed for direct access to memory or to another memory module.
The publication in 1982 of David Marr's Vision has delivered a singular boost and a course correction to the science of vision. Thirty years later, cognitive science is being transformed by the new ways of thinking about what it is that the brain computes, how it does that, and, most importantly, why cognition requires these computations and not others. This ongoing process still owes much of its impetus and direction to the sound methodology, engaging style, and unique voice of Marr's Vision.
Forbus, Kenneth D
This essay reflects on the revolution David Marr brought about in vision research, and in cognitive science more broadly. I start with an insider's view, then examine the methodological impact of his framework in cognitive science in general. My group's work on sketch understanding descends from Marr's approach to vision, a connection which I make to provide a concrete illustration. I close with a few thoughts about how research in vision and other areas of cognitive science might come together in the future.
Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio; Meseguer Pallarès, Roc; Eggly, Gabriel
“The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-26401-1_37." Underwater sensor networks are becoming an important field of research, because of its everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geo-localization, ocean sampling and early tsunamis alert. It is well-known the challenge that represents to perfo...
irreversible Joule heat) by an electric light bulb . The reciprocal (or reverse) of this process by supplying heat and shining light to the same electric bulb ...limit the invention to the precise form disclosed; and obviously many modifications and variations are possible in light of the above teaching...300151 1 of 14 PASSIVE MODE CARBON NANOTUBE UNDERWATER ACOUSTIC TRANSDUCER STATEMENT OF GOVERNMENT INTEREST  The invention described
Qurnell, F.D.; Peloquin, A.V.
An underwater suction device for collecting irradiated materials in a pool of water includes injection and suction tubes and a removable, disposable filter for capturing irradiated materials. Pressurized water is injected into the suction tube through a jet pump nozzle to establish a suction flow through the tube. The suction device is manoeuverable by a pole, which is pivotally connected to the suction device by a latching mechanism. (author)
Concepts The first design (Figure 1) was based on the concept of an airfoil kite. The shape of the tow body was built around a NACA5515 hydrofoil to...Underwater Vehicles Brooke Ocean Technology (USA) Inc. 6 Figure 1: Hydrofoil Design The second design was based on that of a boat hull...communications. A sharp bow was utilized to cut through the water to reduce drag when on the surface. Like the hydrofoil design the top profile was
Now funded is the initial stage of NESTOR, an imaginative new programme for a dedicated underwater neutrino astroparticle physics laboratory. Located in the international waters off the southernmost corner of continental Europe near the town of Pylos in S.W. Greece, NESTOR (NEutrinos from Supernovae and TeV sources Ocean Range) recalls the wise king of Pylos who counselled the Greeks during the Trojan war, an excellent tradition for new scientific goals of detecting neutrinos
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.
Isern González, Josep; Hernández Sosa, Daniel; Fernández Perdomo, Enrique; Cabrera Gámez, Jorge; Domínguez Brito, Antonio Carlos; Prieto Marañón, Víctor
Underwater gliders have revealed as a valuable scientific platform, with a growing number of successful environmental sampling applications. They are specially suited for long range missions due to their unmatched autonomy level, although their low surge speed make them strongly affected by ocean currents. Path planning constitute a real concern for this type of vehicle, as it may reduce the time taken to reach a given waypoint or save power. In such a dynamic environment it is not easy to fi...
300170 1 of 10 A RECOVERY SYSTEM FOR UNMANNED UNDERWATER VEHICLES STATEMENT OF GOVERNMENT INTEREST  The invention described herein may...6 of 10 forces cannot be easily predicted and can be strong enough to require a significantly larger handling system and significantly more...the sea state, the ship handling system , the capture mechanism and the design of the capture mechanism 400.  The water jets 100 will increase
In its early years, the field of computer vision was largely motivated by researchers seeking computational models of biological vision and solutions to practical problems in manufacturing, defense, and medicine. For the past two decades or so, there has been an increasing interest in computer vision as an input modality in the context of human-computer interaction. Such vision-based interaction can endow interactive systems with visual capabilities similar to those important to human-human interaction, in order to perceive non-verbal cues and incorporate this information in applications such
Harman, William M; Barrett, Steven F; Wright, Cameron H G; Wilcox, Michael
Real-time application of digital imaging for use in machine vision systems has proven to be prohibitive when used within control systems that employ low-power single processors without compromising the scope of vision or resolution of captured images. Development of a real-time machine analog vision system is the focus of research taking place at the University of Wyoming. This new vision system is based upon the biological vision system of the common house fly. Development of a single sensor is accomplished, representing a single facet of the fly's eye. This new sensor is then incorporated into an array of sensors capable of detecting objects and tracking motion in 2-D space. This system "preprocesses" incoming image data resulting in minimal data processing to determine the location of a target object. Due to the nature of the sensors in the array, hyperacuity is achieved thereby eliminating resolutions issues found in digital vision systems. In this paper, we will discuss the biological traits of the fly eye and the specific traits that led to the development of this machine vision system. We will also discuss the process of developing an analog based sensor that mimics the characteristics of interest in the biological vision system. This paper will conclude with a discussion of how an array of these sensors can be applied toward solving real-world machine vision issues.
Fratantoni, David M
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...
Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus
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...
Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.
Full Text Available Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.
Filaretov, V.F.; Koval, E.V.
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
Van Reet, Alan R
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...
.... 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...
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
Luo, Junhai; Han, Ying; Fan, Liying
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.
Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.
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.
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.
Future large-scale implementation of wave energy converts (WECs) will introduce an anthropogenic activity in the ocean which may contribute to underwater noise. The Ocean houses several marine species with acoustic sensibility; consequently the potential impact of the underwater noise needs to be addressed. At present, there are no acoustic impact studies based on acquired data. The WEAM project (Wave Energy Acoustic Monitoring) aims at developing an underwater noise monitoring plan for WECs. The development of an acoustic monitoring plan must consider the sound propagation in the ocean, identify noise sources, understand the operational characteristics and select adequate instrumentation. Any monitoring strategy must involve in-situ measurements. However, the vast distances which sound travels within the ocean, can make in-situ measurements covering the entire area of interest, impracticable. This difficulty can be partially overcome through acoustic numerical modelling. This paper presents a synthetic study, on the application of acoustic forward modelling and the evaluation of the impact of noise produced by wave energy devices on marine mammals using criteria based on audiograms of dolphins, or other species. The idea is to illustrate the application of that methodology, and to show to what extent it allows for estimating distances of impacts due to acoustic noise.
Junges, Sebastian; Guck, Dennis; Katoen, Joost P.; Stoelinga, Mariëlle Ida Antoinette
Fault tree analysis is a widespread industry standard for assessing system reliability. Standard (static) fault trees model the failure behaviour of systems in dependence of their component failures. To overcome their limited expressive power, common dependability patterns, such as spare management,
Farrington, R.B.; Pruett, J.C. Jr.
A fault detecting apparatus and method are provided for use with an active solar system. The apparatus provides an indication as to whether one or more predetermined faults have occurred in the solar system. The apparatus includes a plurality of sensors, each sensor being used in determining whether a predetermined condition is present. The outputs of the sensors are combined in a pre-established manner in accordance with the kind of predetermined faults to be detected. Indicators communicate with the outputs generated by combining the sensor outputs to give the user of the solar system and the apparatus an indication as to whether a predetermined fault has occurred. Upon detection and indication of any predetermined fault, the user can take appropriate corrective action so that the overall reliability and efficiency of the active solar system are increased.
Bøgh, S. A.
This thesis considered the development of fault tolerant control systems. The focus was on the category of automated processes that do not necessarily comprise a high number of identical sensors and actuators to maintain safe operation, but still have a potential for improving immunity to component...... failures. It is often feasible to increase availability for these control loops by designing the control system to perform on-line detection and reconfiguration in case of faults before the safety system makes a close-down of the process. A general development methodology is given in the thesis...... that carried the control system designer through the steps necessary to consider fault handling in an early design phase. It was shown how an existing control loop with interface to the plant wide control system could be extended with three additional modules to obtain fault tolerance: Fault detection...
resonated with key tenets of social gospel theology, which imbued her texts with an overarching vision of humanity’s progressive history. It is suggested that Addams’ vision of a major transition in industrial society, one involving a BChristian renaissance^ and individuals’ transformation into Bsocialized...
Mathiesen, Brian Vad; Lund, Rasmus Søgaard; Connolly, David
The short-term goal for The City of Copenhagen is a CO2 neutral energy supply by the year 2025, and the long-term vision for Denmark is a 100% renewable energy (RE) supply by the year 2050. In this project, it is concluded that Copenhagen plays a key role in this transition. The long-term vision...
The automation of visual inspection is becoming more and more important in modern industry as a consistent, reliable means of judging the quality of raw materials and manufactured goods . The Machine Vision Handbook equips the reader with the practical details required to engineer integrated mechanical-optical-electronic-software systems. Machine vision is first set in the context of basic information on light, natural vision, colour sensing and optics. The physical apparatus required for mechanized image capture – lenses, cameras, scanners and light sources – are discussed followed by detailed treatment of various image-processing methods including an introduction to the QT image processing system. QT is unique to this book, and provides an example of a practical machine vision system along with extensive libraries of useful commands, functions and images which can be implemented by the reader. The main text of the book is completed by studies of a wide variety of applications of machine vision in insp...
Light Vision Color takes a well-balanced, interdisciplinary approach to our most important sensory system. The book successfully combines basics in vision sciences with recent developments from different areas such as neuroscience, biophysics, sensory psychology and philosophy. Originally published in 1998 this edition has been extensively revised and updated to include new chapters on clinical problems and eye diseases, low vision rehabilitation and the basic molecular biology and genetics of colour vision. Takes a broad interdisciplinary approach combining basics in vision sciences with the most recent developments in the area Includes an extensive list of technical terms and explanations to encourage student understanding Successfully brings together the most important areas of the subject in to one volume
This textbook serves as an introduction to fault-tolerance, intended for upper-division undergraduate students, graduate-level students and practicing engineers in need of an overview of the field. Readers will develop skills in modeling and evaluating fault-tolerant architectures in terms of reliability, availability and safety. They will gain a thorough understanding of fault tolerant computers, including both the theory of how to design and evaluate them and the practical knowledge of achieving fault-tolerance in electronic, communication and software systems. Coverage includes fault-tolerance techniques through hardware, software, information and time redundancy. The content is designed to be highly accessible, including numerous examples and exercises. Solutions and powerpoint slides are available for instructors. · Provides textbook coverage of the fundamental concepts of fault-tolerance; · Describes a variety of basic techniques for achieving fault-toleran...
Johnson, Stephen B.; Ghoshal, Sudipto; Haste, Deepak; Moore, Craig
This paper describes the theory and considerations in the application of metrics to measure the effectiveness of fault management. Fault management refers here to the operational aspect of system health management, and as such is considered as a meta-control loop that operates to preserve or maximize the system's ability to achieve its goals in the face of current or prospective failure. As a suite of control loops, the metrics to estimate and measure the effectiveness of fault management are similar to those of classical control loops in being divided into two major classes: state estimation, and state control. State estimation metrics can be classified into lower-level subdivisions for detection coverage, detection effectiveness, fault isolation and fault identification (diagnostics), and failure prognosis. State control metrics can be classified into response determination effectiveness and response effectiveness. These metrics are applied to each and every fault management control loop in the system, for each failure to which they apply, and probabilistically summed to determine the effectiveness of these fault management control loops to preserve the relevant system goals that they are intended to protect.
We have developed underwater cutting technique for 4.2 mm thick zircaloy pressure tubes and up to 6 mm thick steel using fibre-coupled 250 W average power pulsed Nd:YAG laser. This underwater cutting technique will be highly useful in various nuclear applications as well as in dismantling/repair of ship and pipe lines ...
Kobayashi, Futoshi; Kojima, Fumio
An underwater inspection robot has been needed for preventive maintenance in a nuclear power plant. This paper deals with a self-localization method for the underwater inspection robot. In this method, the position and the orientation of the robot are estimated by using the particle filter. For showing the effectiveness of the proposed method, an experiment with real robot is demonstrated. (author)
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.
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
Jong, C.A.F. de
There is a growing interest in the possible impact of anthropogenic underwater noise on marine life . One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest
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.
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
Laser cutting; underwater laser cutting; fibre optic beam delivery; Nd:YAG laser; material processing; heat affected zone; microstructure. PACS Nos 42.62.Cf; 42.62.-b; 42.55.Rz; 42.81.Ai; 42.81.-i. 1. Introduction. Underwater laser cutting and welding has many applications in nuclear facilities and shiping industry and is a ...
In the 1970s researchers noticed that radioactive particles produced by elements naturally present in packaging material could cause bits to flip in sensitive areas of electronic chips. Research into the effect of cosmic rays on semiconductors, an area of particular interest in the aerospace industry, led to methods of hardening electronic devices designed for harsh environments. Ultimately various mechanisms for fault creation and propagation were discovered, and in particular it was noted that many cryptographic algorithms succumb to so-called fault attacks. Preventing fault attacks without
Niemann, Hans Henrik
An active fault diagnosis (AFD) method will be considered in this paper in connection with a Fault Tolerant Control (FTC) architecture based on the YJBK parameterization of all stabilizing controllers. The architecture consists of a fault diagnosis (FD) part and a controller reconfiguration (CR......) part. The FTC architecture can be applied for additive faults, parametric faults, and for system structural changes. Only parametric faults will be considered in this paper. The main focus in this paper is on the use of the new approach of active fault diagnosis in connection with FTC. The active fault...... diagnosis approach is based on including an auxiliary input in the system. A fault signature matrix is introduced in connection with AFD, given as the transfer function from the auxiliary input to the residual output. This can be considered as a generalization of the passive fault diagnosis case, where...
Full Text Available A capacitive micromachined ultrasonic transducer structure for use in underwater imaging is designed, fabricated and tested in this paper. In this structure, a silicon dioxide insulation layer is inserted between the top electrodes and the vibration membrane to prevent ohmic contact. The capacitance-voltage (C-V characteristic curve shows that the transducer offers suitable levels of hysteresis and repeatability performance. The −6 dB center frequency is 540 kHz and the transducer has a bandwidth of 840 kHz for a relative bandwidth of 155%. Underwater pressure of 143.43 Pa is achieved 1 m away from the capacitive micromachined ultrasonic transducer under 20 excitation. Two-dimensional underwater ultrasonic imaging, which is able to prove that a rectangular object is present underwater, is achieved. The results presented here indicate that our work will be highly beneficial for the establishment of an underwater ultrasonic imaging system.
Jiang, Peng; Feng, Yang; Wu, Feng
This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance.
Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.; Deng, Zhiqun; Rohrer, John S.; Caviggia, Kurt A.
The purpose of this study was to design and build two versions of an underwater sound recording device. The device designed is referred to as the Underwater Sound Recorder (USR), which can be connected to one or two hydrophones or other underwater sound sensors. The URS contains a 26 dB preamplifier and a user selectable gain that permits additional amplification of input to the system from 26 dB to 46 dB. Signals within the frequency range up to 15 kHz may be recorded using the USR. Examples of USR applications are monitoring underwater processes that have the potential to create large pressure waves that could potentially harm fish or other aquatic life, such as underwater explosions or pile driving. Additional applications are recording sound generated by vessels or the vocalizations of some marine mammals, such as the calls from many species of whales.
Cheng, Binbin; Wang, Wenwu; Chen, Yao
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.
Repola, L.; Memmolo, R.; Signoretti, D.
In the research started within the SINAPSIS project of the Università degli Studi Suor Orsola Benincasa an underwater stereoscopic scanning aimed at surveying of submerged archaeological sites, integrable to standard systems for geomorphological detection of the coast, has been developed. The project involves the construction of hardware consisting of an aluminum frame supporting a pair of GoPro Hero Black Edition cameras and software for the production of point clouds and the initial processing of data. The software has features for stereoscopic vision system calibration, reduction of noise and the of distortion of underwater captured images, searching for corresponding points of stereoscopic images using stereo-matching algorithms (dense and sparse), for points cloud generating and filtering. Only after various calibration and survey tests carried out during the excavations envisaged in the project, the mastery of methods for an efficient acquisition of data has been achieved. The current development of the system has allowed generation of portions of digital models of real submerged scenes. A semi-automatic procedure for global registration of partial models is under development as a useful aid for the study and musealization of sites.
Bonasso, R. P.
It is usually difficult to use underwater robots for mapping, reconnaissance, and mine-clearing tasks in shallow water (10 to 80 foot depth) ocean environments. The shallow water environment is characterized by strong, intermittent wave surge which requires robot behaviors that are capable of riding out the surge and then repositioning the platform and re- acquiring the objects being sensed. The shallow water area is also characterized by water that is murky, making optical sensors useless for long range search, and which produces multiple paths for sonar returns, giving errant range readings. Teleoperation from a remote surface platform is not effective due to the rapid changes in the environment. A more promising approach would place reactive intelligence on-board the robot. This paper describes such an approach which uses high frequency acoustic and vision sensing and a situated reasoning software architecture to provide task-achieving capability to an underwater robot in a shallow water environment. The approach is demonstrated in the context of a shallow water marking task wherein a robot must locate and navigate to a moored object in shallow water depths, attach a buoyant marker, and then return to a destination location. The approach seeks to integrate selective perception with robust transit and hovering behaviors to overcome the natural problems associated with shallow water environments.
Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya
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.)
Mehaute, Bernard Le
This is the first book on explosion-generated water waves. It presents the theoretical foundations and experimental results of the generation and propagation of impulsively generated waves resulting from underwater explosions. Many of the theories and concepts presented herein are applicable to other types of water waves, in particular, tsunamis and waves generated by the fall of a meteorite. Linear and nonlinear theories, as well as experimental calibrations, are presented for cases of deep and shallow water explosions. Propagation of transient waves on dissipative, nonuniform bathymetries to
Shiri, Ron S.; Lunde, Emily L.; Coronado, Patrick L.; Quijada, Manuel A.
For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with this approach is that there is generally a large loss of the light signal due to scattering and absorption in water, even though there is an optimal wavelength for transmission in the blue or green wavelengths of the visible spectrum. The second issue is that a simple communication system, consisting only of a highly directional source/transmitter and small optical detector/receiver, has a very narrow field of view. The goal of this project is to improve an optical, underwater communication system by increasing the effective field of view of the receiving optics. To this end, we make two changes to the simple system: (1) An optical dome was added near the receiver. An array of lenses is placed radially on the surface of the dome, reminiscent of the compound eye of an insect. The lenses make the source and detector planes conjugate, and each lens adds a new region of the source plane to the instrument's total field of view. (2) The receiver was expanded to include multiple photodiodes. With these two changes, the receiver has much more tolerance to misalignments (in position and angle) of the transmitter. Two versions of the optical dome (with 6" and 8" diameters) were designed using PTC's Creo CAD software and modeled using Synopsys' CODE V optical design software. A series of these transparent hemispherical domes, with both design diameters, were manufactured using a 5-axis mill. The prototype was then retrofitted with lenses and compared with the computer-generated model to demonstrate the effectiveness of this solution. This work shows that the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with
Reyff, James A
Pile driving occurs in a variety of nearshore environments that typically have very shallow-water depths. The propagation of pile-driving sound in water is complex, where sound is directly radiated from the pile as well as through the ground substrate. Piles driven in the ground near water bodies can produce considerable underwater sound energy. This paper presents examples of sound propagation through shallow-water environments. Some of these examples illustrate the substantial variation in sound amplitude over time that can be critical to understand when computing an acoustic-based safety zone for aquatic species.
Lettner, H.; Hofmann, W.; Winkler, R.; Rolle, R.; Foisner, W.
At a facility for underwater thermal radon therapy in Bad Hofgastein, experiments were carried out with the aim of establishing radon in the air exhaled by the treated patients and of radon decay products on the skin of the patients. The time course of radon concentration in the exhaled air shows a maximum a few minutes after entering the bath, then the Rn concentration remains constant over the remaining time spent in the bath. Taking into account several simplifying assumptions, the average dose to the epidermis from radon daughters is about 50 μGy. (A.K.)
concenetrate on the bearings-only approach. In this method the Observer monitors his bearing to the Source, over a period of time. Usually the Observer must...developed in [ 5] was earlier applied with much success to tracking maneuvering air targets. This approach will now be applied in the underwater environment...April 1977.  A. H. Jazwinski, Stochastic Processes and Filtering Theory, Academic Press, New York, 1970.  D. H. Halliday, and R. Resnick, Physics, John Wiley & Sons, Inc., New York, 1966. hI
Department of Homeland Security — This data set contains locations and information on faults and associated folds in the United States that are believed to be sources of M>6 earthquakes during the...
Visions of the City is a dramatic account of utopian urbanism in the twentieth century. It explores radical demands for new spaces and ways of living, and considers their effects on planning, architecture and struggles to shape urban landscapes. Such visions, it shows, have played a crucial role...... to transform urban space and everyday life. He addresses in particular Constant's vision of New Babylon, finding within his proposals for future spaces produced through nomadic life, creativity and play a still powerful challenge to imagine cities otherwise. The book not only recovers vital moments from past...
This paper introduces the term 'anchoring' within systems development: Visions, developed through early systems design within an organization, need to be deeply rooted in the organization. A vision's rationale needs to be understood by those who decide if the vision should be implemented as well...... as by those involved in the actual implementation. A model depicting a recent trend within systems development is presented: Organizations rely on purchasing generic software products and/or software development outsourced to external contractors. A contemporary method for participatory design, where...
...: Divers or underwater ROV. 115.650 Section 115.650 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY... Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater survey, you may use divers or an underwater remotely operated vehicle (ROV). (a) If you use divers to...
... light. Another option for vision correction with UV protection is prescription sunglasses . Also, for people who prefer one set of eyeglasses for both inside and outdoors, photochromatic lenses are ...
... rubbing extreme light sensitivity poor focusing poor visual tracking (following an object) abnormal alignment or movement of ... MD Date reviewed: June 2014 More on this topic for: Parents Kids Teens Amblyopia Can Vision Problems ...
... the nerves that carry visual signals from the eye to the brain (the optic nerve and the visual pathways) Light ... of nerve impulses from the back of the eye to the brain will interfere with vision. Legal blindness is defined ...
In this paper, we investigated the various fault features of the lyo fault and depicted fault lines or detailed topographic map. The results of this paper are summarized as follows; 1) Distinct evidence of the right-lateral movement is continuously discernible along the lyo fault. 2) Active fault traces are remarkably linear suggesting that the angle of fault plane is high. 3) The lyo fault can be divided into four segments by jogs between left-stepping traces. 4) The mean slip rate is 1.3 ～ ...
Zhu, Junxiao; Ho, Siu Chun Michael; Patil, Devendra; Wang, Ning; Hirsch, Rachel; Song, Gangbing
Reports indicated that impact events accounted for 47% of offshore pipeline failures, which calls for impact detection and localization for subsea pipelines. In this paper, an innovative method for rapid localization of impacts on underwater pipelines utilizing a novel determination technique for both arrival-time and group velocity (ATGV) of ultrasonic guided waves with lead zirconate titanate (PZT) transducers is described. PZT transducers mounted on the outer surface of a model pipeline were utilized to measure ultrasonic guided waves generated by impact events. Based on the signals from PZT sensors, the ATGV technique integrates wavelet decomposition, Hilbert transform and statistical analysis to pinpoint the arrival-time of the designated ultrasonic guided waves with a specific group velocity. Experimental results have verified the effectiveness and the localization accuracy for eight impact points along a model underwater pipeline. All estimations errors were small and were comparable with the wavelength of the designated ultrasonic guided waves. Furthermore, the method is robust against the low frequency structural vibration introduced by other external forces.
Full Text Available The open circuit underwater breathing apparatus can be a one or two-stage regulator used in scuba diving or a two-stage regulator used in surface supplied installations. These installations are proper in underwater sites at small depth. The pneumatic circuit of a two-stage regulator is composed mainly of a first stage regulator mounted on the air cylinders and a second stage carried by the diver in his mouth. The two regulators are linked together by a medium pressure hose. The circuit opens when the depression created by the diver’s inhalation, in the second stage body, reaches a certain value. The second stage opening causes a transient movement, namely an expansion wave that propagates through the medium pressure hose to the first stage regulator. The first stage regulator opens and the air in the cylinders is allowed to flow to the diver. The longer the hose, the greater the duration of the expansion wave propagation. Investigations on the wave propagation offer data on the inspiration unsteady motion duration which influences the respiratory effort of the diver.
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.
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.
Gao, Yang; Song, Jingfeng; Li, Shumin; Elowsky, Christian; Zhou, You; Ducharme, Stephen; Chen, Yong Mei; Zhou, Qin; Tan, Li
Exploring the abundant resources in the ocean requires underwater acoustic detectors with a high-sensitivity reception of low-frequency sound from greater distances and zero reflections. Here we address both challenges by integrating an easily deformable network of metal nanoparticles in a hydrogel matrix for use as a cavity-free microphone. Since metal nanoparticles can be densely implanted as inclusions, and can even be arranged in coherent arrays, this microphone can detect static loads and air breezes from different angles, as well as underwater acoustic signals from 20 Hz to 3 kHz at amplitudes as low as 4 Pa. Unlike dielectric capacitors or cavity-based microphones that respond to stimuli by deforming the device in thickness directions, this hydrogel device responds with a transient modulation of electric double layers, resulting in an extraordinary sensitivity (217 nF kPa-1 or 24 μC N-1 at a bias of 1.0 V) without using any signal amplification tools.
Full Text Available The development of SMU-I, a new autonomous & remotely-operated vehicle (ARV is described. Since it has both the characteristics of autonomous underwater vehicle (AUV and remote operated underwater vehicle (ROV, it is able to achieve precision fix station operation and manual timely intervention. In the paper the initial design of basic components, such as vehicle, propulsion, batteries etc. and the control design of motion are introduced and analyzed. ROV’s conventional cable is replaced by a fiber optic cable, which makes it available for high-bandwidth real-time video, data telemetry and high-quality teleoperation. Furthermore, with the aid of the manual real-time remote operation and ranging sonar, it also resolves the AUV’s conflicting issue, which can absolutely adapt the actual complex sea environment and satisfy the unknown mission need. The whole battery system is designed as two-battery banks, whose voltages and temperatures are monitored through CAN (controller area network bus to avoid battery fire and explosion. A fuzzy-PID controller is designed for its motion control, including depth control and direction control. The controller synthesizes the advantage of fuzzy control and PID control, utilizes the fuzzy rules to on-line tune the parameters of PID controller, and achieves a better control effect. Experiment results demonstrate to show the effectiveness of the test-bed.
Praczyk, Tomasz; Szymak, Piotr
Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.
Full Text Available Geotube is, among others, a type of coastal structure that is increasingly accepted for coastal protection especially underwater breakwater. Besides its relatively low cost, it has other advantages such as flexibility, ease of construction and the fact that it can be filled with local sand material. Similar to all other coastal structures, it should also be stable under wave attack. A simple theoretical approach based on linear wave was adopted to estimate the stability of such structure. The theoretical solution was then compared with an experimental study. The experimental study was conducted at the Hydraulics and Hydrology Laboratory of Universitas Gadjah Mada. However, instead of a real geotube, PVC pipe was used where the weight of the PVC was varied by adjusting the volume of sand in the pipe. The result indicated that the agreement between the theoretical solution and the experiment was encouraging. The analytical solution may be utilized to predict underwater pipe stability under wave attack with certain degree of accuracy.
Merchant, Nathan D; Brookes, Kate L; Faulkner, Rebecca C; Bicknell, Anthony W J; Godley, Brendan J; Witt, Matthew J
Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). Field measurements were made during 2013-2014 at twelve sites around the UK. Median noise levels ranged from 81.5-95.5 dB re 1 μPa for one-third octave bands from 63-500 Hz. Noise exposure varied considerably, with little anthropogenic influence at the Celtic Sea site, to several North Sea sites with persistent vessel noise. Comparison of acoustic metrics found that the RMS level (conventionally used to represent the mean) was highly skewed by outliers, exceeding the 97 th percentile at some frequencies. We conclude that environmental indicators of anthropogenic noise should instead use percentiles, to ensure statistical robustness. Power analysis indicated that at least three decades of continuous monitoring would be required to detect trends of similar magnitude to historic rises in noise levels observed in the Northeast Pacific.
Giuliano, Giovanni; Kent, Lionel W. J.; Laycock, Leslie C.
The present study originated in the lack of research into achieving underwater total internal reflection (TIR) via the acousto-optic effect. The uniqueness of this technique exists in the fact that it is based on a high sound pressure level which induces a localised change in refractive index of seawater sufficient to achieve total internal reflection within the communication channel. Different transducer systems for generating the pressure wave have been investigated and take the form of a wave which may be either a standing wave, or a novel beamforming technique. The former is based on an array of transducers and with an acoustic mirror at the receiver in order to establish the standing wave. The alternative approach relies on the high intrinsic directionality of a novel beamformer where an annular transducer array is examined as an acoustic source. In this paper, the main characteristics of the acoustic optic waveguide will be presented. This will include both sound and light propagation in the ocean, TIR, novel beam propagation, the refractive index of water as a function of the externally applied acoustic pressure, and the acoustic technology. The modelled results, the limitations imposed by the challenging medium, and the system requirements required to obtain an Underwater Wireless Acousto-Optic Waveguide (UWAOW) will be also addressed.
Yuniarti Ulfa; Nur Fathin Mohd Jamel; Mardiana Samsuardi
A ground penetrating radar (GPR) survey was done across the Bok Bak Fault zone in Baling, Kedah in order to investigate the shallow subsurface geology of the Bok Bak fault zone, its extension and associated weak zones within the study area. GPR data acquisition was compared with visual inspection on the slope of the outcrop. Ten GPR profiles were acquired using 250 MHz GPR frequency. Basic data processing and filtering to reduce some noise and unwanted signal was done using MALA RAMAC Ground Vision software. The data penetrate around 2 meters in depth for all survey lines. In most lines shows clear images of shallowest Bok Bak Fault (NW trending) as detected at distance of 28 m horizontal marker. It also exhibits several sets of faults as a result of Bok Bak Fault deformation, including the conjugate NE trending fault (Lubok Merbau Fault). Active seismicity encompasses the Malay-Thai Peninsular trigger the changes of Bok Bak Fault dipping direction, steeper dips of conjugate faults and faults or fractures rotational movement. (author)
Zhao, Yin; Xia, Ying-kai; Chen, Ying; Xu, Guo-Hua
Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed contr...
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.)
Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning
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.
Full Text Available Ontologies have been widely used to facilitate semantic interoperability and serve as a common information model in many applications or domains. The Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project, aiming to facilitate coordination and cooperation between heterogeneous underwater vehicles, also adopts ontologies to formalize information that is necessarily exchanged between vehicles. However, how to derive more useful contexts based on ontologies still remains a challenge. In particular, the extreme nature of the underwater environment introduces uncertainties in context data, thus imposing more difficulties in context reasoning. None of the existing context reasoning methods could individually deal with all intricacies in the underwater robot field. To this end, this paper presents the first proposal applying a hybrid context reasoning mechanism that includes ontological, rule-based, and Multi-Entity Bayesian Network (MEBN reasoning methods to reason about contexts and their uncertainties in the underwater robot field. The theoretical foundation of applying this reasoning mechanism in underwater robots is given by a case study on the oil spill monitoring. The simulated reasoning results are useful for further decision-making by operators or robots and they show that the consolidation of different reasoning methods is a promising approach for context reasoning in underwater robots.
Niemann, Hans Henrik; Poulsen, Niels Kjølstad
Active fault isolation of parametric faults in closed-loop MIMO system s are considered in this paper. The fault isolation consists of two steps. T he first step is group- wise fault isolation. Here, a group of faults is isolated from other pos sible faults in the system. The group-wise fault...... isolation is based directly on the input/output s ignals applied for the fault detection. It is guaranteed that the fault group includes the fault that had occurred in the system. The second step is individual fault isolation in the fault group . Both types of isolation are obtained by applying dedicated...
Angelica Lo Duca
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.
Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi
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)
Full Text Available Understanding the dynamics of bodies of water and their impact on the global environment requires sensing information over the full volume of water. In this article, we develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for computing maximally detailed volumetric models. We prove that the controller converges to a local minimum and show how the controller can be extended to work with hybrid robot and sensor network systems. We implement the controller on an underwater sensor network with depth adjustment capabilities. Through simulations and in-situ experiments, we verify the functionality and performance of the system and algorithm.
Palix, Nicolas Jean-Michel; Thomas, Gaël; Saha, Suman
In 2001, Chou et al. published a study of faults found by applying a static analyzer to Linux versions 1.0 through 2.4.1. A major result of their work was that the drivers directory contained up to 7 times more of certain kinds of faults than other directories. This result inspired a number...... a major problem? To answer these questions, we have transported the experiments of Chou et al. to Linux versions 2.6.0 to 2.6.33, released between late 2003 and early 2010. We find that Linux has more than doubled in size during this period, but that the number of faults per line of code has been...... decreasing. And, even though drivers still accounts for a large part of the kernel code and contains the most faults, its fault rate is now below that of other directories, such as arch (HAL) and fs (file systems). These results can guide further development and research efforts. To enable others...
Saha, Murari Mohan
Fault Location on Power Lines enables readers to pinpoint the location of a fault on power lines following a disturbance. The nine chapters are organised according to the design of different locators. The authors do not simply refer the reader to manufacturers' documentation, but instead have compiled detailed information to allow for in-depth comparison. Fault Location on Power Lines describes basic algorithms used in fault locators, focusing on fault location on overhead transmission lines, but also covering fault location in distribution networks. An application of artificial intelligence i
Blanke, Mogens; Frei, C. W.; Kraus, K.
Faults in automated processes will often cause undesired reactions and shut-down of a controlled plant, and the consequences could be damage to the plant, to personnel or the environment. Fault-tolerant control is the synonym for a set of recent techniques that were developed to increase plant...... availability and reduce the risk of safety hazards. Its aim is to prevent that simple faults develop into serious failure. Fault-tolerant control merges several disciplines to achieve this goal, including on-line fault diagnosis, automatic condition assessment and calculation of remedial actions when a fault...
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.
Mathiesen, Brian Vad; Lund, Henrik; Hansen, Kenneth
IDA’s Energy Vision 2050 provides a Smart Energy System strategy for a 100% renewable Denmark in 2050. The vision presented should not be regarded as the only option in 2050 but as one scenario out of several possibilities. With this vision the Danish Society of Engineers, IDA, presents its third...... contribution for an energy strategy for Denmark. The IDA’s Energy Plan 2030 was prepared in 2006 and IDA’s Climate Plan was prepared in 2009. IDA’s Energy Vision 2050 is developed for IDA by representatives from The Society of Engineers and by a group of researchers at Aalborg University. It is based on state......-of-the-art knowledge about how low cost energy systems can be designed while also focusing on long-term resource efficiency. The Energy Vision 2050 has the ambition to focus on all parts of the energy system rather than single technologies, but to have an approach in which all sectors are integrated. While Denmark...
Pasini, Evasio; Pitocchi, Oreste; de Luca, Italo; Ferrari, Roberto
A recent document of the Italian Ministry of Health points out that all structures which provide services to the National Health System should implement a Quality System according to the ISO 9000 standards. Vision 2000 is the new version of the ISO standard. Vision 2000 is less bureaucratic than the old version. The specific requests of the Vision 2000 are: a) to identify, to monitor and to analyze the processes of the structure, b) to measure the results of the processes so as to ensure that they are effective, d) to implement actions necessary to achieve the planned results and the continual improvement of these processes, e) to identify customer requests and to measure customer satisfaction. Specific attention should be also dedicated to the competence and training of the personnel involved in the processes. The principles of the Vision 2000 agree with the principles of total quality management. The present article illustrates the Vision 2000 standard and provides practical examples of the implementation of this standard in cardiological departments.
Pinheiro, Cristina; da Silva, Fernando Moreira
This paper is based on a research project - Visual Communication and Inclusive Design-Colour, Legibility and Aged Vision, developed at the Faculty of Architecture of Lisbon. The research has the aim of determining specific design principles to be applied to visual communication design (printed) objects, in order to be easily read and perceived by all. This study target group was composed by a selection of socially active individuals, between 55 and 80 years, and we used cultural events posters as objects of study and observation. The main objective is to overlap the study of areas such as colour, vision, older people's colour vision, ergonomics, chromatic contrasts, typography and legibility. In the end we will produce a manual with guidelines and information to apply scientific knowledge into the communication design projectual practice. Within the normal aging process, visual functions gradually decline; the quality of vision worsens, colour vision and contrast sensitivity are also affected. As people's needs change along with age, design should help people and communities, and improve life quality in the present. Applying principles of visually accessible design and ergonomics, the printed design objects, (or interior spaces, urban environments, products, signage and all kinds of visually information) will be effective, easier on everyone's eyes not only for visually impaired people but also for all of us as we age.
Odgaard, Peter Fogh; Johnson, Kathryn
In this updated edition of a previous wind turbine fault detection and fault tolerant control challenge, we present a more sophisticated wind turbine model and updated fault scenarios to enhance the realism of the challenge and therefore the value of the solutions. This paper describes...... the challenge model and the requirements for challenge participants. In addition, it motivates many of the faults by citing publications that give ﬁeld data from wind turbine control tests....
For many years, most computer architects have pursued one primary goal: performance. Architects have translated the ever-increasing abundance of ever-faster transistors provided by Moore's law into remarkable increases in performance. Recently, however, the bounty provided by Moore's law has been accompanied by several challenges that have arisen as devices have become smaller, including a decrease in dependability due to physical faults. In this book, we focus on the dependability challenge and the fault tolerance solutions that architects are developing to overcome it. The two main purposes
Archer, Charles J.; Megerian, Mark G.; Ratterman, Joseph D.; Smith, Brian E.
Computer hardware fault administration carried out in a parallel computer, where the parallel computer includes a plurality of compute nodes. The compute nodes are coupled for data communications by at least two independent data communications networks, where each data communications network includes data communications links connected to the compute nodes. Typical embodiments carry out hardware fault administration by identifying a location of a defective link in the first data communications network of the parallel computer and routing communications data around the defective link through the second data communications network of the parallel computer.
Hallewell, G D
The ANTARES Collaboration is constructing a deep underwater neutrino detector for operation at -2400 m off the French Mediterranean coast near Toulon. The detector, which will begin operation in 2004, will have an aperture of approx 0.1 km sup 2 , and will contain 900 photomultiplier tubes. The photomultiplier axes will be angled 45 deg. downward toward the seabed to observe the Cherenkov emissions of upward-going muons created by the interactions in or near the detector of high energy neutrinos traversing the Earth. These neutrinos arrive undeviated from a variety of galactic and extragalactic sources of astrophysical interest, and might be produced in the possible annihilation of dark matter neutralinos. The design and present status of the detector are summarized. Results from site evaluation and the development of supporting instrumentation are outlined.
Butler, John L
This improved and updated second edition covers the theory, development, and design of electro-acoustic transducers for underwater applications. This highly regarded text discusses the basics of piezoelectric and magnetostrictive transducers that are currently being used as well as promising new designs. It presents the basic acoustics as well as the specific acoustics data needed in transducer design and evaluation. A broad range of designs of projectors and hydrophones are described in detail along with methods of modeling, evaluation, and measurement. Analysis of projector and hydrophone transducer arrays, including the effects of mutual radiation impedance and numerical models for elements and arrays, are also covered. The book includes new advances in transducer design and transducer materials and has been completely reorganized to be suitable for use as a textbook, as well as a reference or handbook. The new edition contains updates to the first edition, end-of-chapter exercises, and solutions to select...
Rapidis, Petros A. [Institute of Nuclear Physics, National Center for Scientific Research ' Demokritos' , Athens 15310 (Greece)], E-mail: email@example.com
The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.
Full Text Available This paper describes the validation process of a localization algorithm for underwater vehicles. In order to develop new localization algorithms, it is essential to characterize them with regard to their accuracy, long-term stability and robustness to external sources of noise. This is only possible if a gold-standard reference localization (GSRL is available against which any new localization algorithm (NLA can be tested. This process requires a vehicle which carries all the required sensor and processing systems for both the GSRL and the NLA. This paper will show the necessity of such a validation process, briefly sketch the test vehicle and its capabilities, describe the challenges in computing the localizations of both the GSRL and the NLA simultaneously for comparison, and conclude with experimental data of real-world trials.
Moore, Casey; daCunha, John; Rhoades, Bruce; Twardowski, Michael
A compact, high-resolution, two-dimensional excitation-emission matrix fluorometer (EEMF) has been designed and built specifically for use in identifying and measuring the concentrations of organic compounds, including polluting hydrocarbons, in natural underwater settings. Heretofore, most EEMFs have been designed and built for installation in laboratories, where they are used to analyze the contents of samples collected in the field and brought to the laboratories. Because the present EEMF can be operated in the field, it is better suited to measurement of spatially and temporally varying concentrations of substances of interest. In excitation-emission matrix (EEM) fluorometry, fluorescence is excited by irradiating a sample at one or more wavelengths, and the fluorescent emission from the sample is measured at multiple wavelengths. When excitation is provided at only one wavelength, the technique is termed one-dimensional (1D) EEM fluorometry because the resulting matrix of fluorescence emission data (the EEM) contains only one row or column. When excitation is provided at multiple wavelengths, the technique is termed two-dimensional (2D) EEM fluorometry because the resulting EEM contains multiple rows and columns. EEM fluorometry - especially the 2D variety - is well established as a means of simultaneously detecting numerous dissolved and particulate compounds in water. Each compound or pool of compounds has a unique spectral fluorescence signature, and each EEM is rich in information content, in that it can contain multiple fluorescence signatures. By use of deconvolution and/or other mixture-analyses techniques, it is often possible to isolate the spectral signature of compounds of interest, even when their fluorescence spectra overlap. What distinguishes the present 2D EEMF over prior laboratory-type 2D EEMFs are several improvements in packaging (including a sealed housing) and other aspects of design that render it suitable for use in natural underwater
Thor I. Fossen
Full Text Available The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1 an adaptive passivity-based control scheme and (2 deriving a hybrid (adaptive and sliding controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunovlike lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV.
Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel
Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.
Rapidis, Petros A.
The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.
VLSI). Biochips are currently being designed manually using tools such as AutoCAD. Physical defects can be introduced during the fabrication process, which reduces the yield, and may lead to the failure of the biochemical application. Failure is costly because of the need to redo lengthy experiments, using...... prevent the failure during the operation of the biochip, we advocate the use of fault-tolerant biochip design. The vision is to provide application fault-tolerance at run-time (online), detecting the faults as they appear, and reconfiguring the application. However, in this paper our assumption...... is that the faults are detected during testing, and that the operation of the biochip is reconfigured offline (at design time) to avoid the faults. We are interested to introduce redundancy such that the applications can still successfully run on a defective biochip. Redundancy is the addition of extra resources...
Miller, Timothy F; Gandhi, Farhan; Rufino, Russell J
There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations). (paper)
Rudnick, Daniel L.; Cole, Sylvia T.
The sampling characteristics of an underwater glider are addressed through comparison with contemporaneous measurements from a ship survey using a towed vehicle. The comparison uses the underwater glider Spray and the towed vehicle SeaSoar north of Hawaii along 158°W between 22.75°N and 34.5°N. A Spray dive from the surface to 1000 m and back took 5.6 h and covered 5.3 km, resulting in a horizontal speed of 0.26 m s-1. SeaSoar undulated between the surface and 400 m, completing a cycle in 11 min while covering 2.6 km, for a speed of 3.9 m s-1. Adjacent profiles of temperature and salinity are compared between the two platforms to prove that each is accurate. Spray and SeaSoar data are compared through sections, isopycnal spatial series, and wave number spectra. The relative slowness of the glider results in the projection of high-frequency oceanic variability, such as internal waves, onto spatial structure. The projection is caused by Doppler smearing because of finite speed and aliasing due to discrete sampling. The projected variability is apparent in properties measured on depth surfaces or in isopycnal depth. No projected variability is seen in observations of properties on constant density surfaces because internal waves are intrinsically filtered. Wave number spectra suggest that projected variability affects properties at constant depth at wavelengths shorter than 30 km. These results imply that isobaric quantities, like geostrophic shear, are valid at wavelengths longer than 30 km, while isopycnal quantities, like spice, may be analyzed for scales as small as a glider measures.
lethal methods may become an increasingly useful tool to investigate shark populations where researchers encounter logistical or conservation-related constraints. Keywords: biopsy probe, laser photogrammetry, non-lethal sampling, underwater ...
"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.
Hou, Weilin; Gray, Deric J; Weidemann, Alan D; Fournier, Georges R; Forand, J. L
...) in the spatial domain and the modulation transfer function (MTF) in the frequency domain. Due to the intensity variations involved in underwater sensing, denoising is carefully carried out by wavelet decompositions...
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.
Tuna, G.; Das, R.
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.
Rinaldi, R.; Hordosch, H.
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.
KWON KYOUNG YOUB
Full Text Available A fuzzy logic for autonomous navigation of underwater robot is proposed in this paper. The VFF(Virtual Force Field algorithm, which is widely used in the field of mobile robot, is modified for application to the autonomous navigation of underwater robot. This Modified Virtual Force Field(MVFF algorithm using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robot. A graphic simulator based on OpenGL for an autonomous navigation has been developed. The good performance of the proposed MVFF algorithm is verified through computer simulations on an underwater robot.
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%.
Tai, Shen-Chuan; Tsai, Ting-Chou; Huang, Jyun-Han
Light absorption and scattering in underwater environments can result in low-contrast images with a distinct color cast. This paper proposes a systematic framework for the enhancement of underwater images. Light transmission is estimated using the random forest algorithm. RGB values, luminance, color difference, blurriness, and the dark channel are treated as features in training and estimation. Transmission is calculated using an ensemble machine learning algorithm to deal with a variety of conditions encountered in underwater environments. A color compensation and contrast enhancement algorithm based on depth information was also developed with the aim of improving the visual quality of underwater images. Experimental results demonstrate that the proposed scheme outperforms existing methods with regard to subjective visual quality as well as objective measurements.
Ranjan, T.N.; Nherakkol, A.; Navelkar, G.S.
To navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in its application. A truly autonomous vehicle must determine its position which requires the optimal integration of all available attitude...
Moore, Linda A.; Ferreira, Jannie T.
Sports vision encompasses the visual assessment and provision of sports-specific visual performance enhancement and ocular protection for athletes of all ages, genders and levels of participation. In recent years, sports vision has been identified as one of the key performance indicators in sport. It is built on four main cornerstones: corrective eyewear, protective eyewear, visual skills enhancement and performance enhancement. Although clinically well established in the US, it is still a relatively new area of optometric specialisation elsewhere in the world and is gaining increasing popularity with eyecare practitioners and researchers. This research is often multi-disciplinary and involves input from a variety of subject disciplines, mainly those of optometry, medicine, physiology, psychology, physics, chemistry, computer science and engineering. Collaborative research projects are currently underway between staff of the Schools of Physics and Computing (DIT) and the Academy of Sports Vision (RAU).
Widergren, Steven E.; Knight, Mark R.; Melton, Ronald B.; Narang, David; Martin, Maurice; Nordman, Bruce; Khandekar, Aditya; Hardy, Keith S.
The Interoperability Strategic Vision whitepaper aims to promote a common understanding of the meaning and characteristics of interoperability and to provide a strategy to advance the state of interoperability as applied to integration challenges facing grid modernization. This includes addressing the quality of integrating devices and systems and the discipline to improve the process of successfully integrating these components as business models and information technology improve over time. The strategic vision for interoperability described in this document applies throughout the electric energy generation, delivery, and end-use supply chain. Its scope includes interactive technologies and business processes from bulk energy levels to lower voltage level equipment and the millions of appliances that are becoming equipped with processing power and communication interfaces. A transformational aspect of a vision for interoperability in the future electric system is the coordinated operation of intelligent devices and systems at the edges of grid infrastructure. This challenge offers an example for addressing interoperability concerns throughout the electric system.
National Aeronautics and Space Administration — Multiple fault diagnosis is a difficult problem for dynamic systems. Due to fault masking, compensation, and relative time of fault occurrence, multiple faults can...
Lee, Hee Kwon
Past movement on faults can be dated by measurement of the intensity of ESR signals in quartz. These signals are reset by local lattice deformation and local frictional heating on grain contacts at the time of fault movement. The ESR signals then trow back as a result of bombardment by ionizing radiation from surrounding rocks. The age is obtained from the ratio of the equivalent dose, needed to produce the observed signal, to the dose rate. Fine grains are more completely reset during faulting, and a plot of age vs grain size shows a plateau for grains below critical size : these grains are presumed to have been completely zeroed by the last fault activity. We carried out ESR dating of fault rocks collected from the Yangsan fault system. ESR dates from the this fault system range from 870 to 240 ka. Results of this research suggest that long-term cyclic fault activity continued into the pleistocene
Faiz, Jawad; Joksimović, Gojko
This book is a comprehensive, structural approach to fault diagnosis strategy. The different fault types, signal processing techniques, and loss characterisation are addressed in the book. This is essential reading for work with induction motors for transportation and energy.
Pilots are asked to manage faults during flight operations. This leads to the training question of the type and depth of system knowledge required to respond to these faults. Based on discussions with multiple airline operators, there is agreement th...
Ray, Patrick L; Cox, Alexander P; Jensen, Mark; Allen, Travis; Duncan, William; Diehl, Alexander D
There have been relatively few attempts to represent vision or blindness ontologically. This is unsurprising as the related phenomena of sight and blindness are difficult to represent ontologically for a variety of reasons. Blindness has escaped ontological capture at least in part because: blindness or the employment of the term 'blindness' seems to vary from context to context, blindness can present in a myriad of types and degrees, and there is no precedent for representing complex phenomena such as blindness. We explore current attempts to represent vision or blindness, and show how these attempts fail at representing subtypes of blindness (viz., color blindness, flash blindness, and inattentional blindness). We examine the results found through a review of current attempts and identify where they have failed. By analyzing our test cases of different types of blindness along with the strengths and weaknesses of previous attempts, we have identified the general features of blindness and vision. We propose an ontological solution to represent vision and blindness, which capitalizes on resources afforded to one who utilizes the Basic Formal Ontology as an upper-level ontology. The solution we propose here involves specifying the trigger conditions of a disposition as well as the processes that realize that disposition. Once these are specified we can characterize vision as a function that is realized by certain (in this case) biological processes under a range of triggering conditions. When the range of conditions under which the processes can be realized are reduced beyond a certain threshold, we are able to say that blindness is present. We characterize vision as a function that is realized as a seeing process and blindness as a reduction in the conditions under which the sight function is realized. This solution is desirable because it leverages current features of a major upper-level ontology, accurately captures the phenomenon of blindness, and can be
Jesus, S. M.
This is a review presentation that addresses recent developments in underwater acoustic telemetry as a tool for ocean observation, monitoring and protection. Distributed sensing is a paradigm with important reflections in oceanic technology where bottom installed structures can not always be connected to a central hub through cabled networks. Moreover, recent developments in ocean robotics lead to the off-the-shelf availability of autonomous underwater vehicles that rely on wireless communica...
Temsamani, A.B.; Vandenplas, S.; Van Biesen, L.
In this work a parametric modeling of the underwater acoustic field is investigated in a laboratory scale at high frequencies (150-850 kHz). The aim is to develop experimentally verifiable theoretical models to investigate the acoustic field propagation in elastic and viscoelastic or porous media. To achieve this goal, the efforts have been directed to three integral parts pertaining to the development of the methods. The first part deals with the modeling of the underwater acoustic field fol...
Xiao, Kun; Fang, Shao-Ji; Pang, Yong-Jie
To impove underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.
Li, Daijin; Qin, Kan; Luo, Kai
Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional mod...
Jong, C.A.F. de
There is a growing interest in the possible impact of anthropogenic underwater noise on marine life . One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest for naval [2,3] and fishery research vessels . Due to the potential environmental impact, it becomes also relevant for commercial shipping. The challenge is to bring the expertise from the naval ...
Willis, Walter David
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
79 ix LIST OF FIGURES Figure 1. NPS REMUS 100 with WHOI Docking Station. Source: [1...underwater missions were short and quick . Now, with advanced technology, underwater missions can be as long as the user desires. The new AUVs have...the full information problem. In order to use the MHE approach for real-time applications, the optimization process should be quick and accurate
Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-marc; Deniset, Francois
Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of th...
Kraus, Robert J.
The use of autonomous underwater vehicles (AUVs) for oceanic observation and research is becoming more common. Underwater gliders are a specific class of AUV that do not use conventional propulsion. Instead they change their buoyancy and center of mass location to control attitude and trajectory. The vehicles spend most of their time in long, steady glides, so even minor improvements in glide range can be magnified over multiple dives. This dissertation presents a rigid-body dynamic system...
The oscillation of a gas bubble produced as a result of underwater explosion could cause the severe whipping damage on nearby marine vehicle. The effects of rigid boundary curvatures to explosive gas bubble oscillation behavior in underwater were investigated. The analyses were conducted using a multimaterial Lagrangian-Eulerian finite element code, MSC/DYTRAN. The incident shock wave pressure, bubble pulse pressure, gas bubble radius and period were calculated for the case of detonation of a...
Kommentar. CBS’ ry for at være et moderne Business University med forskere fra hele verden og forskningsmæssig dynamik faldt på gulvet. Udfordringen er nu at få samlet CBS forskere om en fælles vision.......Kommentar. CBS’ ry for at være et moderne Business University med forskere fra hele verden og forskningsmæssig dynamik faldt på gulvet. Udfordringen er nu at få samlet CBS forskere om en fælles vision....
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.
Blackwell, Susanna B.; Greene, Charles R.
Underwater and in-air recordings were made from a boat anchored near Prudhoe Bay, Alaska, while a Griffon 2000TD hovercraft drove by at or near full power on four passes. At the closest point of approach (CPA, 6.5 m), underwater broadband (10-10 000 Hz) levels reached 133 and 131 dB re: 1 μPa at depths of 1 and 7 m, respectively. In-air unweighted and A-weighted broadband (10-10 000 Hz) levels reached 104 and 97 dB re: 20 μPa, respectively. The hovercraft produced sound at a wide range of frequencies. Both underwater and in air, the largest spectral peak was near 87 Hz, which corresponded to the blade rate of the thrust propeller. In addition, the spectral composition included several harmonics of this frequency. The shaft or blade rate of the lift fan was barely detectable underwater despite its proximity to the water. The hovercraft was considerably quieter underwater than similar-sized conventional vessels and may be an attractive alternative when there is concern over underwater sounds.
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.
Full Text Available The Underwater Swarm is a particular Underwater Network configuration characterized by nodes very close one to each other, with mobility capability. The structure of the network is that of a distributed network, in which the nodes, through the exchange of control information, will take decisions in collaborative manner. This type of network raises challenges for its effective design and development, for which the only use of acoustic communication as traditionally suggested in underwater communication could be not enough. A new emerging solution could be a hybrid solution that combines the use of acoustic and optical channel in order to overcome the acoustic channel limitations in underwater environment. In this work, we want to investigate how the acoustic and optical communications influence the Underwater Swarm performance by considering the Low Layers Protocols (Physical Layer, Data Link Layer and Network Layer effects over the two different propagation technologies. Performance simulations have been carried out to suggest how the new hybrid system could be designed. This study will permit to provide useful analysis for the real implementation of an Underwater Swarm based on hybrid communication technology.
Guyton, J. W.
An inexpensive, simple mechanical model of a fault can be produced to simulate the effects leading to an earthquake. This model has been used successfully with students from elementary to college levels and can be demonstrated to classes as large as thirty students. (DF)
Archer, Charles Jens [Rochester, MN; Pinnow, Kurt Walter [Rochester, MN; Ratterman, Joseph D [Rochester, MN; Smith, Brian Edward [Rochester, MN
An apparatus, program product and method checks for nodal faults in a row of nodes by causing each node in the row to concurrently communicate with its adjacent neighbor nodes in the row. The communications are analyzed to determine a presence of a faulty node or connection.
Schrøder, Katja; la Cour, Karen; Jørgensen, Jan Stener
-free approach is promoted in the aftermath of adverse events. The purpose is to illustrate how healthcare professionals may experience guilt without being at fault after adverse events, and Gamlund's theory on forgiveness without blame is used as the theoretical framework for this analysis. Philosophical...
Fang, Shaoji; Blanke, Mogens
This paper addresses fault tolerant control for position mooring of a shuttle tanker operating in the North Sea. A complete framework for fault diagnosis is presented but the loss of a sub-sea mooring line buoyancy element is given particular attention, since this fault could lead to mooring line...... breakage and a high-risk abortion of an oil-loading operation. With significant drift forces from waves, non-Gaussian elements dominate forces and the residuals designed for fault diagnosis. Hypothesis testing need be designed using dedicated change detection for the type of distribution encountered....... Properties of detection and fault-tolerant control are demonstrated by high fidelity simulations....
14. ABSTRACT The U.S. Air Force School of Aerospace Medicine Operational Based Vision Assessment Laboratory has developed a set of computer - based...Air Force School of Aerospace Medicine Operational Based Vision Assessment (OBVA) Laboratory has developed a set of computer -based, automated vision ...username of your computer ] “App Data” “Roaming” Automated Vision Test” “Settings” “Calibration.” Once inside the “Calibration” folder
Beyond the study of historical surface faulting events, this work investigates the possibility, in specific cases, of identifying pre-historical events whose memory survives in myths and legends. The myths of many famous sacred places of the ancient world contain relevant telluric references: "sacred" earthquakes, openings to the Underworld and/or chthonic dragons. Given the strong correspondence with local geological evidence, these myths may be considered as describing natural phenomena. It has been possible in this way to shed light on the geologic origin of famous myths (Piccardi, 1999, 2000 and 2001). Interdisciplinary researches reveal that the origin of several ancient sanctuaries may be linked in particular to peculiar geological phenomena observed on local active faults (like ground shaking and coseismic surface ruptures, gas and flames emissions, strong underground rumours). In many of these sanctuaries the sacred area is laid directly above the active fault. In a few cases, faulting has affected also the archaeological relics, right through the main temple (e.g. Delphi, Cnidus, Hierapolis of Phrygia). As such, the arrangement of the cult site and content of relative myths suggest that specific points along the trace of active faults have been noticed in the past and worshiped as special `sacred' places, most likely interpreted as Hades' Doors. The mythological stratification of most of these sanctuaries dates back to prehistory, and points to a common derivation from the cult of the Mother Goddess (the Lady of the Doors), which was largely widespread since at least 25000 BC. The cult itself was later reconverted into various different divinities, while the `sacred doors' of the Great Goddess and/or the dragons (offspring of Mother Earth and generally regarded as Keepers of the Doors) persisted in more recent mythologies. Piccardi L., 1999: The "Footprints" of the Archangel: Evidence of Early-Medieval Surface Faulting at Monte Sant'Angelo (Gargano, Italy
The purpose of this study was to determine the effectiveness of three different approaches to improving sports performance through improvements in “sports vision:” (1) a visual skills training programme, (2) traditional vision coaching sessions, and (3) a multi-disciplinary approach identified as sports vision dynamics.
easily help to address this visual disability.7 An average cost of near vision spectacle in Ghana is approximately. $ 5.8 Near-vision spectacle could be dispensed as single vision, bifocal or progressive eye glasses to meet near vi- sion needs.2. Recent evidence suggests that the ageing population in. Ghana is increasing ...
While recognizing the value of "vision," it could be argued that vision alone--at least in schools--is not enough to rally the financial and emotional support required to translate an idea into reality. A compelling vision needs to reflect substantive, research-based knowledge if it is to spark the kind of strategic thinking and insight…
that the fault is discovered in time such that appropriate actions can be taken. That could either be the aircraft controlling computer taking the fault into account or a human operator that intervenes. Detection of faults that occur during flight is exactly the subject of this thesis. Safety towards faults...... for manned aircraft is often achieved by making most of the systems onboard redundant. This is an easy way to obtain safety since no single system fault is catastrophic. The failed subsystem can be disconnected and the redundant systems can take over the tasks of the failed system. For smaller UAVs both...... a specific UAV, used by the Danish military, it is investigated how a number of critical faults can be detected and handled. One of the challenges using telemetry data for the fault diagnosis is the limited bandwidth in the radio link between the aircraft and the base-station on ground. This combined...
Schaffert, Sebastian; Bry, Francois; Dolog, Peter
This deliverable describes the common vision of the KiWi project, ranging from motivation over use cases and usage scenarios to user interaction, system architecture and technologies, and the research that is performed as part of the project. The deliverable is intended for a wide audience to give...
Andersson, Jonas E
and drawing analysis. This study suggests that there is a gap between reality and visions. Despite research-based guidelines, the architecture of contemporary residential care homes relies on universal qualities that are associated with the home environment rather than with the particular conditions...
By introducing the concept; Tectonic Visions, The Dissertation discusses the interrelationship between the basic idea, the form principles, the choice of building technology and constructive structures within a given building. Includes Mies van der Rohe, Le Corbusier, Eames, Jorn Utzon, Louis Kahn...
Amherst Systems manufactures foveal machine vision technology and systems commercially available to end-users and system integrators. This technology was initially developed under NASA contracts NAS9-19335 (Johnson Space Center) and NAS1-20841 (Langley Research Center). This technology is currently being delivered to university research facilities and military sites. More information may be found in www.amherst.com.
Jakobsen, H; Willumsen, H; Søndergaard Jensen, L
During a five-year period, direct vision internal urethrotomy was used for the treatment of urethral strictures in 34 men. After the primary operation the patients were followed for an average period of 29 months (range 3-73 months). During this period 53% of the patients were found to have one...
Murphy, Joseph; Torre, Daniela
Few concepts are more noted in the leadership effects research than vision. It is a cardinal element in the school improvement equation as well. Yet, it remains one of the least well-specified components of that algorithm. Based on a comprehensive review of the research on effective leadership and school improvement from 1995 to 2012, we bring…
By introducing the concept; Tectonic Visions, The Dissertation discusses the interrelationship between the basic idea, the form principles, the choice of building technology and constructive structures within a given building. Includes Mies van der Rohe, Le Corbusier, Eames, Jorn Utzon, Louis Kah...
... missing areas. If any lines appear distorted or broken, note their location on the grid using a pen or pencil. DISTANCE VISION This is the standard eye chart doctors use, which has been adapted for home use. The chart is attached to a wall ...
rruion is one of our primary senses. It is the ability to identify, process and interpret what is seen by the eye. It is a powerful mechanism for parallel processing of information received at the speed of light from near and remote scenes. The volume of information received by vision is certainly more than that re- ceived by our ...
Podladchikova, Lubov N.; Gusakova, Valentina I.; Shaposhnikov, Dmitry G.; Faure, Alain; Golovan, Alexander V.; Shevtsova, Natalia A.
Earlier, the biologically plausible active vision, model for multiresolutional attentional representation and recognition (MARR) has been developed. The model is based on the scanpath theory of Noton and Stark and provides invariant recognition of gray-level images. In the present paper, the algorithm of automatic image viewing trajectory formation in the MARR model, the results of psychophysical experiments, and possible applications of the model are considered. Algorithm of automatic image viewing trajectory formation is based on imitation of the scanpath formed by operator. Several propositions about possible mechanisms for a consecutive selection of fixation points in human visual perception inspired by computer simulation results and known psychophysical data have been tested and confirmed in our psychophysical experiments. In particular, we have found that gaze switch may be directed (1) to a peripheral part of the vision field which contains an edge oriented orthogonally to the edge in the point of fixation, and (2) to a peripheral part of the vision field containing crossing edges. Our experimental results have been used to optimize automatic algorithm of image viewing in the MARR model. The modified model demonstrates an ability to recognize complex real world images invariantly with respect to scale, shift, rotation, illumination conditions, and, in part, to point of view and can be used to solve some robot vision tasks.
Blas, Morten Rufus; Blanke, Mogens; Rusu, Radu Bogan
In this paper we present a geometric reasoning method for dealing with noise as well as faults present in 3D depth maps. These maps are acquired using stereo-vision sensors, but our framework makes no assumption about the origin of the underlying data. The method is based on observations made...
Pillai, Rekha Sukamar
This Laboratory vision and strategy presents INL's vision and strategy for the Laboratory and is our introduction to a special place dedicated to improving our nation's energy security future.
What is Vision Hampton Roads? : Vision Hampton Roads is... : A regionwide economic development strategy based on the collective strengths of all : localities of Hampton Roads, created with the input of business, academia, nonprofits, : government,...
Bayard, David; Brugarolas, Paul
An algorithm and software to implement the algorithm are being developed as means to estimate the state (that is, the position and velocity) of an autonomous vehicle, relative to a visible nearby target object, to provide guidance for maneuvering the vehicle. In the original intended application, the autonomous vehicle would be a spacecraft and the nearby object would be a small astronomical body (typically, a comet or asteroid) to be explored by the spacecraft. The algorithm could also be used on Earth in analogous applications -- for example, for guiding underwater robots near such objects of interest as sunken ships, mineral deposits, or submerged mines. It is assumed that the robot would be equipped with a vision system that would include one or more electronic cameras, image-digitizing circuitry, and an imagedata- processing computer that would generate feature-recognition data products.
Atchison, David A; Valentine, Emma L; Gibson, Georgina; Thomas, Hannah R; Oh, Sera; Pyo, Young Ah; Lacherez, Philippe; Mathur, Ankit
The purpose of this study is to determine visual performance in water, including the influence of pupil size. The water environment was simulated by placing goggles filled with saline in front of the eyes with apertures placed at the front of the goggles. Correction factors were determined for the different magnification under this condition in order to estimate vision in water. Experiments were conducted on letter visual acuity (seven participants), grating resolution (eight participants), and grating contrast sensitivity (one participant). For letter acuity, mean loss of vision in water, compared to corrected vision in air, varied between 1.1 log min of arc resolution (logMAR) for a 1 mm aperture to 2.2 logMAR for a 7 mm aperture. The vision in min of arc was described well by a linear relationship with pupil size. For grating acuity, mean loss varied between 1.1 logMAR for a 2 mm aperture to 1.2 logMAR for a 6 mm aperture. Contrast sensitivity for a 2 mm aperture deteriorated as spatial frequency increased with a 2 log unit loss by 3 c/°. Superimposed on this deterioration were depressions (notches) in sensitivity with the first three notches occurring at 0.45, 0.8, and 1.3 c/° with estimates for water of 0.39, 0.70, and 1.13 c/°. In conclusion, vision in water is poor. It becomes worse as pupil size increases, but the effects are much more marked for letter targets than for grating targets.
The types of fault rocks, microstructural characteristics of fault tectonite and their relationship with uranium mineralization in the uranium-productive granite area are discussed. According to the synthetic analysis on nature of stress, extent of crack and microstructural characteristics of fault rocks, they can be classified into five groups and sixteen subgroups. The author especially emphasizes the control of cataclasite group and fault breccia group over uranium mineralization in the uranium-productive granite area. It is considered that more effective study should be made on the macrostructure and microstructure of fault rocks. It is of an important practical significance in uranium exploration
Two types of cross faults are herein recognized: transfer faults and the newly termed release faults. Transfer faults form where cross faults connect distinct normal faults and horizontal displacements predominate over vertical ones. In contrast, release faults form where cross faults associated with individual normal faults die out within the hangingwall before connecting to other normal faults, and have predominantly vertical displacements. Release faults are geometrically required to accommodate variable displacements along the strike of a normal fault. Thus, they form to release the bending stresses in the hangingwall, and do not cut normal fault planes nor detachment surfaces at depth. Release faults have maximum throws adjacent to normal faults, and may be nearly perpendicular or obliquely oriented to the strike of the latter. Such geometry appears not to depend upon pre-existing weaknesses, but such variable orientation to normal faults is an inherent property of release faults. Release faults commonly appear as simple normal faults in seismic sections, without implying extension along the strike of rift and basins. Three-dimensional strain deformation occurs in the hangingwall only between the terminations of an individual normal fault, but regionally, release faulting is associated with plane strain deformation in linked extensional fault systems.
Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.
An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional
Obtaining new insights into the behavior of free-living marine organisms is fundamental for conservation efforts and anticipating the impact of climate change on marine ecosystems. Despite the recent advances in biotelemetry, collecting physiological and behavioral parameters of underwater free-living animals remains technically challenging. In this thesis, we develop the first magnetic underwater animal monitoring system that utilizes Tunnel magnetoresistance (TMR) sensors, the most sensitive solid-state sensors today, coupled with flexible magnetic composites. The TMR sensors are composed of CoFeB free layers and MgO tunnel barriers, patterned using standard optical lithography and ion milling procedures. The short and long-term stability of the TMR sensors has been studied using statistical and Allan deviation analysis. Instrumentation noise has been reduced using optimized electrical interconnection schemes. We also develop flexible NdFeB-PDMS composite magnets optimized for applications in corrosive marine environments, and which can be attached to marine animals. The magnetic and mechanical properties are studied for different NdFeB powder concentrations and the performance of the magnetic composites for different exposure times to sea water is systematically investigated. Without protective layer, the composite magnets loose more than 50% of their magnetization after 51 days in seawater. The durability of the composite magnets can be considerably improved by using polymer coatings which are protecting the composite magnet, whereby Parylene C is found to be the most effective solution, providing simultaneously corrosion resistance, flexibility, and enhanced biocompatibility. A Parylene C film of 2μm thickness provides the sufficient protection of the magnetic composite in corrosive aqueous environments for more than 70 days. For the high level performance of the system, the theoretically optimal position of the composite magnets with respect to the sensing
Cresswell, Derren; Lymer, Gaël; Reston, Tim; Stevenson, Carl; Bull, Jonathan; Sawyer, Dale; Morgan, Julia
The magma-poor rifted margin off the west coast of Galicia (NW Spain) has provided some of the key observations in the development of models describing the final stages of rifting and continental breakup. In 2013, we collected a 68 x 20 km 3D seismic survey across the Galicia margin, NE Atlantic. Processing through to 3D Pre-stack Time Migration (12.5 m bin-size) and 3D depth conversion reveals the key structures, including an underlying detachment fault (the S detachment), and the intra-block and inter-block faults. These data reveal multiple phases of faulting, which overlap spatially and temporally, have thinned the crust to between zero and a few km thickness, producing 'basement windows' where crustal basement has been completely pulled apart and sediments lie directly on the mantle. Two approximately N-S trending fault systems are observed: 1) a margin proximal system of two linked faults that are the upward extension (breakaway faults) of the S; in the south they form one surface that splays northward to form two faults with an intervening fault block. These faults were thus demonstrably active at one time rather than sequentially. 2) An oceanward relay structure that shows clear along strike linkage. Faults within the relay trend NE-SW and heavily dissect the basement. The main block bounding faults can be traced from the S detachment through the basement into, and heavily deforming, the syn-rift sediments where they die out, suggesting that the faults propagated up from the S detachment surface. Analysis of the fault heaves and associated maps at different structural levels show complementary fault systems. The pattern of faulting suggests a variation in main tectonic transport direction moving oceanward. This might be interpreted as a temporal change during sequential faulting, however the transfer of extension between faults and the lateral variability of fault blocks suggests that many of the faults across the 3D volume were active at least in part
Saini, P. Sri; Prince, Shanthi
At present, there is a lot of interest in the functioning of the marine environment. Unmanned or Autonomous Underwater Vehicles (UUVs or AUVs) are used in the exploration of the underwater resources, pollution monitoring, disaster prevention etc. Underwater, where radio waves do not propagate, acoustic communication is being used. But, underwater communication is moving towards Optical Communication which has higher bandwidth when compared to Acoustic Communication but has shorter range comparatively. Underwater Optical Wireless Communication (OWC) is mainly affected by the absorption and scattering of the optical signal. In coastal waters, both inherent and apparent optical properties (IOPs and AOPs) are influenced by a wide array of physical, biological and chemical processes leading to optical variability. The scattering effect has two effects: the attenuation of the signal and the Inter-Symbol Interference (ISI) of the signal. However, the Inter-Symbol Interference is ignored in the present paper. Therefore, in order to have an efficient underwater OWC link it is necessary to model the channel efficiently. In this paper, the underwater optical channel is modeled using Monte-Carlo method. The Monte Carlo approach provides the most general and most flexible technique for numerically solving the equations of Radiative transfer. The attenuation co-efficient of the light signal is studied as a function of the absorption (a) and scattering (b) coefficients. It has been observed that for pure sea water and for less chlorophyll conditions blue wavelength is less absorbed whereas for chlorophyll rich environment red wavelength signal is absorbed less comparative to blue and green wavelength.
Stoustrup, Jakob; Niemann, Henrik
In this paper, we shall show that an unlimited number of additive single faults can be isolated under mild conditions if a general isolation scheme is applied. Multiple faults are also covered. The approach is algebraic and is based on a set representation of faults, where all faults within a set...... can occur simultaneously, whereas faults belonging to different fault sets appear disjoint in time. The proposed fault detection and isolation (FDI) scheme consists of three steps. A fault detection (FD) step is followed by a fault set isolation (FSI) step. Here the fault set is isolated wherein...... the faults have occurred. The last step is a fault isolation (FI) of the faults occurring in a specific fault set, i.e. equivalent with the standard FI step. A simple example demonstrates how to turn the algebraic necessary and sufficient conditions into explicit algorithms for designing filter banks, which...
.... 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...
Bayrakdar, Y.; Meratnia, Nirvana; Kantarci, Aylin
Design of efficient routing protocols for underwater sensor networks is challenging because of the distinctive characteristics of the water medium. Currently, many routing protocols are available for terrestrial wireless sensor networks. However, specific properties of underwater medium such as
.... We constructed an underwater vehicle equipped with two pairs of mechanical pectoral fins and pectoral fin controllers to examine the swimming performance of the underwater vehicle in still water...
Lazauski, Colin J
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...
American Optometric Association, St. Louis, MO.
Aspects of vision and vision care considered are the following: extent and types of vision defects of American children; importance of vision care in pre-school years, elementary, and secondary school and beyond; and manpower resources in vision care today, the extent of vision testing and care, special problem areas, and governmental support.…
Melia, S.; Hall, R.
The Sorong Fault Zone is a left-lateral strike-slip fault zone in eastern Indonesia, extending westwards from the Bird's Head peninsula of West Papua towards Sulawesi. It is the result of interactions between the Pacific, Caroline, Philippine Sea, and Australian Plates and much of it is offshore. Previous research on the fault zone has been limited by the low resolution of available data offshore, leading to debates over the extent, location, and timing of movements, and the tectonic evolution of eastern Indonesia. Different studies have shown it north of the Sula Islands, truncated south of Halmahera, continuing to Sulawesi, or splaying into a horsetail fan of smaller faults. Recently acquired high resolution multibeam bathymetry of the seafloor (with a resolution of 15-25 meters), and 2D seismic lines, provide the opportunity to trace the fault offshore. The position of different strands can be identified. On land, SRTM topography shows that in the northern Bird's Head the fault zone is characterised by closely spaced E-W trending faults. NW of the Bird's Head offshore there is a fold and thrust belt which terminates some strands. To the west of the Bird's Head offshore the fault zone diverges into multiple strands trending ENE-WSW. Regions of Riedel shearing are evident west of the Bird's Head, indicating sinistral strike-slip motion. Further west, the ENE-WSW trending faults turn to an E-W trend and there are at least three fault zones situated immediately south of Halmahera, north of the Sula Islands, and between the islands of Sanana and Mangole where the fault system terminates in horsetail strands. South of the Sula islands some former normal faults at the continent-ocean boundary with the North Banda Sea are being reactivated as strike-slip faults. The fault zone does not currently reach Sulawesi. The new fault map differs from previous interpretations concerning the location, age and significance of different parts of the Sorong Fault Zone. Kinematic
Palix, Nicolas Jean-Michel; Thomas, Gaël; Saha, Suman
In 2001, Chou et al. published a study of faults found by applying a static analyzer to Linux versions 1.0 through 2.4.1. A major result of their work was that the drivers directory contained up to 7 times more of certain kinds of faults than other directories. This result inspired a number...... of development and research efforts on improving the reliability of driver code. Today Linux is used in a much wider range of environments, provides a much wider range of services, and has adopted a new development and release model. What has been the impact of these changes on code quality? Are drivers still...... a major problem? To answer these questions, we have transported the experiments of Chou et al. to Linux versions 2.6.0 to 2.6.33, released between late 2003 and early 2010. We find that Linux has more than doubled in size during this period, but that the number of faults per line of code has been...
Flint, Tim; Sellier, Mathieu
In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.
McKenna, Megan F; Ross, Donald; Wiggins, Sean M; Hildebrand, John A
Underwater radiated noise measurements for seven types of modern commercial ships during normal operating conditions are presented. Calibrated acoustic data (autonomous seafloor-mounted acoustic recorder were combined with ship passage information from the Automatic Identification System. This approach allowed for detailed measurements (i.e., source level, sound exposure level, and transmission range) on ships of opportunity. A key result was different acoustic levels and spectral shapes observed from different ship-types. A 54 kGT container ship had the highest broadband source level at 188 dB re 1 μPa@1m; a 26 kGT chemical tanker had the lowest at 177 dB re 1 μPa@1m. Bulk carriers had higher source levels near 100 Hz, while container ship and tanker noise was predominantly below 40 Hz. Simple models to predict source levels of modern merchant ships as a group from particular ship characteristics (e.g., length, gross tonnage, and speed) were not possible given individual ship-type differences. Furthermore, ship noise was observed to radiate asymmetrically. Stern aspect noise levels are 5 to 10 dB higher than bow aspect noise levels. Collectively, these results emphasize the importance of including modern ship-types in quantifying shipping noise for predictive models of global, regional, and local marine environments. © 2012 Acoustical Society of America.
Full Text Available The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism.
Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.
Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.
Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John
Pulsed laser holography in an extremely powerful technique for the study of particle fields as it allows instantaneous, non-invasive high- resolution recording of substantial volumes. By relaying the real image one can obtain the size, shape, position and - if multiple exposures are made - velocity of every object in the recorded field. Manual analysis of large volumes containing thousands of particles is, however, an enormous and time-consuming task, with operator fatigue an unpredictable source of errors. Clearly the value of holographic measurements also depends crucially on the quality of the reconstructed image: not only will poor resolution degrade the size and shape measurements, but aberrations such as coma and astigmatism can change the perceived centroid of a particle, affecting position and velocity measurements. For large-scale applications of particle field holography, specifically the in situ recording of marine plankton with Holocam, we have developed an automated data extraction system that can be readily switched between the in-line and off-axis geometries and provides optimised reconstruction from holograms recorded underwater. As a videocamera is automatically stepped through the 200 by 200 by 1000mm sample volume, image processing and object tracking routines locate and extract particle images for further classification by a separate software module.
Bertelsen, Niels Haldor; Hansen, Ernst Jan de Place
Repræsentanter for byggesektoren har på 11 dialogmøder drøftet Erhvervs- og Byggestyrelsens "Vision 2020 - Byggeri med mening". Drøftelserne førte til formulering af en lang række initiativforslag til realisering af visionen. Den mest centrale udfordring bliver at reducere fejl og mangler i...... byggeriet. Branchen lægger også vægt på, at styringen af Vision 2020s reaisering sker i byggesektoren. Initiativforslagene er i rapporten samlet under 3 hovedområder. Det første hovedområde lægger vægt på bygningerne, brugerbehov og det globale samfund. Det andet omhandler processen og leverancesystemet...
Lee, Hee Kwon
Past movement on faults can be dated by measurement of the intensity of ESR signals in quartz. These signals are reset by local lattice deformation and local frictional heating on grain contacts at the time of fault movement. The ESR signals then grow back as a result of bombardment by ionizing radiation from surrounding rocks. The age is obtained from the ratio of the equivalent dose, needed to produce the observed signal, to the dose rate. Fine grains are more completely reset during faulting, and a plot of age vs. grain size shows a plateau for grains below critical size; these grains are presumed to have been completely zeroed by the last fault activity. We carried out ESR dating of fault rocks collected near the Gori nuclear reactor. Most of the ESR signals of fault rocks collected from the basement are saturated. This indicates that the last movement of the faults had occurred before the Quaternary period. However, ESR dates from the Oyong fault zone range from 370 to 310 ka. Results of this research suggest that long-term cyclic fault activity of the Oyong fault zone continued into the Pleistocene
Richardson, R. W.
Vision system for robotic welder looks at weld along axis of welding electrode. Gives robot view of most of weld area, including yet-unwelded joint, weld pool, and completed weld bead. Protected within welding-torch body, lens and fiber bundle give robot closeup view of weld in progress. Relayed to video camera on robot manipulator frame, weld image provides data for automatic control of robot motion and welding parameters.
This document aligns with the Department of Energy Strategic Plan for 2014-2018 and provides a framework for integrating our missions and direction for pursuing DOE’s strategic goals. The vision is a guide to advancing world-class science and engineering, supporting our people, modernizing our infrastructure, and developing a management culture that operates a safe and secure enterprise in an efficient manner.
Full Text Available We need good quality information to be able to carry out our eye care programmes in support of VISION 2020, to measure (and improve our performance, and to advocate for the resources and support we need to succeed. Much of this information can be collected, analysed, and used as part of our daily work, as many of the articles in this issue show.
Full Text Available Authors consider problem of maintenance and service of underwater vehicles. Usually, underwater station or accompanying ship is required for such operations. Docking is one of the most difficult tasks on the vehicle path from the outer space to the servicing bay. Algorithms allowing docking were presented in the earlier paper, and in this paper authors prove their stability. Movement control is based upon the path regulator. The stability of the closed-loop system according to Liapunov with the given control and limitations is proven. Equations, showing that vehicle will complete the positioning task with account to given limitations and staying stable are given. The criterion for switching movement and “positioning to point” algorithms is proposed. Achievement of the developed criterion was researched theoretically and in computer simulation. Experiments provide deviation of actual coordinates and velocity from the required ones and proved that achieving of criterion is enough to claim that system will be stable while performing algorithms with limitations for controls.
Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru
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)
Sumit Kumar; Sunil Kumar; Chandan Deep Singh
This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the u...
Martinez, Jayson J; Myers, Josh R; Carlson, Thomas J; Deng, Z Daniel; Rohrer, John S; Caviggia, Kurt A; Woodley, Christa M; Weiland, Mark A
To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR) allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.
Christa M. Woodley
Full Text Available To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.
Zhao, Jianhu; Zhou, Fengnian; Zhang, Hongmei; Li, Juanjuan
In large-scope marine investigation, the traditional bathymetric measurement can not meet the requirement of rapid data acquisition with lower cost of financial and material resources, while remote sensing (RS) technology provides a perfect way in the work. RS can not only provide quickly and efficiently the information of underwater topography with respect to the traditional method, but also present corresponding underwater topography with different-period RS images. In this paper, we depict in detail the procedures and some key techniques in acquiring underwater topography by remote sensing inversion technology based on self-organization feature mapping (SOFM). Firstly, we introduce some basic theories about the acquisition of underwater topography by the RS inversion technology. Besides, we discuss the data acquisition and preparation in the work. Moreover, we implement correlation analysis and find out the sensitive bands used for building RS inversion model. In virtue of SOFM, we construct the mapping relation between water depth and the reflectivity of sensitive band in the studied area, and test the it in two experimental water areas. The model achieves satisfying accuracy and can meet the requirement of given bathymetric scale. Finally the mapping relation is used for the water depth inversion in the studied water area. We also use the water depth from the model to draw the underwater topographic map in the water area.
Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei
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.
Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik
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.
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.
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.
Full Text Available In this paper we shall present some observations on the role played by ecstasy in the activity of the seer, as he emerges in ancient Jewish and Iranian texts. In the Jewish religious literature of the Hellenistic-Roman period, visions are described on almost every page, and visions were the most important means of divine revelation. Specific techniques for inducing the ecstatic state are not recorded in the Jewish sources. Some elements in the pattern leading up to the vision may be interpreted as parts of a method for inducing the final ecstasy; i.e. fasting and prayer. The Iranian material shows clearly the importance of ecstasy in the activity of the seer. The ecstatic seeing also means that the visionary shares with Ahura Mazda a divine quality, the "wisdom of omniscience". The granting of the "wisdom of omniscience" appears as a temporary and it conveys to the visionary a supernatural seeing. There is evidence to suggest that chanting was an important method of inducing ecstasy within the early Zoroastrian community. We do not find in the Jewish material a clear correspondence to the Iranian notion of "omniscient wisdom".
Pérez-Carpinell, J; Capilla, P; Illueca, C; Morales, J
We have examined the possible presence of color vision anomalies in 9 individuals (17 eyes, 1 blind) with fundus findings suggesting ocular albinism using the Ishihara plates, the 28-hue Roth test, and the Davico anomaloscope. Results indicate that four of these individuals show no sign of the anomalies expected in an albino in either of the two eyes. Of the remaining cases, two are simple deuteranomals in both eyes, according to Pickford's classification criteria. The rest have protanomaly; however, in these the deviation toward red appears in both eyes in only one subject, whereas in the other two subjects it appears in only one eye, their binocular color vision being basically normal. Our study shows that a large proportion of these albinos have photophobia, pendular nystagmus, strabismus, noticeable refractive errors (astigmatism and high myopia), and poor visual acuity [usually less than 6/30 (20/100) with correction]. The measurement of contrast sensitivity function (CSF) indicates that the frequency of 12 cpd cannot be perceived, even in binocular vision.
Gao, Zhiwei; Ding, Steven X.; Cecati, Carlo
This "Special Section on Real-Time Fault Diagnosis and Fault-Tolerant Control" of the IEEE Transactions on Industrial Electronics is motivated to provide a forum for academic and industrial communities to report recent theoretic/application results in real-time monitoring, diagnosis, and fault-tolerant design, and exchange the ideas about the emerging research direction in this field. Twenty-three papers were eventually selected through a strict peer-reviewed procedure, which represent the mo...
Metwally, Ahmed Mohsen Hassan
We propose a novel method for imaging shallow faults by migration of transmitted refraction arrivals. The assumption is that there is a significant velocity contrast across the fault boundary that is underlain by a refracting interface. This procedure, denoted as refraction migration with fault flooding, largely overcomes the difficulty in imaging shallow faults with seismic surveys. Numerical results successfully validate this method on three synthetic examples and two field-data sets. The first field-data set is next to the Gulf of Aqaba and the second example is from a seismic profile recorded in Arizona. The faults detected by refraction migration in the Gulf of Aqaba data were in agreement with those indicated in a P-velocity tomogram. However, a new fault is detected at the end of the migration image that is not clearly seen in the traveltime tomogram. This result is similar to that for the Arizona data where the refraction image showed faults consistent with those seen in the P-velocity tomogram, except it also detected an antithetic fault at the end of the line. This fault cannot be clearly seen in the traveltime tomogram due to the limited ray coverage.
Park, Seung-Kyu; Ahn, Yong-Jin; Park, Nak-Kyu; Baik, Sung-Hoon; Choi, Young-Soo; Jeong, Kyung-Min [KAERI, Daejeon (Korea, Republic of)
The imaging capability of a surveillance vision system from harsh low-visibility environments such as in fire and detonation areas is a key function to monitor the safety of the facilities. 2D and range image data acquired from low-visibility environment are important data to assess the safety and prepare appropriate countermeasures. Passive vision systems, such as conventional camera and binocular stereo vision systems usually cannot acquire image information when the reflected light is highly scattered and absorbed by airborne particles such as fog. In addition, the image resolution captured through low-density airborne particles is decreased because the image is blurred and dimmed by the scattering, emission and absorption. Active vision systems, such as structured light vision and projected stereo vision are usually more robust for harsh environment than passive vision systems. However, the performance is considerably decreased in proportion to the density of the particles. The RGI system provides 2D and range image data from several RGI images and it moreover provides clear images from low-visibility fog and smoke environment by using the sum of time-sliced images. Nowadays, the Range-gated (RG) imaging is an emerging technology in the field of surveillance for security applications, especially in the visualization of invisible night and fog environment. Although RGI viewing was discovered in the 1960's, this technology is, nowadays becoming more applicable by virtue of the rapid development of optical and sensor technologies. Especially, this system can be adopted in robot-vision system by virtue of its compact portable configuration. In contrast to passive vision systems, this technology enables operation even in harsh environments like fog and smoke. During the past decades, several applications of this technology have been applied in target recognition and in harsh environments, such as fog, underwater vision. Also, this technology has been
Park, Seung-Kyu; Ahn, Yong-Jin; Park, Nak-Kyu; Baik, Sung-Hoon; Choi, Young-Soo; Jeong, Kyung-Min
The imaging capability of a surveillance vision system from harsh low-visibility environments such as in fire and detonation areas is a key function to monitor the safety of the facilities. 2D and range image data acquired from low-visibility environment are important data to assess the safety and prepare appropriate countermeasures. Passive vision systems, such as conventional camera and binocular stereo vision systems usually cannot acquire image information when the reflected light is highly scattered and absorbed by airborne particles such as fog. In addition, the image resolution captured through low-density airborne particles is decreased because the image is blurred and dimmed by the scattering, emission and absorption. Active vision systems, such as structured light vision and projected stereo vision are usually more robust for harsh environment than passive vision systems. However, the performance is considerably decreased in proportion to the density of the particles. The RGI system provides 2D and range image data from several RGI images and it moreover provides clear images from low-visibility fog and smoke environment by using the sum of time-sliced images. Nowadays, the Range-gated (RG) imaging is an emerging technology in the field of surveillance for security applications, especially in the visualization of invisible night and fog environment. Although RGI viewing was discovered in the 1960's, this technology is, nowadays becoming more applicable by virtue of the rapid development of optical and sensor technologies. Especially, this system can be adopted in robot-vision system by virtue of its compact portable configuration. In contrast to passive vision systems, this technology enables operation even in harsh environments like fog and smoke. During the past decades, several applications of this technology have been applied in target recognition and in harsh environments, such as fog, underwater vision. Also, this technology has been
Oubei, Hassan M.
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.
...-AA00 Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY AGENCY: Coast Guard, DHS. ACTION... maritime public and safety of navigation from recently discovered underwater explosive hazards in Gravesend... published a notice of proposed rulemaking (NPRM) entitled ``Safety Zone; Underwater Hazard, Gravesend Bay...
Oubei, Hassan M.
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.
Sibson, Richard H.
Evidence of fluid interaction with normal faults comes from their varied role as flow barriers or conduits in hydrocarbon basins and as hosting structures for hydrothermal mineralisation, and from fault-rock assemblages in exhumed footwalls of steep active normal faults and metamorphic core complexes. These last suggest involvement of predominantly aqueous fluids over a broad depth range, with implications for fault shear resistance and the mechanics of normal fault reactivation. A general downwards progression in fault rock assemblages (high-level breccia-gouge (often clay-rich) → cataclasites → phyllonites → mylonite → mylonitic gneiss with the onset of greenschist phyllonites occurring near the base of the seismogenic crust) is inferred for normal fault zones developed in quartzo-feldspathic continental crust. Fluid inclusion studies in hydrothermal veining from some footwall assemblages suggest a transition from hydrostatic to suprahydrostatic fluid pressures over the depth range 3-5 km, with some evidence for near-lithostatic to hydrostatic pressure cycling towards the base of the seismogenic zone in the phyllonitic assemblages. Development of fault-fracture meshes through mixed-mode brittle failure in rock-masses with strong competence layering is promoted by low effective stress in the absence of thoroughgoing cohesionless faults that are favourably oriented for reactivation. Meshes may develop around normal faults in the near-surface under hydrostatic fluid pressures to depths determined by rock tensile strength, and at greater depths in overpressured portions of normal fault zones and at stress heterogeneities, especially dilational jogs. Overpressures localised within developing normal fault zones also determine the extent to which they may reutilise existing discontinuities (for example, low-angle thrust faults). Brittle failure mode plots demonstrate that reactivation of existing low-angle faults under vertical σ1 trajectories is only likely if
Hummon, Cheryl; Schneider, Craig L.; Yeats, Robert S.; Dolan, James F.; Sieh, Kerry E.; Huftile, Gary J.
The Wilshire fault is a potentially seismogenic, blind thrust fault inferred to underlie and cause the Wilshire arch, a Quaternary fold in the Hollywood area, just west of downtown Los Angeles, California. Two inverse models, based on the Wilshire arch, allow us to estimate the location and slip rate of the Wilshire fault, which may be illuminated by a zone of microearthquakes. A fault-bend fold model indicates a reverse-slip rate of 1.5-1.9 mm/yr, whereas a three-dimensional elastic-dislocation model indicates a right-reverse slip rate of 2.6-3.2 mm/yr. The Wilshire fault is a previously unrecognized seismic hazard directly beneath Hollywood and Beverly Hills, distinct from the faults under the nearby Santa Monica Mountains.
Odgaard, Peter Fogh; Stoustrup, Jakob
In the recent years the wind turbine industry has focused on optimizing the cost of energy. One of the important factors in this is to increase reliability of the wind turbines. Advanced fault detection, isolation and accommodation are important tools in this process. Clearly most faults are dealt...... with best at a wind turbine control level. However, some faults are better dealt with at the wind farm control level, if the wind turbine is located in a wind farm. In this paper a benchmark model for fault detection and isolation, and fault tolerant control of wind turbines implemented at the wind farm...... control level is presented. The benchmark model includes a small wind farm of nine wind turbines, based on simple models of the wind turbines as well as the wind and interactions between wind turbines in the wind farm. The model includes wind and power references scenarios as well as three relevant fault...
Full Text Available In this work, an enhanced differential chaos shift keying (DCSK, based on a first order hybrid chaotic system, is being proposed for a high reliability underwater acoustic communication system. It can be integrated into systems that use standard existing transducers. We show that a coherent operation between the received signal and the time reversal of the basis function in a first order hybrid chaotic system maximizes the signal to noise ratio at the receiver. Concurrently, DCSK configuration is used to resist the distortion caused by the complex underwater acoustic channel. Our simulation results show that the proposed method has lower bit error rate (BER. In addition, it shows higher communication reliability over underwater acoustic channel as compared to the conventional DCSK using logistic map and its variant forms such as Correlation Delay Shift Keying (CDSK, Phase-Separate DCSK (PS-DCSK, High Efficiency DCSK (HE-DCSK, and Reference Modulated DCSK (RM-DCSK.
Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.
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.
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.
Zhang, Rui; Zhang, Wendong; He, Changde; Zhang, Yongmei; Song, Jinlong; Xue, Chenyang
A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V) at 1 m. The -3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.
Full Text Available A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V at 1 m. The −3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.
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.
Thomas, T. R.; Cook, P. L.
A description is given of a simple, inexpensive and versatile method for estimating underwater weight. The use of a portable stock tank allows the determination of % Fat by underwater weighing without requiring a swimming pool, built-in tank, or special facility. Twenty-eight college students were weighed on two separate testing sessions 24-48 hours apart. Ten trials were performed at each session. The mean of the last five trials was used in determining underwater weight. The test-retest reliability coefficient was high, r = 0.98, and most of the successive trial correlations were above 0.99. The mean % Fat for the women (N = 9) was 22.2 +/- 5.9 and for the men (N = 19) was 13.7 +/- 5.1. Images Figure 1 PMID:630178
Rao, Jionghui; Wei, Wei; Wang, Feng; Zhang, Xiaohui
Compared with other communication methods, optical wireless communication (OWC) holds the merits of higher transmitting rate and sufficient secrecy. So it is an efficacious communicating measure for data transmitting between underwater carriers. However, due to the water attenuation and the transmitter & the receiver (TX/RX) collimation, this application is restrained in underwater mobile carriers. A prototype for underwater OWC was developed, in which a high-powered green LED array was used as the light source which partly raveled the TX/RX collimation out. A small pumped-multiple-tube (PMT) was used as the detector to increase the communicating range, and FPGA chips were employed to code and decode the communicating data. The data rate of the prototype approached to 4 Mb/s at 8.4m and 1 Mb/s at 22m where voice and Morse communications were achieved in a scope of 30 degree TX/RX angle.
Su, Xiaoshi; Norris, Andrew N; Cushing, Colby W; Haberman, Michael R; Wilson, Preston S
An inhomogeneous acoustic metamaterial lens based on spatial variation of refractive index for broadband focusing of underwater sound is reported. The index gradient follows a modified hyperbolic secant profile designed to reduce aberration and suppress side lobes. The gradient index (GRIN) lens is comprised of transversely isotropic hexagonal microstructures with tunable quasi-static bulk modulus and mass density. In addition, the unit cells are impedance-matched to water and have in-plane shear modulus negligible compared to the effective bulk modulus. The flat GRIN lens is fabricated by cutting hexagonal centimeter scale hollow microstructures in aluminum plates, which are then stacked and sealed from the exterior water. Broadband focusing effects are observed within the homogenization regime of the lattice in both finite element simulations and underwater measurements (20-40 kHz). This design approach has potential applications in medical ultrasound imaging and underwater acoustic communications.
Full Text Available The unmanned surface vehicle (USV integrated with acoustic modems has some advantages such as easy integration, rapid placement, and low cost, which becomes a kind of selective novel node in the underwater acoustic (UWA communication network and a kind of underwater or overwater communication relay as well. However, it is difficult to ensure the communication quality among the nodes on the network due to the random underwater acoustic channel, the severe marine environment, and the complex mobile node system. Aiming to model the communication characteristics of the USV, the multipath effect and Doppler effect are main concerns for the UWA communication in this paper, so that the ray beam method is utilized, the channel transmission function and the channel gain are obtained, and the mobile communication quality evaluation model is built. The simulation and lake experiments verify that the built mobile UWA communication quality evaluation model on USV can provide preference and technique support for USV applications.
The purpose of this paper is to outline a course for the training of divers with a special interest in underwater surveying (e.g. surveyors, archaeologists, biologists, geologists, photographers/videographers). This outline presents: i) the Courses' Standards ii) the Learning Objectives for the related Knowledge Development, iii) the Skills that have to be conducted, iv) the Performance Requirements for the students and v) the Open Water Considerations for the Training Dives. It is expected that the resulting course outline will be used as a reference for the training of certified divers who want to become underwater surveyors, providing them basic knowledge and skills to survey adequate data for the detailed documentation of submerged features. Moreover the combination of knowledge (what) and the skills (how) that are presented during the proposed course attempt to define a protocol for the recording of underwater features in favor of mapping and 3D modeling.
Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh
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.
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.
Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-Marc; Deniset, François
Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.
Yu, Jian-Cheng; Zhang, Ai-Qun; Jin, Wen-Ming; Chen, Qi; Tian, Yu; Liu, Chong-Jie
Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang Institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.
... 20 Employees' Benefits 2 2010-04-01 2010-04-01 false Fault. 404.507 Section 404.507 Employees... Officer § 404.507 Fault. Fault as used in without fault (see § 404.506 and 42 CFR 405.355) applies only to the individual. Although the Administration may have been at fault in making the overpayment, that...
King, Bruce Hardison [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Jones, Christian Birk [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
The PV Fault Detection Tool project plans to demonstrate that the FDT can (a) detect catastrophic and degradation faults and (b) identify the type of fault. This will be accomplished by collecting fault signatures using different instruments and integrating this information to establish a logical controller for detecting, diagnosing and classifying each fault.
Liñán-Cembrano, G.; Carranza-González, L.; Rind, Claire; Zarandy, A.; Soininen, Martti; Rodríguez-Vázquez, Ángel
Vision is expected to play important roles for car safety enhancement. Imaging systems can be used to enlarging the vision field of the driver. For instance capturing and displaying views of hidden areas around the car which the driver can analyze for safer decision-making. Vision systems go a step further. They can autonomously analyze the visual information, identify dangerous situations and prompt the delivery of warning signals. For instance in case of road lane departure, if an overtakin...
Full Text Available Contemporary power systems are associated with serious issues of faults on high voltage transmission lines. Instant isolation of fault is necessary to maintain the system stability. Protective relay utilizes current and voltage signals to detect, classify, and locate the fault in transmission line. A trip signal will be sent by the relay to a circuit breaker with the purpose of disconnecting the faulted line from the rest of the system in case of a disturbance for maintaining the stability of the remaining healthy system. This paper focuses on the studies of fault detection, fault classification, fault location, fault phase selection, and fault direction discrimination by using artificial neural networks approach. Artificial neural networks are valuable for power system applications as they can be trained with offline data. Efforts have been made in this study to incorporate and review approximately all important techniques and philosophies of transmission line protection reported in the literature till June 2014. This comprehensive and exhaustive survey will reduce the difficulty of new researchers to evaluate different ANN based techniques with a set of references of all concerned contributions.
Sumangali, K.; Benny, Niketa
Cloud computing has become a prevalent on-demand service on the internet to store, manage and process data. A pitfall that accompanies cloud computing is the failures that can be encountered in the cloud. To overcome these failures, we require a fault tolerance mechanism to abstract faults from users. We have proposed a fault tolerant architecture, which is a combination of proactive and reactive fault tolerance. This architecture essentially increases the reliability and the availability of the cloud. In the future, we would like to compare evaluations of our proposed architecture with existing architectures and further improve it.
Full Text Available A shear slip fault, an equivalence of a double couple source, has often been assumed to be a kinematic source model in ground motion simulation. Estimation of seismic moment based on the shear slip model indicates the size of an earthquake. However, if the dislocation of the hanging wall relative to the footwall includes not only a shear slip tangent to the fault plane but also expansion and compression normal to the fault plane, the radiating seismic waves will feature differences from those out of the shear slip fault. Taking account of the effects resulting from expansion and compression to a fault plane, we can resolve the tension and pressure axes as well as the fault plane solution more exactly from ground motions than previously, and can evaluate how far a fault zone opens or contracts during a developing rupture. In addition to a tensile angle and Poisson¡¦s ratio for the medium, a tensile fault with five degrees of freedom has been extended from the shear slip fault with only three degrees of freedom, strike, dip, and slip.
Simpson, R W
The Hayward fault, located on the east side of the San Francisco Bay, represents a natural laboratory for seismologists, because it does not sleep silently between major earthquakes. In his Perspective, Simpson discusses the study by Bürgmann et al., who have used powerful new techniques to study the fault. The results indicate that major earthquakes cannot originate in the northern part of the fault. However, surface-rupturing earthquakes have occurred in the area, suggesting that they originated to the north or south of the segment studied by Bürgmann et al. Fundamental questions remain regarding the mechanism by which plate tectonic stresses are transferred to the Hayward fault.
Butler, Ricky W.; Martensen, Anna L.
FTC, Fault-Tree Compiler program, is reliability-analysis software tool used to calculate probability of top event of fault tree. Five different types of gates allowed in fault tree: AND, OR, EXCLUSIVE OR, INVERT, and M OF N. High-level input language of FTC easy to understand and use. Program supports hierarchical fault-tree-definition feature simplifying process of description of tree and reduces execution time. Solution technique implemented in FORTRAN, and user interface in Pascal. Written to run on DEC VAX computer operating under VMS operating system.
Jannson, Tomasz P.; Ternovskiy, Igor V.; DeBacker, Theodore A.; Caulfield, H. John
In the shallow water military scenarios, UUVs (Unmanned Underwater Vehicles) are required to protect assets against mines, swimmers, and other underwater military objects. It would be desirable if such UUVs could autonomously see in a similar way as humans, at least, at the primary visual cortex-level. In this paper, an attempt to such a UUV system development is proposed.
von Lukas, Uwe Freiherr
Visual computing technologies have traditionally been developed for conventional setups where air is the surrounding medium for the user, the display, and/or the camera. However, given mankind's increasingly need to rely on the oceans to solve the problems of future generations (such as offshore oil and gas, renewable energies, and marine mineral resources), there is a growing need for mixed-reality applications for use in water. This article highlights the various research challenges when changing the medium from air to water, introduces the concept of underwater mixed environments, and presents recent developments in underwater visual computing applications.
Gaur, A.S.; Sundaresh; Tripati, S.
-1 Migration & Diffusion, Vol. 6, Issue Number 21, 2005 ANCIENT DWARKA: STUDY BASED ON RECENT UNDERWATER ARCHAEOLOGICAL INVESTIGATIONS by A.S. Gaur, Sundaresh and Sila Tripati Summary Dwarka, one of the best-studied underwater sites in India, has...). Dwarka has been the attraction for historians since the beginning of the 20th century. The ancient town Dwarka has been described as 56 Migration & Diffusion, Vol 6, Issue Number 21, 2005 Fig.l: Dwarka is headquarter of the Okhamandal taluka in Jamnagar...
J.E. van Aanhold
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.
Darmann, Francis Anthony
A fault current limiter (FCL) includes a series of high permeability posts for collectively define a core for the FCL. A DC coil, for the purposes of saturating a portion of the high permeability posts, surrounds the complete structure outside of an enclosure in the form of a vessel. The vessel contains a dielectric insulation medium. AC coils, for transporting AC current, are wound on insulating formers and electrically interconnected to each other in a manner such that the senses of the magnetic field produced by each AC coil in the corresponding high permeability core are opposing. There are insulation barriers between phases to improve dielectric withstand properties of the dielectric medium.
Full Text Available Amplitude-modulated (AM laser imaging is a promising technology for the production of accurate three-dimensional (3D images of submerged scenes. The main challenge is that radiation scattered off water gives rise to a disturbing signal (optical noise that degrades more and more the quality of 3D images for increasing turbidity. In this paper, we summarize a series of theoretical findings, that provide valuable hints for the development of experimental methods enabling a partial rejection of optical noise in underwater imaging systems. In order to assess the effectiveness of these methods, which range from modulation/demodulation to polarimetry, we carried out a series of experiments by using the laboratory prototype of an AM 3D imager ( = 405 nm for marine archaeology surveys, in course of realization at the ENEA Artificial Vision Laboratory (Frascati, Rome. The obtained results confirm the validity of the proposed methods for optical noise rejection.
Full Text Available Amplitude-modulated (AM laser imaging is a promising technology for the production of accurate three-dimensional (3D images of submerged scenes. The main challenge is that radiation scattered off water gives rise to a disturbing signal (optical noise that degrades more and more the quality of 3D images for increasing turbidity. In this paper, we summarize a series of theoretical findings, that provide valuable hints for the development of experimental methods enabling a partial rejection of optical noise in underwater imaging systems. In order to assess the effectiveness of these methods, which range from modulation/demodulation to polarimetry, we carried out a series of experiments by using the laboratory prototype of an AM 3D imager (λ = 405 nm for marine archaeology surveys, in course of realization at the ENEA Artificial Vision Laboratory (Frascati, Rome. The obtained results confirm the validity of the proposed methods for optical noise rejection.
Full Text Available The effectiveness of a company is largely dependent on the company itself; it depends above all on its corporate governance, management, and implementation, as well as on decision-making processes and coordination. Many authors believe that organizational learning and knowledge are the most relevant aspects of company effectiveness. If a company wants to be effective it needs to create and realize its vision; to do this, it needs creativity, imagination, and knowledge, which can be obtained or enhanced through learning. This paper defines vision, learning, creativity and management and, above all, their relationships. The author argues that company vision influences the learning and knowledge of employees in the company through the vision’s content, through the vision-creating process, and through the vision enforcement process. Conversely, the influence of learning on company vision is explained. The paper is aimed at the use in the practice of companies and helps them to increase their effectiveness.
Reppas, J.B.; Dale, A.; Sereno, M.; Tootell, R.
The human brain is not very different of the monkey's one: at least, its visual cortex is organized as a similar scheme. Specialized areas in the movement analysis are found and others in the forms perception. In this work, the author tries to answer to the following questions: 1)why so many visual areas? What are exactly their role in vision? Thirteen years of experimentation have not allowed to answer to these questions. The cerebral NMR imaging gives the opportunity of understanding the subjective perception of the visual world. One step which is particularly described in this work is to know how the visual cortex reacts to the optical illusions. (O.M.)
This Underwater Maintenance Guide has been developed to provide utility plant personnel with a single-source reference to underwater services. These services, which include both manned diving and remotely-operated vehicle operations, are required to perform certain underwater maintenance functions at nuclear power generating stations. This Guide provides an introduction to those underwater services and their general operations, as well as overviews of specific work tasks which have been identified thus far. This information is intended to familiarize utility maintenance personnel with the general scope and capabilities of underwater services, without encroaching upon the contractor's flexibility to develop responses to individual maintenance tasks
Mohadjer, Solmaz; Ehlers, Todd A.; Kakar, Najibullah
The ongoing collision of the Indian subcontinent with Asia controls active tectonics and seismicity in Central Asia. This motion is accommodated by faults that have historically caused devastating earthquakes and continue to pose serious threats to the population at risk. Despite international and regional efforts to assess seismic hazards in Central Asia, little attention has been given to development of a comprehensive database for active faults in the region. To address this issue and to better understand the distribution and level of seismic hazard in Central Asia, we are developing a publically available database for active faults of Central Asia (including but not limited to Afghanistan, Tajikistan, Kyrgyzstan, northern Pakistan and western China) using ArcGIS. The database is designed to allow users to store, map and query important fault parameters such as fault location, displacement history, rate of movement, and other data relevant to seismic hazard studies including fault trench locations, geochronology constraints, and seismic studies. Data sources integrated into the database include previously published maps and scientific investigations as well as strain rate measurements and historic and recent seismicity. In addition, high resolution Quickbird, Spot, and Aster imagery are used for selected features to locate and measure offset of landforms associated with Quaternary faulting. These features are individually digitized and linked to attribute tables that provide a description for each feature. Preliminary observations include inconsistent and sometimes inaccurate information for faults documented in different studies. For example, the Darvaz-Karakul fault which roughly defines the western margin of the Pamir, has been mapped with differences in location of up to 12 kilometers. The sense of motion for this fault ranges from unknown to thrust and strike-slip in three different studies despite documented left-lateral displacements of Holocene and late
Fang, Shaoji; Blanke, Mogens
This paper addresses fault tolerant control for position mooring of a shuttle tanker operating in the North Sea. A complete framework for fault diagnosis is presented but the loss of a sub-sea mooring line buoyancy element is given particular attention, since this fault could lead to line breakage...... and risky abortion of an oil-loading operation. With signicant drift forces from waves, non-Gaussian elements dominate in residuals and fault diagnosis need be designed using dedicated change detection for the type of distribution encountered. In addition to dedicated diagnosis, an optimal position...... algorithm is proposed to accommodate buoyancy element failure and keep the mooring system in a safe state. Detection properties and fault-tolerant control are demonstrated by high delity simulations...
Ostapchuk, A. A.; Kocharyan, G. G.; Pavlov, D. V.; Kabychenko, N. V.
Presented are the results of laboratory experiments on studying the variation of fault shear stiffness during a seismic cycle. It is shown that the slip mode correlates well with the specific value of fault stiffness ks1 at the loading stage. As the fault goes over to a metastable state, its stiffness changes abruptly from ks1 to 0. This change can be detected in active monitoring, which consists in analyzing the frequency response of an oscillatory "block-fault" system. A periodic pulsed action on the "block-fault" system allowed us to reliably detect a relative decrease by 30% of the resonance frequency of its response when the system goes over to the metastable state.
Day, John C.; Johnson, Stephen B.
Development of dependable systems relies on the ability of the system to determine and respond to off-nominal system behavior. Specification and development of these fault management capabilities must be done in a structured and principled manner to improve our understanding of these systems, and to make significant gains in dependability (safety, reliability and availability). Prior work has described a fundamental taxonomy and theory of System Health Management (SHM), and of its operational subset, Fault Management (FM). This conceptual foundation provides a basis to develop framework to design and implement FM design strategies that protect mission objectives and account for system design limitations. Selection of an SHM strategy has implications for the functions required to perform the strategy, and it places constraints on the set of possible design solutions. The framework developed in this paper provides a rigorous and principled approach to classifying SHM strategies, as well as methods for determination and implementation of SHM strategies. An illustrative example is used to describe the application of the framework and the resulting benefits to system and FM design and dependability.
Wang, Chun; Jia, Qing-Quan; Li, Xin-Bin; Dou, Chun-Xia [Department of Power Electrical Engineering, Yanshan University, Qinhuangdao 066004 (China)
This paper proposes fault location formulas using synchronized sequence measurements. For earth faults, zero-sequence voltages and currents at two terminals of faulted line are applied to fault location. Negative-sequence measurements are utilized for asymmetrical faults and positive-sequence measurements are used for three-phase faults. The fault location formulas are derived from a fault location technique [Wang C, Dou C, Li X, Jia Q. A WAMS/PMU-based fault location technique. Elect Power Syst Res 2007;77(8):936-945] based on WAMS/PMU. The technique uses synchronized fault voltages measured by PMUs in power network. The formulas are simple and are easy for application. Case studies on a testing network with 500 kV transmission lines including ATP/EMTP simulations are presented. Various fault types and fault resistances are also considered. (author)
As land-locked animals, when we visualise the ocean our mind's eye may see crashing waves or a vast blue expanse stretching to the horizon, a raft of torpedoing penguins, a glimpse of colourful coral reef fish from the shark-free safety of a sandy beach. Underwater, the crystal-clear, and in fact not at all silent, world of Jacques Cousteau, or more recently David Attenborough, is a wonderland that some cannot wait to witness first hand as divers, while others are content to see it on a screen. Spend a bit of time underwater, in the English Channel for example, and a few facts emerge. Most obviously, much of this underwater realm is visually very different to land and indeed to the cherry-picked clear waters of documentaries. It may be disappointingly murky and monochromatic. Perhaps surprisingly, therefore, on close inspection the diversity of eye designs and light sensing mechanisms that evolved in the ocean are more varied than on land, reflecting the greater range of light environments and lifestyles of the marine world. Particularly in the last ten years, the destructive influence we are having on the oceans has become visibly obvious, not just to fisheries biologists and ecologists, but to anyone returning to a favourite dive spot or reef resort. Climate change, as a result of burning fossil fuels, human greed and carelessness with plastic disposal, are rapidly degrading entire oceanic ecosystems. Copyright © 2017 Elsevier Ltd. All rights reserved.
Full Text Available The interpolation-reconstruction of local underwater terrain using the underwater digital terrain map (UDTM is an important step for building an underwater terrain matching unit and directly affects the accuracy of underwater terrain matching navigation. The Kriging method is often used in terrain interpolation, but, with this method, the local terrain features are often lost. Therefore, the accuracy cannot meet the requirements of practical application. Analysis of the geographical features is performed on the basis of the randomness and self-similarity of underwater terrain. We extract the fractal features of local underwater terrain with the fractal Brownian motion model, compensating for the possible errors of the Kriging method with fractal theory. We then put forward an improved Kriging interpolation method based on this fractal compensation. Interpolation-reconstruction tests show that the method can simulate the real underwater terrain features well and that it has good usability.
Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian
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.
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.
Iureva, Radda A.; Raskin, Evgeni O.; Komarov, Igor I.; Maltseva, Nadezhda K.; Fedosovsky, Michael E.
Due to the improved economic situation in the high technology sectors, work on the creation of industrial robots and special mobile robotic systems are resumed. Despite this, the robotic control systems mostly remained unchanged. Hence one can see all advantages and disadvantages of these systems. This is due to lack of funds, which could greatly facilitate the work of the operator, and in some cases, completely replace it. The paper is concerned with the complex machine vision of robotic system for monitoring of underground pipelines, which collects and analyzes up to 90% of the necessary information. Vision Systems are used to identify obstacles to the process of movement on a trajectory to determine their origin, dimensions and character. The object is illuminated in a structured light, TV camera records projected structure. Distortions of the structure uniquely determine the shape of the object in view of the camera. The reference illumination is synchronized with the camera. The main parameters of the system are the basic distance between the generator and the lights and the camera parallax angle (the angle between the optical axes of the projection unit and camera).
The Coherent Laser Vision System (CLVS) is being developed to provide precision real-time 3D world views to support site characterization and robotic operations and during facilities Decontamination and Decommissioning. Autonomous or semiautonomous robotic operations requires an accurate, up-to-date 3D world view. Existing technologies for real-time 3D imaging, such as AM laser radar, have limited accuracy at significant ranges and have variability in range estimates caused by lighting or surface shading. Recent advances in fiber optic component technology and digital processing components have enabled the development of a new 3D vision system based upon a fiber optic FMCW coherent laser radar. The approach includes a compact scanner with no-moving parts capable of randomly addressing all pixels. The system maintains the immunity to lighting and surface shading conditions which is characteristic to coherent laser radar. The random pixel addressability allows concentration of scanning and processing on the active areas of a scene, as is done by the human eye-brain system
Energy Visions 2050 considers measures for addressing the enormous future challenges facing the energy sector, focusing on technological and techno-economic perspectives. The analysis of the development of technologies covers the whole energy chain, highlighting the necessity of efficient energy use in all activities of societies. The contents include a discussion on potential future low-emission and renewable energy conversion technologies, as well as new technology solutions in the industrial, building and transport sectors and in energy supply systems. The move towards zero-emission energy systems has consequenses for energy supply, and makes the analysis of energy resources presented in the book all the more valuable. Scenarios of alternative development paths to 2050 at the global, European and Finnish levels are presented, assuming different technological development options, economic growth rates, degrees of globalisation and information flows. The results show interesting differences between the scenarios with regard to energy production and use, mitigation of greenhouse gas emissions, and global warming. Energy Visions 2050 in mainly intended for those who have a fairly good knowledge of the energy sector and energy technologies, e.g. energy policymakers, experts responsible for energy-related issues in industry, and investors in energy technologies. The topics are approached from a global perspective. In some technological details, however, Finnish technology and Finland's technological achievements are highlighted. The topics and viewpoints of the book will certainly be of interest to international readers as well
Abreu, R.F.; Zoeteweij, P.; Van Gemund, A.J.C.
This technical report is meant to report our findings and ideas with respect to spectrum-based fault localization and modelbased diagnosis. In the following we want to introduce and compare model-based diagnosis (MBD), spectrum-based fault localization (SFL) and our contributions using 3-inverters
Fedorov, D.; Miller, R. J.; Kvilekval, K. G.; Doheny, B.; Sampson, S.; Manjunath, B. S.
Logistical and financial limitations of underwater operations are inherent in marine science, including biodiversity observation. Imagery is a promising way to address these challenges, but the diversity of organisms thwarts simple automated analysis. Recent developments in computer vision methods, such as convolutional neural networks (CNN), are promising for automated classification and detection tasks but are typically very computationally expensive and require extensive training on large datasets. Therefore, managing and connecting distributed computation, large storage and human annotations of diverse marine datasets is crucial for effective application of these methods. BisQue is a cloud-based system for management, annotation, visualization, analysis and data mining of underwater and remote sensing imagery and associated data. Designed to hide the complexity of distributed storage, large computational clusters, diversity of data formats and inhomogeneous computational environments behind a user friendly web-based interface, BisQue is built around an idea of flexible and hierarchical annotations defined by the user. Such textual and graphical annotations can describe captured attributes and the relationships between data elements. Annotations are powerful enough to describe cells in fluorescent 4D images, fish species in underwater videos and kelp beds in aerial imagery. Presently we are developing BisQue-based analysis modules for automated identification of benthic marine organisms. Recent experiments with drop-out and CNN based classification of several thousand annotated underwater images demonstrated an overall accuracy above 70% for the 15 best performing species and above 85% for the top 5 species. Based on these promising results, we have extended bisque with a CNN-based classification system allowing continuous training on user-provided data.
Full Text Available Neuromorphic Vision sensors have improved greatly since the first silicon retina was presented almost three decades ago. They have recently matured to the point where they are commercially available and can be operated by laymen. However, despite improved availability of sensors, there remains a lack of good datasets, and algorithms for processing spike-based visual data are still in their infancy. On the other hand, frame-based computer vision algorithms are far more mature, thanks in part to widely accepted datasets which allow direct comparison between algorithms and encourage competition. We are presented with a unique opportunity to shape the development of Neuromorphic Vision benchmarks and challenges by leveraging what has been learnt from the use of datasets in frame-based computer vision. Taking advantage of this opportunity, in this paper we review the role that benchmarks and challenges have played in the advancement of frame-based computer vision, and suggest guidelines for the creation of Neuromorphic Vision benchmarks and challenges. We also discuss the unique challenges faced when benchmarking Neuromorphic Vision algorithms, particularly when attempting to provide direct comparison with frame-based computer vision.
Purpose: To determine the near vision spectacle coverage and barriers to obtaining near vision correction among adults aged 35 years and older in the Cape Coast Metropolis of Ghana. Methods: A population-based cross-sectional study design was adopted and 500 out of 576 participants aged 35 years and older were ...
INTRODUCTION. Monocular visual acuity (VA) is a direct method of detecting amblyopia, a leading cause of monocular vision loss in the 2 to 7years age group . Binocular vision is fully established by 6 moths of age, while fusion is consistently strengthened until the age of 6 years when it is fully developed . It was observed ...
Du, Dongsheng; Shi, Peng
This book presents up-to-date research and novel methodologies on fault diagnosis and fault tolerant control for switched linear systems. It provides a unified yet neat framework of filtering, fault detection, fault diagnosis and fault tolerant control of switched systems. It can therefore serve as a useful textbook for senior and/or graduate students who are interested in knowing the state-of-the-art of filtering, fault detection, fault diagnosis and fault tolerant control areas, as well as recent advances in switched linear systems.
Lee, Hee Kwon
We carried out ESR dating of fault rocks collected near the nuclear reactor. The Upcheon fault zone is exposed close to the Ulzin nuclear reactor. The space-time pattern of fault activity on the Upcheon fault deduced from ESR dating of fault gouge can be summarised as follows : this fault zone was reactivated between fault breccia derived from Cretaceous sandstone and tertiary volcanic sedimentary rocks about 2 Ma, 1.5 Ma and 1 Ma ago. After those movements, the Upcheon fault was reactivated between Cretaceous sandstone and fault breccia zone about 800 ka ago. This fault zone was reactivated again between fault breccia derived form Cretaceous sandstone and Tertiary volcanic sedimentary rocks about 650 ka and after 125 ka ago. These data suggest that the long-term(200-500 k.y.) cyclic fault activity of the Upcheon fault zone continued into the Pleistocene. In the Ulzin area, ESR dates from the NW and EW trend faults range from 800 ka to 600 ka NE and EW trend faults were reactivated about between 200 ka and 300 ka ago. On the other hand, ESR date of the NS trend fault is about 400 ka and 50 ka. Results of this research suggest the fault activity near the Ulzin nuclear reactor fault activity continued into the Pleistocene. One ESR date near the Youngkwang nuclear reactor is 200 ka
Li, Huidong; Tian, Chuan; Lu, Jun; Myjak, Mitchell J.; Martinez, Jayson J.; Brown, Richard S.; Deng, Zhiqun
This paper presents a self-powered underwater acoustic transmitter using a piezoelectric beam to harvest the mechanical energy from fish swimming. This transmitter does not require a battery and is demonstrated in live fish. It transmits an acoustic waveform as the implanted fish swims. It enables long-term monitoring of aquatic animals.
Van Veen, Hans; Vashisht, Divya; Voesenek, Laurentius A C J; Sasidharan, Rashmi
Many plants experience flooding at some point during their life cycle. The underwater environment creates a carbon and energy crisis for the plant, for which two successful strategies have been identified, quiescence and escape. During quiescence, growth is actively reduced until the water levels
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 ...
Clark, James E
Exposure to the underwater environment for pleasure or work poses many challenges on the human body including thermal stress, barotraumas, decompression sickness as well as the acute effects of breathing gases under pressure. With the popularity of recreational self-contained underwater breathing apparatus (SCUBA) diving on the increase and deep inland dive sites becoming more accessible, it is important that we understand the effects of breathing pressurised gas at depth can have on the body. One of the common consequences of hyperbaric gas is the narcotic effect of inert gas. Nitrogen (a major component of air) under pressure can impede mental function and physical performance at depths of as little as 10 m underwater. With increased depth, symptoms can worsen to include confusion, disturbed coordination, lack of concentration, hallucinations and unconsciousness. Narcosis has been shown to contribute directly to up to 6% of deaths in divers and is likely to be indirectly associated with other diving incidents at depth. This article explores inert gas narcosis, the effect on divers' movement and function underwater and the proposed physiological mechanisms. Also discussed are some of the factors that affect the susceptibility of divers to the condition. In conclusion, understanding the cause of this potentially debilitating problem is important to ensure that safe diving practices continue.
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.
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.
Christensen-Dalsgaard, J; Elepfandt, A
Anesthetized clawed frogs (Xenopus laevis) were stimulated with underwater sound and the tympanic disk vibrations were studied using laser vibrometry. The tympanic disk velocities ranged from 0.01 to 0.5 mm/s (at a sound pressure of 2 Pa) in the frequency range of 0.4-4 kHz and were 20-40 dB higher...
D V A N Ravi Kumar
Jul 4, 2017 ... Abstract. Bearing-only passive target tracking is a well-known underwater defence issue dealt in the recent past with the conventional nonlinear estimators like extended Kalman filter (EKF) and unscented Kalman filter. (UKF). It is being treated now-a-days with the derivatives of EKF, UKF and a highly ...
Ort, C.M.; Beerens, S.P.; Theije, P.A.M. de
Although in most recent crises around the world it would appear from a superficial glance that there was no imminent underwater threat, a closer look shows differently. In the War on Iraq, for instance, a large allied effort was spent on eliminating the very real mine threat that endangered the
Aanhold, J.E.; Tuitman, J.T.; Trouwborst, W.; Vaders, J.A.A.
In order to satisfy the need for good quality UNDerwater EXplosion (UNDEX) response estimates of naval platforms, TNO developed two 3D simulation tools: the Simplified Interaction Tool (SIT) and the hydro/structural code 3DCAV. Both tools are an add-on to LS-DYNA. SIT is a module of user routines
Development of energy-efficient data collection and routing schemes for Underwater Wireless Sensor Networks (UWSNs) is a challenging issue due to the peculiarities of the underlying physical layer technology. Since the recharging or replacement of sensor nodes is almost impossible after deployment, the critical issue of ...
Bosschaart, C.; Jansen, H.W.; Jong, C.A.F. de; Basten, T.
A concept for underwater machinery noise mitigation of future civil and military ships is the application of a common deck structure, supporting multiple machines, which is installed on resilient mounts on the ship's foundation structure. TNO is addressing the availability and testing of tools to be
Pumphrey, Hugh C.; Crum, L. A.; Jensen, Leif Bjørnø
; the second occurs for some impacts but not others. A range of conditions is described in which a bubble is produced for every drop impact, and it is shown that these conditions are likely to be met by a significant fraction of the raindrops in a typical shower. Underwater sound produced by artificial as well...
Huntsberger, Terrance L.
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.
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.
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.
Ainslie, M.A.; Jong, C.A.F. de
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
Lin, Aobo; Tong, Zheng; Song, Yuhang; Kong, Meiwei; Xu, Jing
We demonstrate a self-designed underwater wireless optical communication system using blue LEDs. The performance of the transmitter and receiver was experimentally investigated. Four different square wave signals (10 KHz, 100 KHz, 500 KHz and 1 MHz) were successfully transmitted via a short water channel at the first phase.
Altay Arpali, Serap; Baykal, Yahya; Arpali, Çağlar
In underwater optical communication links, bit error rate (BER) is an important performance criterion. For this purpose, the effects of oceanic turbulence on multimode laser beam incidences are studied and compared in terms of average BER (), which is related to the scintillation index. Based on the log-normal distribution, is analysed for underwater turbulence parameters, including the rate of dissipation of the mean squared temperature, the rate of dissipation of the turbulent kinetic energy, the parameter that determines the relative strength of temperature and salinity in driving index fluctuations, the Kolmogorov microscale length and other link parameters such as link length, wavelength and laser source size. It is shown that use of multimode improves the system performance of optical wireless communication systems operating in an underwater medium. For all the investigated multimode beams, decreasing link length, source size, the relative strength of temperature and salinity in driving the index fluctuations, the rate of dissipation of the mean squared temperature and Kolmogorov microscale length improve the . Moreover, lower values are obtained for the increasing wavelength of operation and the rate of dissipation of the turbulent kinetic energy in underwater turbulence.
Jansen, H.W.; Jong, C.A.F. de
The aim of the SONIC project is to develop tools to investigate and mitigate the effects of underwater noise generated by shipping. One way to study the contribution of shipping noise to the background noise in the seas is to produce shipping noise maps. The SONIC project delivers the required
Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina
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.
Panda, S. K.; Bandopadhya, D.
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.
Henrion, S.; Vercruyssen, T.; Müller, U.K.
For operations in complex underwater environments, bio-inspired robots offer manoeuvrability, stealth and autonomy. They integrate propulsion and control systems into one multi-purpose undulatory propeller. By generating large counteracting forces, undulating fins generate a wide range of net
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
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
Wu, Huayang; Chen, Min; Guan, Xin
Due to the particularities of the underwater environment, some negative factors will seriously interfere with data transmission rates, reliability of data communication, communication range, and network throughput and energy consumption of underwater sensor networks (UWSNs). Thus, full consideration of node energy savings, while maintaining a quick, correct and effective data transmission, extending the network life cycle are essential when routing protocols for underwater sensor networks are studied. In this paper, we have proposed a novel routing algorithm for UWSNs. To increase energy consumption efficiency and extend network lifetime, we propose a time-slot based routing algorithm (TSR).We designed a probability balanced mechanism and applied it to TSR. The theory of network coding is introduced to TSBR to meet the requirement of further reducing node energy consumption and extending network lifetime. Hence, time-slot based balanced network coding (TSBNC) comes into being. We evaluated the proposed time-slot based balancing routing algorithm and compared it with other classical underwater routing protocols. The simulation results show that the proposed protocol can reduce the probability of node conflicts, shorten the process of routing construction, balance energy consumption of each node and effectively prolong the network lifetime.
Isufi, E.; Dol, H.; Leus, G.J.T.
Flooding-based protocols are a reliable solution to deliver packets in underwater sensor networks. However, these protocols potentially involve all the nodes in the forwarding process. Thus, the performance and energy efficiency are not optimal. In this work, we propose some advances of a
Jalaja Janardanan Kartha
Sep 7, 2017 ... We model the problem as a constrained optimization prob- lem, considering the peculiarities of the underwater environ- ment, resource limitations and application requirements. In particular, we formulate an optimization problem that maxi- mizes the lifetime of the UWSN, subject to node energy con- straints ...
fers extensively from visual image processing, primarily due to three major underwater channel impairments, i.e. ... visual quality of the image by mitigating color cast with subsequent contrast enhancement. In the proposed method, ...... sincere thanks to all Robotics & Automation Group mem- bers for their help and support.
Lopat'ko, K.; Aftandiliants, Y.; Veklich, A.; Boretskij, V.; Taran, N.; Batsmanova, L.; Trach, V.; Tugai, T.
The underwater spark discharge between manganese granules was studied. Optical emission spectroscopy methods were used for diagnostics of such discharge plasma. The colloidal solution with manganese nanoparticles was produced by this discharge. The biological applications of this colloid were analyzed. The mechanism of metallic nanoparticle action and their transformation at interacting with biological objects were studied in Alternaria alternata culture
Danehy, Paul M.; Alderfer, David W.
Several optical methods for measuring temperature near underwater shock waves are reviewed and compared. The relative merits of the different techniques are compared, considering accuracy, precision, ease of use, applicable temperature range, maturity, spatial resolution, and whether or not special additives are required.
This paper will offer an ethnographic account of the everyday reality of controlling illegal underwater drug trafficking in the global Port of Rotterdam (PoR). In so doing, it will explore what it means for customs diving officers to do drug inspections under challenging circumstances in order to
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.
Jalaja Janardanan Kartha
Sep 7, 2017 ... ditions and providing useful performance indicators prior to network deployment. Keywords. Underwater Sensor Networks .... There exists the possibility of controlling the extent of multi-hop routing that is feasible for ... standard tools; (iii) investigating the performance metrics of the proposed framework; (iv) ...
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.
Binnerts, B.; Benda-Beckmann, A.M. von; Beek, P.J.G. van
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
Arnon, Shlomi; Kedar, Debbie
The growing need for ocean observation systems has stimulated considerable interest within the research community in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. Sensors and ad hoc sensor networks are the emerging tools for performing extensive data-gathering operations on land, and solutions in the subsea setting are being sought. Efficient communication from the sensors and within the network is critical, but the underwater environment is extremely challenging. Addressing the special features of underwater wireless communication in sensor networks, we propose a novel non-line-of-sight network concept in which the link is implemented by means of back-reflection of the propagating optic signal at the ocean-air interface and derive a mathematical model of the channel. Point-to-multipoint links can be achieved in an energy efficient manner and broadcast broadband communications, such as video transmissions, can be executed. We show achievable bit error rates as a function of sensor node separation and demonstrate the feasibility of this concept using state-of-the-art silicon photomultiplier detectors.
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 ...
metal vapour from the cut kerf is spread in air. In cutting of irradiated material, debris and metal vapour creates airborne activity, which may be harmful for people working nearby, whereas, underwater cutting is advantageous in terms of a narrow. HAZ adjacent to the laser cut surface providing better samples for the analysis.
period an effort was also made to estimate the cost of a reasonably simple test device that consists of a motor, bearing support and underwater...planned for use at that facility. FIT Test Vehicle Successful operation of the HullBUG system on the sailing vessel Adele was performed in
Ferrini, V. L.; Morton, J. J.; Wiener, C.
Video imagery acquired with underwater vehicles is an essential tool for characterizing seafloor ecosystems and seafloor geology. It is a fundamental component of ocean exploration that facilitates real-time operations, augments multidisciplinary scientific research, and holds tremendous potential for public outreach and engagement. Acquiring, documenting, managing, preserving and providing access to large volumes of video acquired with underwater vehicles presents a variety of data stewardship challenges to the oceanographic community. As a result, only a fraction of underwater video content collected with research submersibles is documented, discoverable and/or viewable online. With more than 1 billion users, YouTube offers infrastructure that can be leveraged to help address some of the challenges associated with sharing underwater video with a broad global audience. Anyone can post content to YouTube, and some oceanographic organizations, such as the Schmidt Ocean Institute, have begun live-streaming video directly from underwater vehicles. OceanVideoLab (oceanvideolab.org) was developed to help improve access to underwater video through simple annotation, browse functionality, and integration with related environmental data. Any underwater video that is publicly accessible on YouTube can be registered with OceanVideoLab by simply providing a URL. It is strongly recommended that a navigational file also be supplied to enable geo-referencing of observations. Once a video is registered, it can be viewed and annotated using a simple user interface that integrates observations with vehicle navigation data if provided. This interface includes an interactive map and a list of previous annotations that allows users to jump to times of specific observations in the video. Future enhancements to OceanVideoLab will include the deployment of a search interface, the development of an application program interface (API) that will drive the search and enable querying of
Full Text Available During non-severe fault conditions, crowbar protection is not activated and the rotor windings of a doubly-fed induction generator (DFIG are excited by the AC/DC/AC converter. Meanwhile, under asymmetrical fault conditions, the electrical variables oscillate at twice the grid frequency in synchronous dq frame. In the engineering practice, notch filters are usually used to extract the positive and negative sequence components. In these cases, the dynamic response of a rotor-side converter (RSC and the notch filters have a large influence on the fault current characteristics of the DFIG. In this paper, the influence of the notch filters on the proportional integral (PI parameters is discussed and the simplified calculation models of the rotor current are established. Then, the dynamic performance of the stator flux linkage under asymmetrical fault conditions is also analyzed. Based on this, the fault characteristics of the stator current under asymmetrical fault conditions are studied and the corresponding analytical expressions of the stator fault current are obtained. Finally, digital simulation results validate the analytical results. The research results are helpful to meet the requirements of a practical short-circuit calculation and the construction of a relaying protection system for the power grid with penetration of DFIGs.
An arc fault detection system for use on ungrounded or high-resistance-grounded power distribution systems is provided which can be retrofitted outside electrical switchboard circuits having limited space constraints. The system includes a differential current relay that senses a current differential between current flowing from secondary windings located in a current transformer coupled to a power supply side of a switchboard, and a total current induced in secondary windings coupled to a load side of the switchboard. When such a current differential is experienced, a current travels through a operating coil of the differential current relay, which in turn opens an upstream circuit breaker located between the switchboard and a power supply to remove the supply of power to the switchboard. 1 fig.
A discussion of applications of machine vision technology in the semiconductor, electronic, automotive, wood, food, pharmaceutical, printing, and container industries. It describes systems that enable projects to move forward swiftly and efficiently, and focuses on the nuances of the engineering and system integration of machine vision technology.
Studies of stereo vision guide research on how animals see and how computers might accomplish this human activity. Discusses a sequence of algorithms to first extract information from visual images and then to calculate the depths of objects in the three-dimensional world, concentrating on stereopsis (stereo vision). (JN)
Gevarter, W. B.
An overview of computer vision is provided. Image understanding and scene analysis are emphasized, and pertinent aspects of pattern recognition are treated. The basic approach to computer vision systems, the techniques utilized, applications, the current existing systems and state-of-the-art issues and research requirements, who is doing it and who is funding it, and future trends and expectations are reviewed.
In this thesis we focus on continuous learning, and specifically on continuous learning in the context of computer vision. Computer vision aims at interpreting the world from its visual dimension, in an automatic manner. The world in general is characterized by continuity, and so is the visual world
Veiga, Santiago; Roig, Andreu
Pacing strategies of elite swimmers have been consistently characterised from the average lap velocities. In the present study, we examined the racing strategies of 200 m world class-level swimmers with regard to their underwater and surface lap components. The finals and semi-finals of the 200 m races at the 2013 World Swimming Championships (Barcelona, Spain) were analysed by an innovative image-processing system (InThePool® 2.0). Free swimming velocities of elite swimmers typically decreased throughout the 200 m race laps (-0.12 m · s(-1), 95% CI -0.11 to -0.14 m · s(-1), P = 0.001, η(2) = 0.81), whereas underwater velocities, which were faster than free swimming, were not meaningfully affected by the race progress (0.02 m · s(-1), -0.01 to 0.04 m · s(-1), P = 0.01, η(2) = 0.04). When swimming underwater, elite swimmers typically travelled less distance (-0.66 m, -0.83 to -0.49 m, P = 0.001, η(2) = 0.34) from the first to the third turn of the race, although underwater distances were maintained on the backstroke and butterfly races. These strategies allowed swimmers to maintain their average velocity in the last lap despite a decrease in the free swimming velocity. Elite coaches and swimmers are advised to model their racing strategies by considering both underwater and surface race components.
Cheong, Chang Sik; Lee, Seok Hoon; Choi, Man Sik
To constrain the age of neotectonic fault movement, Rb-Sr, K-Ar, U-series disequilibrium, C-14 and Be-10 methods were applied to the fault gouges, fracture infillings and sediments from the Malbang, Ipsil, Wonwonsa faults faults in the Ulsan fault zone, Yangsan fault in the Yeongdeog area and southeastern coastal area. Rb-Sr and K-Ar data imply that the fault movement of the Ulan fault zone initiated at around 30 Ma and preliminary dating result for the Yang san fault is around 70 Ma in the Yeongdeog area. K-Ar and U-series disequilibrium dating results for fracture infillings in the Ipsil fault are consistent with reported ESR ages. Radiocarbon ages of quaternary sediments from the Jeongjari area are discordant with stratigraphic sequence. Carbon isotope data indicate a difference of sedimentry environment for those samples. Be-10 dating results for the Suryum fault area are consistent with reported OSL results
Cheong, Chang Sik; Lee, Seok Hoon; Choi, Man Sik [Korea Basic Science Institute, Seoul (Korea, Republic of)] (and others)
To constrain the age of neotectonic fault movement, Rb-Sr, K-Ar, U-series disequilibrium, C-14 and Be-10 methods were applied to the fault gouges, fracture infillings and sediments from the Malbang, Ipsil, Wonwonsa faults faults in the Ulsan fault zone, Yangsan fault in the Yeongdeog area and southeastern coastal area. Rb-Sr and K-Ar data imply that the fault movement of the Ulan fault zone initiated at around 30 Ma and preliminary dating result for the Yang san fault is around 70 Ma in the Yeongdeog area. K-Ar and U-series disequilibrium dating results for fracture infillings in the Ipsil fault are consistent with reported ESR ages. Radiocarbon ages of quaternary sediments from the Jeongjari area are discordant with stratigraphic sequence. Carbon isotope data indicate a difference of sedimentry environment for those samples. Be-10 dating results for the Suryum fault area are consistent with reported OSL results.
Daigle, Matthew J.; Bregon, Anibal; Biswas, Gautam; Koutsoukos, Xenofon; Pulido, Belarmino
Multiple fault diagnosis is a difficult problem for dynamic systems. Due to fault masking, compensation, and relative time of fault occurrence, multiple faults can manifest in many different ways as observable fault signature sequences. This decreases diagnosability of multiple faults, and therefore leads to a loss in effectiveness of the fault isolation step. We develop a qualitative, event-based, multiple fault isolation framework, and derive several notions of multiple fault diagnosability. We show that using Possible Conflicts, a model decomposition technique that decouples faults from residuals, we can significantly improve the diagnosability of multiple faults compared to an approach using a single global model. We demonstrate these concepts and provide results using a multi-tank system as a case study.
This study compares the faulting observed on the Savannah River Site and vicinity with the faults of the Atlantic Coastal Fault Province and concludes that both sets of faults exhibit the same general characteristics and are closely associated. Based on the strength of this association it is concluded that the faults observed on the Savannah River Site and vicinity are in fact part of the Atlantic Coastal Fault Province. Inclusion in this group means that the historical precedent established by decades of previous studies on the seismic hazard potential for the Atlantic Coastal Fault Province is relevant to faulting at the Savannah River Site. That is, since these faults are genetically related the conclusion of ''not capable'' reached in past evaluations applies.In addition, this study establishes a set of criteria by which individual faults may be evaluated in order to assess their inclusion in the Atlantic Coast Fault Province and the related association of the ''not capable'' conclusion
Breuel, Thomas M.
Functional programming is a style of programming that avoids the use of side effects (like assignment) and uses functions as first class data objects. Compared with imperative programs, functional programs can be parallelized better, and provide better encapsulation, type checking, and abstractions. This is important for building and integrating large vision software systems. In the past, efficiency has been an obstacle to the application of functional programming techniques in computationally intensive areas such as computer vision. We discuss and evaluate several 'functional' data structures for representing efficiently data structures and objects common in computer vision. In particular, we will address: automatic storage allocation and reclamation issues; abstraction of control structures; efficient sequential update of large data structures; representing images as functions; and object-oriented programming. Our experience suggests that functional techniques are feasible for high- performance vision systems, and that a functional approach simplifies the implementation and integration of vision systems greatly. Examples in C++ and SML are given.
Gordon, K.W.; Scott, K.P.
Since the 2020 Vision project began in 1996, students from participating schools have completed and submitted a variety of scenarios describing potential world and regional conditions in the year 2020 and their possible effect on US national security. This report summarizes the students' views and describes trends observed over the course of the 2020 Vision project's five years. It also highlights the main organizational features of the project. An analysis of thematic trends among the scenarios showed interesting shifts in students' thinking, particularly in their views of computer technology, US relations with China, and globalization. In 1996, most students perceived computer technology as highly beneficial to society, but as the year 2000 approached, this technology was viewed with fear and suspicion, even personified as a malicious, uncontrollable being. Yet, after New Year's passed with little disruption, students generally again perceived computer technology as beneficial. Also in 1996, students tended to see US relations with China as potentially positive, with economic interaction proving favorable to both countries. By 2000, this view had transformed into a perception of China emerging as the US' main rival and ''enemy'' in the global geopolitical realm. Regarding globalization, students in the first two years of the project tended to perceive world events as dependent on US action. However, by the end of the project, they saw the US as having little control over world events and therefore, we Americans would need to cooperate and compromise with other nations in order to maintain our own well-being.
Withey, Daniel J
Full Text Available Computer vision systems are essential for practical, autonomous, mobile robots – machines that employ artificial intelligence and control their own motion within an environment. As with biological systems, computer vision systems include the vision...
Coubal, Miroslav; Adamovič, Jiří; Málek, Jiří; Prouza, V.
Roč. 59, č. 3 (2014), s. 183-208 ISSN 1802-6222 Institutional support: RVO:67985831 ; RVO:67985891 Keywords : fault architecture * fault plane geometry * drag structures * thrust fault * sandstone * Lusatian Fault Subject RIV: DB - Geology ; Mineralogy Impact factor: 1.405, year: 2014
Illig, David W.
Interest in underwater optical sensors has grown as technologies enabling autonomous underwater vehicles have been developed. Propagation of light through water is complicated by the dual challenges of absorption and scattering. While absorption can be reduced by operating in the blue-green region of the visible spectrum, reducing scattering is a more significant challenge. Collection of scattered light negatively impacts underwater optical ranging, imaging, and communications applications. This thesis concentrates on the ranging application, where scattering reduces operating range as well as range accuracy. The focus of this thesis is on the problem of backscatter, which can create a "clutter" return that may obscure submerged target(s) of interest. The main contributions of this thesis are explorations of signal processing approaches to increase the separation between the target and backscatter returns. Increasing this separation allows detection of weak targets in the presence of strong scatter, increasing both operating range and range accuracy. Simulation and experimental results will be presented for a variety of approaches as functions of water clarity and target position. This work provides several novel contributions to the underwater lidar field: 1. Quantification of temporal separation approaches: While temporal separation has been studied extensively, this work provides a quantitative assessment of the extent to which both high frequency modulation and spatial filter approaches improve the separation between target and backscatter. 2. Development and assessment of frequency separation: This work includes the first frequency-based separation approach for underwater lidar, in which the channel frequency response is measured with a wideband waveform. Transforming to the time-domain gives a channel impulse response, in which target and backscatter returns may appear in unique range bins and thus be separated. 3. Development and assessment of statistical
Qin, B; Sun, G D; Zhang L Y; Wang J G; HU, J
For the fault classification model based on extreme learning machine (ELM), the diagnosis accuracy and stability of rolling bearing is greatly influenced by a critical parameter, which is the number of nodes in hidden layer of ELM. An adaptive adjustment strategy is proposed based on vibrational mode decomposition, permutation entropy, and nuclear kernel extreme learning machine to determine the tunable parameter. First, the vibration signals are measured and then decomposed into different fault feature models based on variation mode decomposition. Then, fault feature of each model is formed to a high dimensional feature vector set based on permutation entropy. Second, the ELM output function is expressed by the inner product of Gauss kernel function to adaptively determine the number of hidden layer nodes. Finally, the high dimension feature vector set is used as the input to establish the kernel ELM rolling bearing fault classification model, and the classification and identification of different fault states of rolling bearings are carried out. In comparison with the fault classification methods based on support vector machine and ELM, the experimental results show that the proposed method has higher classification accuracy and better generalization ability. (paper)
Shin, Yong-Jun; Lee, Jeong-Bong
Machine vision is widely used in an industrial environment today. It can perform various tasks, such as inspecting and controlling production processes, that may require humanlike intelligence. The importance of imaging technology for biological research or medical diagnosis is greater than ever. For example, fluorescent reporter imaging enables scientists to study the dynamics of gene networks with high spatial and temporal resolution. Such high-throughput imaging is increasingly demanding the use of machine vision for real-time analysis and control. Digital microfluidics is a relatively new technology with expectations of becoming a true lab-on-a-chip platform. Utilizing digital microfluidics, only small amounts of biological samples are required and the experimental procedures can be automatically controlled. There is a strong need for the development of a digital microfluidics system integrated with machine vision for innovative biological research today. In this paper, we show how machine vision can be applied to digital microfluidics by demonstrating two applications: machine vision-based measurement of the kinetics of biomolecular interactions and machine vision-based droplet motion control. It is expected that digital microfluidics-based machine vision system will add intelligence and automation to high-throughput biological imaging in the future.
Walters, Jerry L.; Quinn, Todd M.
Autonomous Power Expert (APEX) computer program is prototype expert-system program detecting faults in electrical-power-distribution system. Assists human operators in diagnosing faults and deciding what adjustments or repairs needed for immediate recovery from faults or for maintenance to correct initially nonthreatening conditions that could develop into faults. Written in Lisp.
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Blanke, M.; Bøgh, S.A.; Jørgensen, R.B.
Feedback control systems are vulnerable to faults in control loop sensors and actuators, because feedback actions may cause abrupt responses and process damage when faults occur.......Feedback control systems are vulnerable to faults in control loop sensors and actuators, because feedback actions may cause abrupt responses and process damage when faults occur....
Niemann, Hans Henrik; Stoustrup, Jakob
An active fault diagnosis method for parametric or multiplicative faults is proposed. The method periodically adds a term to the controller that for a short period of time renders the system unstable if a fault has occurred, which facilitates rapid fault detection. An illustrative example is given....
Potiron, Katia; Taillibert, Patrick
Faults are a concern for Multi-Agent Systems (MAS) designers, especially if the MAS are built for industrial or military use because there must be some guarantee of dependability. Some fault classification exists for classical systems, and is used to define faults. When dependability is at stake, such fault classification may be used from the beginning of the system's conception to define fault classes and specify which types of faults are expected. Thus, one may want to use fault classification for MAS; however, From Fault Classification to Fault Tolerance for Multi-Agent Systems argues that
Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael
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