Reversible switch between underwater superaerophilicity and superaerophobicity on the superhydrophobic nanowire-haired mesh for controlling underwater bubble wettability

NASA Astrophysics Data System (ADS)

Shan, Chao; Yong, Jiale; Yang, Qing; Chen, Feng; Huo, Jinglan; Zhuang, Jian; Jiang, Zhuangde; Hou, Xun

2018-04-01

Controlling the underwater bubble wettability on a solid surface is of great research significance. In this letter, a simple method to achieve reversible switch between underwater superaerophilicity and underwater superaerophobicity on a superhydrophobic nanowire-haired mesh by alternately vacuumizing treatment in water and drying in air is reported. Such reversible switch endows the as-prepared mesh with many functional applications in controlling bubble's behavior on a solid substrate. The underwater superaerophilic mesh is able to absorb/capture bubbles in water, while the superaerophobic mesh has great anti-bubble ability. The reversible switch between underwater superaerophilicity and superaerophobicity can selectively allow bubbles to go through the resultant mesh; that is, bubbles can pass through the underwater superaerophilic mesh while are fully intercepted by the underwater superaerophobic mesh in a water medium. We believe these meshes will have important applications in removing or capturing underwater bubbles/gas.

H∞ robust fault-tolerant controller design for an autonomous underwater vehicle's navigation control system

NASA Astrophysics Data System (ADS)

Cheng, Xiang-Qin; Qu, Jing-Yuan; Yan, Zhe-Ping; Bian, Xin-Qian

2010-03-01

In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

Fitting primitive shapes in point clouds: a practical approach to improve autonomous underwater grasp specification of unknown objects

NASA Astrophysics Data System (ADS)

Fornas, D.; Sales, J.; Peñalver, A.; Pérez, J.; Fernández, J. J.; Marín, R.; Sanz, P. J.

2016-03-01

This article presents research on the subject of autonomous underwater robot manipulation. Ongoing research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction in order to achieve social benefits in fields such as archaeology or biology that cannot afford the expenses of costly underwater operations using remote operated vehicles. Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and adverse conditions that affect the robot perception and control systems. To tackle these issues, we propose the use of vision and segmentation techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to gather 3D information in order to obtain a model of the object. Using a RANSAC segmentation algorithm, the model parameters are estimated and a set of feasible grasps are computed. This approach is validated in both simulated and real underwater scenarios.

Virtual reality simulation of fuzzy-logic control during underwater dynamic positioning

NASA Astrophysics Data System (ADS)

Thekkedan, Midhin Das; Chin, Cheng Siong; Woo, Wai Lok

2015-03-01

In this paper, graphical-user-interface (GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle (ROV) using MATLAB™ GUI Designing Environment is proposed. The proposed ROV's GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

Optimal Sensor Layouts in Underwater Locomotory Systems

NASA Astrophysics Data System (ADS)

Colvert, Brendan; Kanso, Eva

2015-11-01

Retrieving and understanding global flow characteristics from local sensory measurements is a challenging but extremely relevant problem in fields such as defense, robotics, and biomimetics. It is an inverse problem in that the goal is to translate local information into global flow properties. In this talk we present techniques for optimization of sensory layouts within the context of an idealized underwater locomotory system. Using techniques from fluid mechanics and control theory, we show that, under certain conditions, local measurements can inform the submerged body about its orientation relative to the ambient flow, and allow it to recognize local properties of shear flows. We conclude by commenting on the relevance of these findings to underwater navigation in engineered systems and live organisms.

Nonlinear stability and control of gliding vehicles

NASA Astrophysics Data System (ADS)

Bhatta, Pradeep

In this thesis we use nonlinear systems analysis to study dynamics and design control solutions for vehicles subject to hydrodynamic or aerodynamic forcing. Application of energy-based methods for such vehicles is challenging due to the presence of energy-conserving lift and side forces. We study how the lift force determines the geometric structure of vehicle dynamics. A Hamiltonian formulation of the integrable phugoid-mode equations provides a Lyapunov function candidate, which is used throughout the thesis for deriving equilibrium stability results and designing stabilizing control laws. A strong motivation for our work is the emergence of underwater gliders as an important observation platform for oceanography. Underwater gliders rely on buoyancy regulation and internal mass redistribution for motion control. These vehicles are attractive because they are designed to operate autonomously and continuously for several weeks. The results presented in this thesis contribute toward the development of systematic control design procedures for extending the range of provably stable maneuvers of the underwater glider. As the first major contribution we derive conditions for nonlinear stability of longitudinal steady gliding motions using singular perturbation theory. Stability is proved using a composite Lyapunov function, composed of individual Lyapunov functions that prove stability of rotational and translational subsystem equilibria. We use the composite Lyapunov function to design control laws for stabilizing desired relative equilibria in different actuation configurations for the underwater glider. We propose an approximate trajectory tracking method for an aircraft model. Our method uses exponential stability results of controllable steady gliding motions, derived by interpreting the aircraft dynamics as an interconnected system of rotational and translational subsystems. We prove bounded position error for tracking prescribed, straight-line trajectories, and demonstrate good performance in tracking unsteady trajectories in the longitudinal plane. We present all possible relative equilibrium motions for a rigid body moving in a fluid. Motion along a circular helix is a practical relative equilibrium for an underwater glider. We present a study of how internal mass distribution and buoyancy of the underwater glider influence the size of the steady circular helix, and the effect of a vehicle bottom-heaviness parameter on its stability.

Underwater Sensor Nodes and Networks

PubMed Central

Lloret, Jaime

2013-01-01

Sensor technology has matured enough to be used in any type of environment. The appearance of new physical sensors has increased the range of environmental parameters for gathering data. Because of the huge amount of unexploited resources in the ocean environment, there is a need of new research in the field of sensors and sensor networks. This special issue is focused on collecting recent advances on underwater sensors and underwater sensor networks in order to measure, monitor, surveillance of and control of underwater environments. On the one hand, from the sensor node perspective, we will see works related with the deployment of physical sensors, development of sensor nodes and transceivers for sensor nodes, sensor measurement analysis and several issues such as layer 1 and 2 protocols for underwater communication and sensor localization and positioning systems. On the other hand, from the sensor network perspective, we will see several architectures and protocols for underwater environments and analysis concerning sensor network measurements. Both sides will provide us a complete view of last scientific advances in this research field. PMID:24013489

Assessment of laser tracking and data transfer for underwater optical communications

NASA Astrophysics Data System (ADS)

Watson, Malcolm A.; Blanchard, Paul M.; Stace, Chris; Bhogul, Priya K.; White, Henry J.; Kelly, Anthony E.; Watson, Scott; Valyrakis, Manousos; Najda, Stephen P.; Marona, Lucja; Perlin, Piotr

2014-10-01

We report on an investigation into optical alignment and tracking for high bandwidth, laser-based underwater optical communication links. Link acquisition approaches (including scanning of narrow laser beams versus a wide-angle `beacon' approach) for different underwater laser-based communications scenarios are discussed. An underwater laserbased tracking system was tested in a large water flume facility using water whose scattering properties resembled that of a turbid coastal or harbour region. The lasers used were state-of-the-art, temperature-controlled, high modulation bandwidth gallium nitride (GaN) devices. These operate at blue wavelengths and can achieve powers up to ~100 mW. The tracking performance and characteristics of the system were studied as the light-scattering properties of the water were increased using commercial antacid (Maalox) solution, and the results are reported here. Optical tracking is expected to be possible even in high scattering water environments, assuming better components are developed commercially; in particular, more sensitive detector arrays. High speed data transmission using underwater optical links, based on blue light sources, is also reported.

Research on the optoacoustic communication system for speech transmission by variable laser-pulse repetition rates

NASA Astrophysics Data System (ADS)

Jiang, Hongyan; Qiu, Hongbing; He, Ning; Liao, Xin

2018-06-01

For the optoacoustic communication from in-air platforms to submerged apparatus, a method based on speech recognition and variable laser-pulse repetition rates is proposed, which realizes character encoding and transmission for speech. Firstly, the theories and spectrum characteristics of the laser-generated underwater sound are analyzed; and moreover character conversion and encoding for speech as well as the pattern of codes for laser modulation is studied; lastly experiments to verify the system design are carried out. Results show that the optoacoustic system, where laser modulation is controlled by speech-to-character baseband codes, is beneficial to improve flexibility in receiving location for underwater targets as well as real-time performance in information transmission. In the overwater transmitter, a pulse laser is controlled to radiate by speech signals with several repetition rates randomly selected in the range of one to fifty Hz, and then in the underwater receiver laser pulse repetition rate and data can be acquired by the preamble and information codes of the corresponding laser-generated sound. When the energy of the laser pulse is appropriate, real-time transmission for speaker-independent speech can be realized in that way, which solves the problem of underwater bandwidth resource and provides a technical approach for the air-sea communication.

Simultaneous adaptation to size, distance, and curvature underwater.

PubMed

Vernoy, M W

1989-02-01

Perceptual adaptation to underwater size, distance, and curvature distortion was measured for four different adaptation conditions. These conditions consisted of (a) playing Chinese checkers underwater, (b) swimming with eyes open underwater, (c) viewing a square underwater, and (d) an air control. Significant adaptation to underwater distortions was recorded in all except the air control condition. In the viewing square condition a positive correlation between size and distance adaptation was noted. It was suggested that adaptation to curvature may have mediated the positive correlation. Possible applications for the training of divers are discussed.

Pipeline inspection using an autonomous underwater vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Egeskov, P.; Bech, M.; Bowley, R.

1995-12-31

Pipeline inspection can be carried out by means of small Autonomous Underwater Vehicles (AUVs), operating either with a control link to a surface vessel, or totally independently. The AUV offers an attractive alternative to conventional inspection methods where Remotely Operated Vehicles (ROVs) or paravanes are used. A flatfish type AUV ``MARTIN`` (Marine Tool for Inspection) has been developed for this purpose. The paper describes the proposed types of inspection jobs to be carried out by ``MARTIN``. The design and construction of the vessel, its hydrodynamic properties, its propulsion and control systems are discussed. The pipeline tracking and survey systems, asmore » well as the launch and recovery systems are described.« less

Underwater Turbulence Detection Using Gated Wavefront Sensing Technique

PubMed Central

Bi, Ying; Xu, Xiping; Chow, Eddy Mun Tik

2018-01-01

Laser sensing has been applied in various underwater applications, ranging from underwater detection to laser underwater communications. However, there are several great challenges when profiling underwater turbulence effects. Underwater detection is greatly affected by the turbulence effect, where the acquired image suffers excessive noise, blurring, and deformation. In this paper, we propose a novel underwater turbulence detection method based on a gated wavefront sensing technique. First, we elaborate on the operating principle of gated wavefront sensing and wavefront reconstruction. We then setup an experimental system in order to validate the feasibility of our proposed method. The effect of underwater turbulence on detection is examined at different distances, and under different turbulence levels. The experimental results obtained from our gated wavefront sensing system indicate that underwater turbulence can be detected and analyzed. The proposed gated wavefront sensing system has the advantage of a simple structure and high detection efficiency for underwater environments. PMID:29518889

Underwater Advanced Time-Domain Electromagnetic System

DTIC Science & Technology

2017-03-03

SUPPLEMENTARY NOTES 14. ABSTRACT The overall objective of the project is to design , build and demonstrate an underwater advanced time -domain...Description The overall objective of the project is to design , build and demonstrate an underwater advanced time - domain electromagnetic (TEM) system...Electromagnetic System Design (July, 2015), and in the Underwater Advanced Time -Domain Electromagnetic System Evaluation Plan (October, 2016). A

Accuracy Assessment of Underwater Photogrammetric Three Dimensional Modelling for Coral Reefs

NASA Astrophysics Data System (ADS)

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

2016-06-01

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

Communications systems and methods for subsea processors

DOEpatents

Gutierrez, Jose; Pereira, Luis

2016-04-26

A subsea processor may be located near the seabed of a drilling site and used to coordinate operations of underwater drilling components. The subsea processor may be enclosed in a single interchangeable unit that fits a receptor on an underwater drilling component, such as a blow-out preventer (BOP). The subsea processor may issue commands to control the BOP and receive measurements from sensors located throughout the BOP. A shared communications bus may interconnect the subsea processor and underwater components and the subsea processor and a surface or onshore network. The shared communications bus may be operated according to a time division multiple access (TDMA) scheme.

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

PubMed

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

2016-10-31

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

Underwater gait analysis in Parkinson's disease.

PubMed

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

2017-02-01

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

Complexity, Robustness, and Multistability in Network Systems with Switching Topologies: A Hierarchical Hybrid Control Approach

DTIC Science & Technology

2015-05-22

sensor networks for managing power levels of wireless networks ; air and ground transportation systems for air traffic control and payload transport and... network systems, large-scale systems, adaptive control, discontinuous systems 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF...cover a broad spectrum of ap- plications including cooperative control of unmanned air vehicles, autonomous underwater vehicles, distributed sensor

Calibration Techniques for Accurate Measurements by Underwater Camera Systems

PubMed Central

Shortis, Mark

2015-01-01

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. PMID:26690172

pH-Manipulated Underwater-Oil Adhesion Wettability Behavior on the Micro/Nanoscale Semicircular Structure and Related Thermodynamic Analysis.

PubMed

Tie, Lu; Guo, Zhiguang; Liu, Weimin

2015-05-20

Controlling oil of wettability behavior in response to the underwater out stimulation has shown promising applications in understanding and designing novel micro- or nanofluidic devices. In this article, the pH-manipulated underwater-oil adhesion wetting phenomenon and superoleophobicity on the micro- and nanotexture copper mesh films (CMF) were investigated. It should be noted that the surface exhibits underwater superoleophobicity under different pH values of the solution; however, the underwater-oil adhesion behavior on the surface is dramatically influenced by the pH value of the solution. On the basis of the thermodynamic analysis, a plausible mechanism to explain the pH-controllable underwater-oil adhesion and superoleophobic wetting behavior observed on a micro- and nanoscale semicircular structure has been revealed. Furthermore, variation of chemistry (intrinsic oil contact angle (OCA)) of the responsive surface that due to the carboxylic acid groups is protonated or deprotonated by the acidic or basic solution on free energy (FE) with its barrier (FEB) and equilibrium oil contact angle (EOCA) with it hysteresis (OCAH) are discussed. The result shows that a critical intrinsic OCA on the micro- and nano- semicircular texture is necessary for conversion from the oil Cassie impregnating to oil Cassie wetting state. In a water/oil/solid system, the mechanism reveals that the differences between the underwater OCA and oil adhesive force of the responsive copper mesh film under different pH values of solution are ascribed to the different oil wetting state that results from combining the changing intrinsic OCA and micro-/nanosemicircular structures. These results are well in agreement with the experiment.

Design and validation of an automated hydrostatic weighing system.

PubMed

McClenaghan, B A; Rocchio, L

1986-08-01

The purpose of this study was to design and evaluate the validity of an automated technique to assess body density using a computerized hydrostatic weighing system. An existing hydrostatic tank was modified and interfaced with a microcomputer equipped with an analog-to-digital converter. Software was designed to input variables, control the collection of data, calculate selected measurements, and provide a summary of the results of each session. Validity of the data obtained utilizing the automated hydrostatic weighing system was estimated by: evaluating the reliability of the transducer/computer interface to measure objects of known underwater weight; comparing the data against a criterion measure; and determining inter-session subject reliability. Values obtained from the automated system were found to be highly correlated with known underwater weights (r = 0.99, SEE = 0.0060 kg). Data concurrently obtained utilizing the automated system and a manual chart recorder were also found to be highly correlated (r = 0.99, SEE = 0.0606 kg). Inter-session subject reliability was determined utilizing data collected on subjects (N = 16) tested on two occasions approximately 24 h apart. Correlations revealed high relationships between measures of underwater weight (r = 0.99, SEE = 0.1399 kg) and body density (r = 0.98, SEE = 0.00244 g X cm-1). Results indicate that a computerized hydrostatic weighing system is a valid and reliable method for determining underwater weight.

A Hierarchical Communication Architecture for Oceanic Surveillance Applications

PubMed Central

Macias, Elsa; Suarez, Alvaro; Chiti, Francesco; Sacco, Andrea; Fantacci, Romano

2011-01-01

The interest in monitoring applications using underwater sensor networks has been growing in recent years. The severe communication restrictions imposed by underwater channels make that efficient monitoring be a challenging task. Though a lot of research has been conducted on underwater sensor networks, there are only few concrete applications to a real-world case study. In this work, hence, we propose a general three tier architecture leveraging low cost wireless technologies for acoustic communications between underwater sensors and standard technologies, Zigbee and Wireless Fidelity (WiFi), for water surface communications. We have selected a suitable Medium Access Control (MAC) layer, after making a comparison with some common MAC protocols. Thus the performance of the overall system in terms of Signals Discarding Rate (SDR), signalling delay at the surface gateway as well as the percentage of true detection have been evaluated by simulation, pointing out good results which give evidence in applicability’s favour. PMID:22247669

Admixture enhanced controlled low-strength material for direct underwater injection with minimal cross-contamination

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hepworth, H.K.; Davidson, J.S.; Hooyman, J.L.

1997-03-01

Commercially available admixtures have been developed for placing traditional concrete products under water. This paper evaluates adapting anti-washout admixture (AWA) and high range water reducing admixture (HRWRA) products to enhance controlled low-strength materials (CLSMs) for underwater placement. A simple experimental scale model (based on dynamic and geometric similitude) of typical grout pump emplacement equipment has been developed to determine the percentage of cementing material washed out. The objective of this study was to identify proportions of admixtures and underwater CLSM emplacement procedures which would minimize the cross-contamination of the displaced water while maintaining the advantages of CLSM. Since the displacedmore » water from radioactively contaminated systems must be subsequently treated prior to release to the environment, the amount of cross-contamination is important for cases in which cementing material could form hard sludges in a water treatment facility and contaminate the in-place CLSM stabilization medium.« less

Taiwan's underwater cultural heritage documentation management

NASA Astrophysics Data System (ADS)

Tung, Y.-Y.

2015-09-01

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

Underwater Acoustic Source Localisation Among Blind and Sighted Scuba Divers: Comparative study.

PubMed

Cambi, Jacopo; Livi, Ludovica; Livi, Walter

2017-05-01

Many blind individuals demonstrate enhanced auditory spatial discrimination or localisation of sound sources in comparison to sighted subjects. However, this hypothesis has not yet been confirmed with regards to underwater spatial localisation. This study therefore aimed to investigate underwater acoustic source localisation among blind and sighted scuba divers. This study took place between February and June 2015 in Elba, Italy, and involved two experimental groups of divers with either acquired (n = 20) or congenital (n = 10) blindness and a control group of 30 sighted divers. Each subject took part in five attempts at an under-water acoustic source localisation task, in which the divers were requested to swim to the source of a sound originating from one of 24 potential locations. The control group had their sight obscured during the task. The congenitally blind divers demonstrated significantly better underwater sound localisation compared to the control group or those with acquired blindness ( P = 0.0007). In addition, there was a significant correlation between years of blindness and underwater sound localisation ( P <0.0001). Congenital blindness was found to positively affect the ability of a diver to recognise the source of a sound in an underwater environment. As the correct localisation of sounds underwater may help individuals to avoid imminent danger, divers should perform sound localisation tests during training sessions.

AURP: An AUV-Aided Underwater Routing Protocol for Underwater Acoustic Sensor Networks

PubMed Central

Yoon, Seokhoon; Azad, Abul K.; Oh, Hoon; Kim, Sunghwan

2012-01-01

Deploying a multi-hop underwater acoustic sensor network (UASN) in a large area brings about new challenges in reliable data transmissions and survivability of network due to the limited underwater communication range/bandwidth and the limited energy of underwater sensor nodes. In order to address those challenges and achieve the objectives of maximization of data delivery ratio and minimization of energy consumption of underwater sensor nodes, this paper proposes a new underwater routing scheme, namely AURP (AUV-aided underwater routing protocol), which uses not only heterogeneous acoustic communication channels but also controlled mobility of multiple autonomous underwater vehicles (AUVs). In AURP, the total data transmissions are minimized by using AUVs as relay nodes, which collect sensed data from gateway nodes and then forward to the sink. Moreover, controlled mobility of AUVs makes it possible to apply a short-range high data rate underwater channel for transmissions of a large amount of data. To the best to our knowledge, this work is the first attempt to employ multiple AUVs as relay nodes in a multi-hop UASN to improve the network performance in terms of data delivery ratio and energy consumption. Simulations, which are incorporated with a realistic underwater acoustic communication channel model, are carried out to evaluate the performance of the proposed scheme, and the results indicate that a high delivery ratio and low energy consumption can be achieved. PMID:22438740

AURP: an AUV-aided underwater routing protocol for underwater acoustic sensor networks.

PubMed

Yoon, Seokhoon; Azad, Abul K; Oh, Hoon; Kim, Sunghwan

2012-01-01

Deploying a multi-hop underwater acoustic sensor network (UASN) in a large area brings about new challenges in reliable data transmissions and survivability of network due to the limited underwater communication range/bandwidth and the limited energy of underwater sensor nodes. In order to address those challenges and achieve the objectives of maximization of data delivery ratio and minimization of energy consumption of underwater sensor nodes, this paper proposes a new underwater routing scheme, namely AURP (AUV-aided underwater routing protocol), which uses not only heterogeneous acoustic communication channels but also controlled mobility of multiple autonomous underwater vehicles (AUVs). In AURP, the total data transmissions are minimized by using AUVs as relay nodes, which collect sensed data from gateway nodes and then forward to the sink. Moreover, controlled mobility of AUVs makes it possible to apply a short-range high data rate underwater channel for transmissions of a large amount of data. To the best to our knowledge, this work is the first attempt to employ multiple AUVs as relay nodes in a multi-hop UASN to improve the network performance in terms of data delivery ratio and energy consumption. Simulations, which are incorporated with a realistic underwater acoustic communication channel model, are carried out to evaluate the performance of the proposed scheme, and the results indicate that a high delivery ratio and low energy consumption can be achieved.

Overview of a Hybrid Underwater Camera System

DTIC Science & Technology

2014-07-01

meters), in increments of 200ps. The camera is also equipped with 6:1 motorized zoom lens. A precision miniature attitude, heading reference system ( AHRS ...LUCIE Control & Power Distribution System AHRS Pulsed LASER Gated Camera -^ Sonar Transducer (b) LUCIE sub-systems Proc. ofSPIEVol. 9111

Zero-power autonomous buoyancy system controlled by microbial gas production

NASA Astrophysics Data System (ADS)

Wu, Peter K.; Fitzgerald, Lisa A.; Biffinger, Justin C.; Spargo, Barry J.; Houston, Brian H.; Bucaro, Joseph A.; Ringeisen, Bradley R.

2011-05-01

A zero-power ballast control system that could be used to float and submerge a device solely using a gas source was built and tested. This system could be used to convey sensors, data loggers, and communication devices necessary for water quality monitoring and other applications by periodically maneuvering up and down a water column. Operational parameters for the system such as duration of the submerged and buoyant states can be varied according to its design. The gas source can be of any origin, e.g., compressed air, underwater gas vent, gas produced by microbes, etc. The zero-power ballast system was initially tested using a gas pump and further tested using gas produced by Clostridium acetobutylicum. Using microbial gas production as the only source of gas and no electrical power during operation, the system successfully floated and submerged periodically with a period of 30 min for at least 24 h. Together with microbial fuel cells, this system opens up possibilities for underwater monitoring systems that could function indefinitely.

Underwater Acoustic Beacon Location System

DTIC Science & Technology

2016-12-23

300087 1 of 31 UNDERWATER ACOUSTIC BEACON LOCATION SYSTEM [0001] The present application claims the benefit of United States Provisional...Application Serial Number 62/297,179 filed on February 19, 2016 by the inventor, Steven E. Crocker and entitled “ Underwater Acoustic Beacon...search for and can locate an underwater location beacon. Attorney Docket No. 300087 2 of 31 (2) Description of the Prior Art [0005

Quantum imaging for underwater arctic navigation

NASA Astrophysics Data System (ADS)

Lanzagorta, Marco

2017-05-01

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

An Ultra-Low Power and Flexible Acoustic Modem Design to Develop Energy-Efficient Underwater Sensor Networks

PubMed Central

Sánchez, Antonio; Blanc, Sara; Yuste, Pedro; Perles, Angel; Serrano, Juan José

2012-01-01

This paper is focused on the description of the physical layer of a new acoustic modem called ITACA. The modem architecture includes as a major novelty an ultra-low power asynchronous wake-up system implementation for underwater acoustic transmission that is based on a low-cost off-the-shelf RFID peripheral integrated circuit. This feature enables a reduced power dissipation of 10 μW in stand-by mode and registers very low power values during reception and transmission. The modem also incorporates clear channel assessment (CCA) to support CSMA-based medium access control (MAC) layer protocols. The design is part of a compact platform for a long-life short/medium range underwater wireless sensor network. PMID:22969324

An ultra-low power and flexible acoustic modem design to develop energy-efficient underwater sensor networks.

PubMed

Sánchez, Antonio; Blanc, Sara; Yuste, Pedro; Perles, Angel; Serrano, Juan José

2012-01-01

This paper is focused on the description of the physical layer of a new acoustic modem called ITACA. The modem architecture includes as a major novelty an ultra-low power asynchronous wake-up system implementation for underwater acoustic transmission that is based on a low-cost off-the-shelf RFID peripheral integrated circuit. This feature enables a reduced power dissipation of 10 μW in stand-by mode and registers very low power values during reception and transmission. The modem also incorporates clear channel assessment (CCA) to support CSMA-based medium access control (MAC) layer protocols. The design is part of a compact platform for a long-life short/medium range underwater wireless sensor network.

Underwater Acoustic Source Localisation Among Blind and Sighted Scuba Divers

PubMed Central

Cambi, Jacopo; Livi, Ludovica; Livi, Walter

2017-01-01

Objectives Many blind individuals demonstrate enhanced auditory spatial discrimination or localisation of sound sources in comparison to sighted subjects. However, this hypothesis has not yet been confirmed with regards to underwater spatial localisation. This study therefore aimed to investigate underwater acoustic source localisation among blind and sighted scuba divers. Methods This study took place between February and June 2015 in Elba, Italy, and involved two experimental groups of divers with either acquired (n = 20) or congenital (n = 10) blindness and a control group of 30 sighted divers. Each subject took part in five attempts at an under-water acoustic source localisation task, in which the divers were requested to swim to the source of a sound originating from one of 24 potential locations. The control group had their sight obscured during the task. Results The congenitally blind divers demonstrated significantly better underwater sound localisation compared to the control group or those with acquired blindness (P = 0.0007). In addition, there was a significant correlation between years of blindness and underwater sound localisation (P <0.0001). Conclusion Congenital blindness was found to positively affect the ability of a diver to recognise the source of a sound in an underwater environment. As the correct localisation of sounds underwater may help individuals to avoid imminent danger, divers should perform sound localisation tests during training sessions. PMID:28690888

An underwater optical wireless communication network

NASA Astrophysics Data System (ADS)

Arnon, Shlomi

2009-08-01

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

Underwater optical wireless communication network

NASA Astrophysics Data System (ADS)

Arnon, Shlomi

2010-01-01

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

Coordinate control of initiative mating device for autonomous underwater vehicle based on TDES

NASA Astrophysics Data System (ADS)

Yan, Zhe-Ping; Hou, Shu-Ping

2005-06-01

A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV (autonomons underwater vehicle) and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought foward to describe the mating proceed between AUV and manipulators. The coordinated control is implemented by the TDES (time discrete event system). After taking into account the time problem, it is a useful method to control mating by simulation testing. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure.

Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider

NASA Astrophysics Data System (ADS)

Wang, Shu-Xin; Sun, Xiu-Jun; Wang, Yan-Hui; Wu, Jian-Guo; Wang, Xiao-Ming

2011-03-01

PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV (autonomous underwater vehicle). It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.

A new compact, cost-efficient concept for underwater range-gated imaging: the UTOFIA project

NASA Astrophysics Data System (ADS)

Mariani, Patrizio; Quincoces, Iñaki; Galparsoro, Ibon; Bald, Juan; Gabiña, Gorka; Visser, Andy; Jónasdóttir, Sigrun; Haugholt, Karl Henrik; Thorstensen, Jostein; Risholm, Petter; Thielemann, Jens

2017-04-01

Underwater Time Of Flight Image Acquisition system (UTOFIA) is a recently launched H2020 project (H2020 - 633098) to develop a compact and cost-effective underwater imaging system especially suited for observations in turbid environments. The UTOFIA project targets technology that can overcome the limitations created by scattering, by introducing cost-efficient range-gated imaging for underwater applications. This technology relies on a image acquisition principle that can extends the imaging range of the cameras 2-3 times respect to other cameras. Moreover, the system will simultaneously capture 3D information of the observed objects. Today range-gated imaging is not widely used, as it relies on specialised optical components making systems large and costly. Recent technology developments have made it possible a significant (2-3 times) reduction in size, complexity and cost of underwater imaging systems, whilst addressing the scattering issues at the same time. By acquiring simultaneous 3D data, the system allows to accurately measure the absolute size of marine life and their spatial relationship to their habitat, enhancing the precision of fish stock monitoring and ecology assessment, hence supporting proper management of marine resources. Additionally, the larger observed volume and the improved image quality make the system suitable for cost-effective underwater surveillance operations in e.g. fish farms, underwater infrastructures. The system can be integrated into existing ocean observatories for real time acquisition and can greatly advance present efforts in developing species recognition algorithms, given the additional features provided, the improved image quality and the independent illumination source based on laser. First applications of the most recent prototype of the imaging system will be provided including inspection of underwater infrastructures and observations of marine life under different environmental conditions.

Communications system for zero-g simulation tests in water

NASA Technical Reports Server (NTRS)

Smith, H. E.

1971-01-01

System connects seven observers, diver, and spare station, and utilizes public address system with underwater speakers to provide two-way communications between test subject and personnel in control of life support, so that test personnel are warned immediately of malfunction in pressure suit or equipment.

DUMAND-II (deep underwater muon and neutrino detector) progress report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Young, K.K.; The DUMAND Collaboration

1995-07-10

The DUMAND II detector will search for astronomical sources of high energy neutrinos. Successful deployment of the basic infrastructure, including the shore cable, the underwater junction box, and an environmental module was accomplished in December, 1993. One optical module string was also deployed and operated, logging data for about 10 hours. The underwater cable was connected to the shore station where we were able to successfully exercise system controls and log further environmental data. After this time, water leaking into the electronics control module for the deployed string disabled the string electrical system. The acquired data are consistent with themore » expected rate of downgoing muons, and our ability to reconstruct muons was demonstrated. The measured acoustical backgrounds are consistent with expectation, which should allow acoustical detection of nearby PeV particle cascades. The disabled string has been recovered and is undergoing repairs ashore. We have identified the source of the water leak and implemented additional testing and QC procedures to ensure no repetition in our next deployment. We will be ready to deploy three strings and begin continuous data taking in late 1994 or early 1995. {copyright} {ital 1995} {ital American} {ital Institute} {ital of} {ital Physics}.« less

Underwater single beam circumferentially scanning detection system using range-gated receiver and adaptive filter

NASA Astrophysics Data System (ADS)

Tan, Yayun; Zhang, He; Zha, Bingting

2017-09-01

Underwater target detection and ranging in seawater are of interest in unmanned underwater vehicles. This study presents an underwater detection system that synchronously scans a collimated laser beam and a narrow field of view to circumferentially detect an underwater target. Hybrid methods of range-gated and variable step-size least mean squares (VSS-LMS) adaptive filter are proposed to suppress water backscattering. The range-gated receiver eliminates the backscattering of near-field water. The VSS-LMS filter extracts the target echo in the remaining backscattering and the constant fraction discriminator timing method is used to improve ranging accuracy. The optimal constant fraction is selected by analysing the jitter noise and slope of the target echo. The prototype of the underwater detection system is constructed and tested in coastal seawater, then the effectiveness of backscattering suppression and high-ranging accuracy is verified through experimental results and analysis discussed in this paper.

Unmanned Underwater Vehicle (UUV) Information Study

DTIC Science & Technology

2014-11-28

Maritime Unmanned System NATO North Atlantic Treaty Organization xi The use or disclosure of the information on this sheet is subject to the... Unmanned Aerial System UDA Underwater Domain Awareness UNISIPS Unified Sonar Image Processing System USV Unmanned Surface Vehicle UUV Unmanned Underwater...data distribution to ashore systems , such as the delay, its impact and the benefits to the overall MDA and required metadata for efficient search and

Effects of underwater turbulence on laser beam propagation and coupling into single-mode optical fiber.

PubMed

Hanson, Frank; Lasher, Mark

2010-06-01

We characterize and compare the effects of turbulence on underwater laser propagation with theory. Measurements of the coupling efficiency of the focused beam into a single-mode fiber are reported. A simple tip-tilt control system, based on the position of the image centroid in the focal plane, was shown to maintain good coupling efficiency for a beam radius equal to the transverse coherence length, r(0). These results are relevant to high bandwidth communication technology that requires good spatial mode quality.

Minimizing noise in fiberglass aquaculture tanks: Noise reduction potential of various retrofits

USGS Publications Warehouse

Davidson, J.; Frankel, A.S.; Ellison, W.T.; Summerfelt, S.; Popper, A.N.; Mazik, P.; Bebak, J.

2007-01-01

Equipment used in intensive aquaculture systems, such as pumps and blowers can produce underwater sound levels and frequencies within the range of fish hearing. The impacts of underwater noise on fish are not well known, but limited research suggests that subjecting fish to noise could result in impairment of the auditory system, reduced growth rates, and increased stress. Consequently, reducing sound in fish tanks could result in advantages for cultured species and increased productivity for the aquaculture industry. The objective of this study was to evaluate the noise reduction potential of various retrofits to fiberglass fish culture tanks. The following structural changes were applied to tanks to reduce underwater noise: (1) inlet piping was suspended to avoid contact with the tank, (2) effluent piping was disconnected from a common drain line, (3) effluent piping was insulated beneath tanks, and (4) tanks were elevated on cement blocks and seated on insulated padding. Four combinations of the aforementioned structural changes were evaluated in duplicate and two tanks were left unchanged as controls. Control tanks had sound levels of 120.6 dB re 1 ??Pa. Each retrofit contributed to a reduction of underwater sound. As structural changes were combined, a cumulative reduction in sound level was observed. Tanks designed with a combination of retrofits had sound levels of 108.6 dB re 1 ??Pa, a four-fold reduction in sound pressure level. Sound frequency spectra indicated that the greatest sound reductions occurred between 2 and 100 Hz and demonstrated that nearby pumps and blowers created tonal frequencies that were transmitted into the tanks. The tank modifications used during this study were simple and inexpensive and could be applied to existing systems or considered when designing aquaculture facilities. ?? 2007 Elsevier B.V. All rights reserved.

A bio-inspired electrocommunication system for small underwater robots.

PubMed

Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

2017-03-29

Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

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

PubMed Central

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

2017-01-01

The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV’s parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power adjustment ratio while improving the network performance. PMID:28471387

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

PubMed

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

2017-05-04

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

Formation Learning Control of Multiple Autonomous Underwater Vehicles With Heterogeneous Nonlinear Uncertain Dynamics.

PubMed

Yuan, Chengzhi; Licht, Stephen; He, Haibo

2017-09-26

In this paper, a new concept of formation learning control is introduced to the field of formation control of multiple autonomous underwater vehicles (AUVs), which specifies a joint objective of distributed formation tracking control and learning/identification of nonlinear uncertain AUV dynamics. A novel two-layer distributed formation learning control scheme is proposed, which consists of an upper-layer distributed adaptive observer and a lower-layer decentralized deterministic learning controller. This new formation learning control scheme advances existing techniques in three important ways: 1) the multi-AUV system under consideration has heterogeneous nonlinear uncertain dynamics; 2) the formation learning control protocol can be designed and implemented by each local AUV agent in a fully distributed fashion without using any global information; and 3) in addition to the formation control performance, the distributed control protocol is also capable of accurately identifying the AUVs' heterogeneous nonlinear uncertain dynamics and utilizing experiences to improve formation control performance. Extensive simulations have been conducted to demonstrate the effectiveness of the proposed results.

Underwater Munitions Expert System to Predict Mobility and Burial

DTIC Science & Technology

2017-11-14

exposure and aggregation for underwater munitions. 15. SUBJECT TERMS Underwater Munitions, Mobility, Burial, Application Programmer Interface...Munitions Expert System: Demonstration and Evaluation Report Acronyms API – Application Programmer Interface APL – Applied Physics...comparisons and traditional metrics such as the coefficient of correlation. The summary statistic for the comparisons of burial results

Channel coding for underwater acoustic single-carrier CDMA communication system

NASA Astrophysics Data System (ADS)

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

2017-01-01

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

Topology Optimization for Energy Management in Underwater Sensor Networks

DTIC Science & Technology

2015-02-01

1 To appear in International Journal of Control as a regular paper Topology Optimization for Energy Management in Underwater Sensor Networks ⋆ Devesh...K. Jha1 Thomas A. Wettergren2 Asok Ray1 Kushal Mukherjee3 Keywords: Underwater Sensor Network , Energy Management, Pareto Optimization, Adaptation...Optimization for Energy Management in Underwater Sensor Networks 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d

Real-Time Communication Support for Underwater Acoustic Sensor Networks †.

PubMed

Santos, Rodrigo; Orozco, Javier; Micheletto, Matias; Ochoa, Sergio F; Meseguer, Roc; Millan, Pere; Molina, And Carlos

2017-07-14

Underwater sensor networks represent an important and promising field of research due to the large diversity of underwater ubiquitous applications that can be supported by these networks, e.g., systems that deliver tsunami and oil spill warnings, or monitor submarine ecosystems. Most of these monitoring and warning systems require real-time communication in wide area networks that have a low density of nodes. The underwater communication medium involved in these networks is very harsh and imposes strong restrictions to the communication process. In this scenario, the real-time transmission of information is done mainly using acoustic signals, since the network nodes are not physically close. The features of the communication scenario and the requirements of the communication process represent major challenges for designers of both, communication protocols and monitoring and warning systems. The lack of models to represent these networks is the main stumbling block for the proliferation of underwater ubiquitous systems. This paper presents a real-time communication model for underwater acoustic sensor networks (UW-ASN) that are designed to cover wide areas with a low density of nodes, using any-to-any communication. This model is analytic, considers two solution approaches for scheduling the real-time messages, and provides a time-constraint analysis for the network performance. Using this model, the designers of protocols and underwater ubiquitous systems can quickly prototype and evaluate their solutions in an evolving way, in order to determine the best solution to the problem being addressed. The suitability of the proposal is illustrated with a case study that shows the performance of a UW-ASN under several initial conditions. This is the first analytic model for representing real-time communication in this type of network, and therefore, it opens the door for the development of underwater ubiquitous systems for several application scenarios.

Real-Time Communication Support for Underwater Acoustic Sensor Networks †

PubMed Central

Santos, Rodrigo; Orozco, Javier; Micheletto, Matias

2017-01-01

Underwater sensor networks represent an important and promising field of research due to the large diversity of underwater ubiquitous applications that can be supported by these networks, e.g., systems that deliver tsunami and oil spill warnings, or monitor submarine ecosystems. Most of these monitoring and warning systems require real-time communication in wide area networks that have a low density of nodes. The underwater communication medium involved in these networks is very harsh and imposes strong restrictions to the communication process. In this scenario, the real-time transmission of information is done mainly using acoustic signals, since the network nodes are not physically close. The features of the communication scenario and the requirements of the communication process represent major challenges for designers of both, communication protocols and monitoring and warning systems. The lack of models to represent these networks is the main stumbling block for the proliferation of underwater ubiquitous systems. This paper presents a real-time communication model for underwater acoustic sensor networks (UW-ASN) that are designed to cover wide areas with a low density of nodes, using any-to-any communication. This model is analytic, considers two solution approaches for scheduling the real-time messages, and provides a time-constraint analysis for the network performance. Using this model, the designers of protocols and underwater ubiquitous systems can quickly prototype and evaluate their solutions in an evolving way, in order to determine the best solution to the problem being addressed. The suitability of the proposal is illustrated with a case study that shows the performance of a UW-ASN under several initial conditions. This is the first analytic model for representing real-time communication in this type of network, and therefore, it opens the door for the development of underwater ubiquitous systems for several application scenarios. PMID:28708093

A Novel Method to Determine the Hydrodynamic Coefficients of an Eyeball ROV

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yh, Eng; Ws, Lau; Low, E.

2009-01-12

A good dynamics model is essential and critical for the successful design of navigation and control system of an underwater vehicle. However, it is difficult to determine from the hydrodynamic forces, the inertial added mass terms and the drag coefficients. In this paper, a new experimental method has been used to find the hydrodynamic forces for the ROV II, a remotely operated underwater vehicle. The proposed method is based on the classical free decay test, but with the spring oscillation replaced by a pendulum motion. The experiment results determined from the free decay test of a scaled model compared wellmore » with the simulation results obtained from well‐established computational fluid dynamics (CFD) program. Thus, the proposed approach can be used to find the added mass and drag coefficients for other underwater vehicles.« less

Terrain matching image pre-process and its format transform in autonomous underwater navigation

NASA Astrophysics Data System (ADS)

Cao, Xuejun; Zhang, Feizhou; Yang, Dongkai; Yang, Bogang

2007-06-01

Underwater passive navigation technology is one of the important development orientations in the field of modern navigation. With the advantage of high self-determination, stealth at sea, anti-jamming and high precision, passive navigation is completely meet with actual navigation requirements. Therefore passive navigation has become a specific navigating method for underwater vehicles. The scientists and researchers in the navigating field paid more attention to it. The underwater passive navigation can provide accurate navigation information with main Inertial Navigation System (INS) for a long period, such as location and speed. Along with the development of micro-electronics technology, the navigation of AUV is given priority to INS assisted with other navigation methods, such as terrain matching navigation. It can provide navigation ability for a long period, correct the errors of INS and make AUV not emerge from the seabed termly. With terrain matching navigation technique, in the assistance of digital charts and ocean geographical characteristics sensors, we carry through underwater image matching assistant navigation to obtain the higher location precision, therefore it is content with the requirement of underwater, long-term, high precision and all-weather of the navigation system for Autonomous Underwater Vehicles. Tertian-assistant navigation (TAN) is directly dependent on the image information (map information) in the navigating field to assist the primary navigation system according to the path appointed in advance. In TAN, a factor coordinative important with the system operation is precision and practicability of the storable images and the database which produce the image data. If the data used for characteristics are not suitable, the system navigation precision will be low. Comparing with terrain matching assistant navigation system, image matching navigation system is a kind of high precision and low cost assistant navigation system, and its matching precision directly influences the final precision of integrated navigation system. Image matching assistant navigation is spatially matching and aiming at two underwater scenery images coming from two different sensors matriculating of the same scenery in order to confirm the relative displacement of the two images. In this way, we can obtain the vehicle's location in fiducial image known geographical relation, and the precise location information given from image matching location is transmitted to INS to eliminate its location error and greatly enhance the navigation precision of vehicle. Digital image data analysis and processing of image matching in underwater passive navigation is important. In regard to underwater geographic data analysis, we focus on the acquirement, disposal, analysis, expression and measurement of database information. These analysis items structure one of the important contents of underwater terrain matching and are propitious to know the seabed terrain configuration of navigation areas so that the best advantageous seabed terrain district and dependable navigation algorithm can be selected. In this way, we can improve the precision and reliability of terrain assistant navigation system. The pre-process and format transformation of digital image during underwater image matching are expatiated in this paper. The information of the terrain status in navigation areas need further study to provide the reliable data terrain characteristic and underwater overcast for navigation. Through realizing the choice of sea route, danger district prediction and navigating algorithm analysis, TAN can obtain more high location precision and probability, hence provide technological support for image matching of underwater passive navigation.

An Underwater Target Detection System for Electro-Optical Imagery Data

DTIC Science & Technology

2010-06-01

detection and segmentation of underwater mine-like objects in the EO images captured with a CCD-based image sensor. The main focus of this research is to...develop a robust detection algorithm that can be used to detect low contrast and partial underwater objects from the EO imagery with low false alarm rate...underwater target detection I. INTRODUCTION Automatic detection and recognition of underwater objects from EO imagery poses a serious challenge due to poor

Measurements of optical underwater turbulence under controlled conditions

NASA Astrophysics Data System (ADS)

Kanaev, A. V.; Gladysz, S.; Almeida de Sá Barros, R.; Matt, S.; Nootz, G. A.; Josset, D. B.; Hou, W.

2016-05-01

Laser beam propagation underwater is becoming an important research topic because of high demand for its potential applications. Namely, ability to image underwater at long distances is highly desired for scientific and military purposes, including submarine awareness, diver visibility, and mine detection. Optical communication in the ocean can provide covert data transmission with much higher rates than that available with acoustic techniques, and it is now desired for certain military and scientific applications that involve sending large quantities of data. Unfortunately underwater environment presents serious challenges for propagation of laser beams. Even in clean ocean water, the extinction due to absorption and scattering theoretically limit the useful range to few attenuation lengths. However, extending the laser light propagation range to the theoretical limit leads to significant beam distortions due to optical underwater turbulence. Experiments show that the magnitude of the distortions that are caused by water temperature and salinity fluctuations can significantly exceed the magnitude of the beam distortions due to atmospheric turbulence even for relatively short propagation distances. We are presenting direct measurements of optical underwater turbulence in controlled conditions of laboratory water tank using two separate techniques involving wavefront sensor and LED array. These independent approaches will enable development of underwater turbulence power spectrum model based directly on the spatial domain measurements and will lead to accurate predictions of underwater beam propagation.

Design and implementation of an omni-directional underwater acoustic micro-modem based on a low-power micro-controller unit.

PubMed

Won, Tae-Hee; Park, Sung-Joon

2012-01-01

For decades, underwater acoustic communication has been restricted to the point-to-point long distance applications such as deep sea probes and offshore oil fields. For this reason, previous acoustic modems were typically characterized by high data rates and long working ranges at the expense of large size and high power consumption. Recently, as the need for underwater wireless sensor networks (UWSNs) has increased, the research and development of compact and low-power consuming communication devices has become the focus. From the consideration that the requisites of acoustic modems for UWSNs are low power consumption, omni-directional beam pattern, low cost and so on, in this paper, we design and implement an omni-directional underwater acoustic micro-modem satisfying these requirements. In order to execute fast digital domain signal processing and support flexible interfaces with other peripherals, an ARM Cortex-M3 is embedded in the micro-modem. Also, for the realization of small and omni-directional properties, a spherical transducer having a resonant frequency of 70 kHz and a diameter of 34 mm is utilized for the implementation. Physical layer frame format and symbol structure for efficient packet-based underwater communication systems are also investigated. The developed acoustic micro-modem is verified analytically and experimentally in indoor and outdoor environments in terms of functionality and performance. Since the modem satisfies the requirements for use in UWSNs, it could be deployed in a wide range of applications requiring underwater acoustic communication.

Low-frequency acoustic pressure, velocity, and intensity thresholds in a bottlenose dolphin (Tursiops truncatus) and white whale (Delphinapterus leucas)

NASA Astrophysics Data System (ADS)

Finneran, James J.; Carder, Donald A.; Ridgway, Sam H.

2002-01-01

The relative contributions of acoustic pressure and particle velocity to the low-frequency, underwater hearing abilities of the bottlenose dolphin (Tursiops truncatus) and white whale (Delphinapterus leucas) were investigated by measuring (masked) hearing thresholds while manipulating the relationship between the pressure and velocity. This was accomplished by varying the distance within the near field of a single underwater sound projector (experiment I) and using two underwater sound projectors and an active sound control system (experiment II). The results of experiment I showed no significant change in pressure thresholds as the distance between the subject and the sound source was changed. In contrast, velocity thresholds tended to increase and intensity thresholds tended to decrease as the source distance decreased. These data suggest that acoustic pressure is a better indicator of threshold, compared to particle velocity or mean active intensity, in the subjects tested. Interpretation of the results of experiment II (the active sound control system) was difficult because of complex acoustic conditions and the unknown effects of the subject on the generated acoustic field; however, these data also tend to support the results of experiment I and suggest that odontocete thresholds should be reported in units of acoustic pressure, rather than intensity.

Robust analysis of an underwater navigational strategy in electrically heterogeneous corridors.

PubMed

Dimble, Kedar D; Ranganathan, Badri N; Keshavan, Jishnu; Humbert, J Sean

2016-08-01

Obstacles and other global stimuli provide relevant navigational cues to a weakly electric fish. In this work, robust analysis of a control strategy based on electrolocation for performing obstacle avoidance in electrically heterogeneous corridors is presented and validated. Static output feedback control is shown to achieve the desired goal of reflexive obstacle avoidance in such environments in simulation and experimentation. The proposed approach is computationally inexpensive and readily implementable on a small scale underwater vehicle, making underwater autonomous navigation feasible in real-time.

The influence of underwater turbulence on optical phase measurements

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

OPTICAL correlation identification technology applied in underwater laser imaging target identification

NASA Astrophysics Data System (ADS)

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

2012-01-01

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

The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

DTIC Science & Technology

1997-04-01

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

Underwater electric field detection system based on weakly electric fish

NASA Astrophysics Data System (ADS)

Xue, Wei; Wang, Tianyu; Wang, Qi

2018-04-01

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

Autonomous Adaptive Acoustic Relay Positioning

DTIC Science & Technology

2013-09-01

underwater acoustic sensor networks . In Proc. 1st ACM International Work- shop on Underwater Networks , pages 7–16, 2006. [4] A Alvarez, A...routing in underwater delay/disruption tolerant sensor networks . In Wireless on Demand Network Systems and Services, 2008. WONS 2008. Fifth Annual...the development of multi-vehicle applications in the ocean, and the main mode of wireless data transmission underwater is acoustic .

Maritime In Situ Sensing Inter-Operable Networks (MISSION)

DTIC Science & Technology

2013-09-30

creating acoustic communications (acomms) technologies enabling underwater sensor networks and distributed systems. Figure 1. Project MISSION...Marn, S. Ramp, F. Bahr, “Implementation of an Underwater Wireless Sensor Network in San Francisco Bay,” Proc. 10th International Mine Warfare...NILUS – An Underwater Acoustic Sensor Network Demonstrator System,” Proc. 10th International Mine Warfare Technology Symposium, Monterey, CA, May 7

Acquisition and tracking for underwater optical communications

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

Based on the rainfall system platform raindrops research and analysis of pressure loss

NASA Astrophysics Data System (ADS)

Cao, Gang; Sun, Jian

2018-01-01

With the rapid development of China’s military career, land, sea and air force all services and equipment of modern equipment need to be in the rain test, and verify its might suffer during transportation, storage or use a different environment temperature lower water or use underwater, the water is derived from the heavy rain, the wind and rain, sprinkler system, splash water, water wheel, a violent shock waves or use underwater, etcTest the product performance and quality, under the condition of rainfall system platform in the process of development, how to control the raindrops pressure loss becomes the key to whether the system can simulate the real rainfall [1], this paper is according to the rainfall intensity, nozzle flow resistance, meet water flow of rain pressure loss calculation and analysis, and system arrangement of the optimal solution of rainfall is obtained [2].

BrainPort Technology Tongue Interface Characterization Tactical Underwater Navigation System (TUNS)

DTIC Science & Technology

2008-06-01

Control board. We currently have 22 boards in house. … … … … … Experiment Control Workstation HDA with 2000 to 20,000 electrodes ●●● TCP/IP...Program Interface DARPA Defense Advanced Research Projects Agency HD High Density HDA High Density Array IRB Internal Review Board Tactor

Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

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. PMID:29642396

Collision Detection for Underwater ROV Manipulator Systems.

PubMed

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

2018-04-06

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

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

PubMed

Zhao, Jianhu; Chen, Xinhua; Zhang, Hongmei; Feng, Jie

2018-03-23

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

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

PubMed Central

Chen, Xinhua; Zhang, Hongmei; Feng, Jie

2018-01-01

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

Affordable underwater wireless optical communication using LEDs

NASA Astrophysics Data System (ADS)

Pilipenko, Vladimir; Arnon, Shlomi

2013-09-01

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

An overview of underwater remotely manned Systems and sub-systems

NASA Technical Reports Server (NTRS)

Rechnitzer, A., B.

1975-01-01

A current overview of how the underwater facet of remotely manned systems has progressed since 1972 is presented. The current approaches being pursued and the success of American and foreign technology is assessed.

Real-Time Seismic Data from the Bottom Sea

PubMed Central

Roset, Xavier; Trullols, Enric; Artero-Delgado, Carola; Prat, Joana; Massana, Immaculada; Carbonell, Montserrat; Barco de la Torre, Jaime; Toma, Daniel Mihai

2018-01-01

An anchored marine seismometer, acquiring real-time seismic data, has been built and tested. The system consists of an underwater seismometer, a surface buoy, and a mooring line that connects them. Inductive communication through the mooring line provides an inexpensive, reliable, and flexible solution. Prior to the deployment the dynamics of the system have been simulated numerically in order to find optimal materials, cables, buoys, and connections under critical marine conditions. The seismometer used is a high sensitivity triaxial broadband geophone able to measure low vibrational signals produced by the underwater seismic events. The power to operate the surface buoy is provided by solar panels. Additional batteries are needed for the underwater unit. In this paper we also present the first results and an earthquake detection of a prototype system that demonstrates the feasibility of this concept. The seismometer transmits continuous data at a rate of 1000 bps to a controller equipped with a radio link in the surface buoy. A GPS receiver on the surface buoy has been configured to perform accurate timestamps on the seismic data, which makes it possible to integrate the seismic data from these marine seismometers into the existing seismic network. PMID:29642479

Real-Time Seismic Data from the Bottom Sea.

PubMed

Roset, Xavier; Trullols, Enric; Artero-Delgado, Carola; Prat, Joana; Del Río, Joaquin; Massana, Immaculada; Carbonell, Montserrat; Barco de la Torre, Jaime; Toma, Daniel Mihai

2018-04-08

An anchored marine seismometer, acquiring real-time seismic data, has been built and tested. The system consists of an underwater seismometer, a surface buoy, and a mooring line that connects them. Inductive communication through the mooring line provides an inexpensive, reliable, and flexible solution. Prior to the deployment the dynamics of the system have been simulated numerically in order to find optimal materials, cables, buoys, and connections under critical marine conditions. The seismometer used is a high sensitivity triaxial broadband geophone able to measure low vibrational signals produced by the underwater seismic events. The power to operate the surface buoy is provided by solar panels. Additional batteries are needed for the underwater unit. In this paper we also present the first results and an earthquake detection of a prototype system that demonstrates the feasibility of this concept. The seismometer transmits continuous data at a rate of 1000 bps to a controller equipped with a radio link in the surface buoy. A GPS receiver on the surface buoy has been configured to perform accurate timestamps on the seismic data, which makes it possible to integrate the seismic data from these marine seismometers into the existing seismic network.

Underwater manipulator's kinematic analysis for sustainable and energy efficient water hydraulics system

NASA Astrophysics Data System (ADS)

Hassan, Siti Nor Habibah; Yusof, Ahmad Anas; Tuan, Tee Boon; Saadun, Mohd Noor Asril; Ibrahim, Mohd Qadafie; Nik, Wan Mohd Norsani Wan

2015-05-01

In promoting energy saving and sustainability, this paper presents research development of water hydraulics manipulator test rig for underwater application. Kinematic analysis of the manipulator has been studied in order to identify the workspace of the fabricated manipulator. The workspace is important as it will define the working area suitable to be developed on the test rig, in order to study the effectiveness of using water hydraulics system for underwater manipulation application. Underwater manipulator that has the ability to utilize the surrounding sea water itself as the power and energy carrier should have better advantages over sustainability and performance.

An early underwater artificial vision model in ocean investigations via independent component analysis.

PubMed

Nian, Rui; Liu, Fang; He, Bo

2013-07-16

Underwater vision is one of the dominant senses and has shown great prospects in ocean investigations. In this paper, a hierarchical Independent Component Analysis (ICA) framework has been established to explore and understand the functional roles of the higher order statistical structures towards the visual stimulus in the underwater artificial vision system. The model is inspired by characteristics such as the modality, the redundancy reduction, the sparseness and the independence in the early human vision system, which seems to respectively capture the Gabor-like basis functions, the shape contours or the complicated textures in the multiple layer implementations. The simulation results have shown good performance in the effectiveness and the consistence of the approach proposed for the underwater images collected by autonomous underwater vehicles (AUVs).

An Early Underwater Artificial Vision Model in Ocean Investigations via Independent Component Analysis

PubMed Central

Nian, Rui; Liu, Fang; He, Bo

2013-01-01

Underwater vision is one of the dominant senses and has shown great prospects in ocean investigations. In this paper, a hierarchical Independent Component Analysis (ICA) framework has been established to explore and understand the functional roles of the higher order statistical structures towards the visual stimulus in the underwater artificial vision system. The model is inspired by characteristics such as the modality, the redundancy reduction, the sparseness and the independence in the early human vision system, which seems to respectively capture the Gabor-like basis functions, the shape contours or the complicated textures in the multiple layer implementations. The simulation results have shown good performance in the effectiveness and the consistence of the approach proposed for the underwater images collected by autonomous underwater vehicles (AUVs). PMID:23863855

Underwater acoustic wireless sensor networks: advances and future trends in physical, MAC and routing layers.

PubMed

Climent, Salvador; Sanchez, Antonio; Capella, Juan Vicente; Meratnia, Nirvana; Serrano, Juan Jose

2014-01-06

This survey aims to provide a comprehensive overview of the current research on underwater wireless sensor networks, focusing on the lower layers of the communication stack, and envisions future trends and challenges. It analyzes the current state-of-the-art on the physical, medium access control and routing layers. It summarizes their security threads and surveys the currently proposed studies. Current envisioned niches for further advances in underwater networks research range from efficient, low-power algorithms and modulations to intelligent, energy-aware routing and medium access control protocols.

Autonomous Underwater Munitions and Explosives of Concern Detection System

DTIC Science & Technology

2015-03-01

Field Magnetometer ......................................................................... 19 5.3.2 Fluxgate Compass...through the vehicle control system. Magnetic measurements are sampled at 10 Hz. 5.3.2 Fluxgate Compass Located in the magnetometer module pressure...pitch, and roll) from the fluxgate compass and the total field magnetometer measurements are required for processing into the MagComp compensation

Influence of long-range forces and capillarity on the function of underwater superoleophobic wrinkled surfaces.

PubMed

Owais, Ahmed; Smith-Palmer, Truis; Gentle, Angus; Neto, Chiara

2018-06-26

Underwater superoleophobic surfaces can be considered a particular type of lubricant-infused surface, that have anti-fouling properties by virtue of a trapped water layer that repels oils. However, as their function relies on a water layer being trapped in the surface roughness, it is crucial to understand the factors that determine the layer stability. In this work, the forces that are responsible for the stability of thin liquid films within structured surfaces were quantified, and the conclusions were tested against the performance of wrinkled surfaces as underwater superoleophobic coatings. Here, the system studied was a family of wrinkled surfaces made of hydrophilic poly(4-vinylpyridine) (P4VP), whereby the wrinkle width could be controllably tuned in the range 90 nm to 8000 nm. The van der Waals free energy was quantified and the capillary forces trapping water in the surface micro- and nano-wrinkle structure were estimated. P4VP surfaces with micro-scale wrinkles had underwater superoleophobic properties, and low adhesion to different oils with droplet roll-off angle below 6° ± 1°. Despite the van der Waals free energy of the system pointing to the dewetting of a water film under oil on top of a smooth P4VP film, the wrinkled structure is sufficient to induce a Cassie state with a trapped water layer. The micro-scale wrinkles (average width 4-12 μm) were found to be particularly effective in the trapping of the water in a Cassie non-adhesive state. The P4VP wrinkled surfaces are superamphiphobic, as when they were first infused with oil, and then exposed to a droplet of water under oil, they exhibited superhydrophobic behavior. The P4VP wrinkles have the additional useful feature of being transparent underwater, which makes them useful candidates for the protection of underwater cameras and sensors.

Application of a high-energy-density permanent magnet material in underwater systems

NASA Astrophysics Data System (ADS)

Cho, C. P.; Egan, C.; Krol, W. P.

1996-06-01

This paper addresses the application of high-energy-density permanent magnet (PM) technology to (1) the brushless, axial-field PM motor and (2) the integrated electric motor/pump system for under-water applications. Finite-element analysis and lumped parameter magnetic circuit analysis were used to calculate motor parameters and performance characteristics and to conduct tradeoff studies. Compact, efficient, reliable, and quiet underwater systems are attainable with the development of high-energy-density PM material, power electronic devices, and power integrated-circuit technology.

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

DTIC Science & Technology

2011-03-01

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

AUV technology heads for new depths[Autonomous Underwater Vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hayes, D.

2000-04-01

High-tech unmanned submarine technologies initially developed by the US Navy are being adapted for a new role to assist the oil and gas industry's shift into deeper waters. To address the problem of costly data acquisition and inaccurate survey data, C and C Technologies of Lafayette, La., has hired Kongsberg Simrad to construct the Hugin 3000 deepwater autonomous underwater vehicle (AUV). As the technology is applied to energy exploration and production advances to meet the deepwater challenges beyond the continental shelf, AUVs will be increasingly employed, it is believed. The paper describes the Hugin project, unexpected situations, the vehicle positionmore » tracking system, vehicle operation and real-time data quality control, real-time data monitoring and control, Hugin field experience, and pipe route surveying.« less

Feasibility of in situ beta ray measurements in underwater environment.

PubMed

Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik

2017-09-01

We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.

Optimal Deployment of Sensor Nodes Based on Performance Surface of Underwater Acoustic Communication

PubMed Central

Choi, Jee Woong

2017-01-01

The underwater acoustic sensor network (UWASN) is a system that exchanges data between numerous sensor nodes deployed in the sea. The UWASN uses an underwater acoustic communication technique to exchange data. Therefore, it is important to design a robust system that will function even in severely fluctuating underwater communication conditions, along with variations in the ocean environment. In this paper, a new algorithm to find the optimal deployment positions of underwater sensor nodes is proposed. The algorithm uses the communication performance surface, which is a map showing the underwater acoustic communication performance of a targeted area. A virtual force-particle swarm optimization algorithm is then used as an optimization technique to find the optimal deployment positions of the sensor nodes, using the performance surface information to estimate the communication radii of the sensor nodes in each generation. The algorithm is evaluated by comparing simulation results between two different seasons (summer and winter) for an area located off the eastern coast of Korea as the selected targeted area. PMID:29053569

Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design.

PubMed

Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu

2015-11-01

This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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

NASA Technical Reports Server (NTRS)

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

2018-01-01

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

Advanced Undersea Warfare Systems

DTIC Science & Technology

2011-06-01

122 hours188 187 Rowinski, Lech . “Submersible propulsion and energy.” 18 Mar. 2002. underwater.pg.gda.pl. 23 Apr. 2011. <http...Rowinski, Lech . “Submersible propulsion and energy.” 18 Mar. 2002. underwater.pg.gda.pl. 23 Apr. 2011. <http://www.underwater.pg.gda.pl/publikacje

Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

DTIC Science & Technology

1998-03-31

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

Pulsed hydrojet

DOEpatents

Bohachevsky, I.O.; Torrey, M.D.

1986-06-10

An underwater pulsed hydrojet propulsion system is provided for accelerating and propelling a projectile or other vessel. A reactant, such as lithium, is fluidized and injected into a water volume. The resulting reaction produces an energy density in a time effective to form a steam pocket. Thrust flaps or baffles direct the pressure from the steam pocket toward an exit nozzle for accelerating a water volume to create thrust. A control system regulates the dispersion of reactant to control thrust characteristics.

Use of an UROV to develop 3-D optical models of submarine environments

NASA Astrophysics Data System (ADS)

Null, W. D.; Landry, B. J.

2017-12-01

The ability to rapidly obtain high-fidelity bathymetry is crucial for a broad range of engineering, scientific, and defense applications ranging from bridge scour, bedform morphodynamics, and coral reef health to unexploded ordnance detection and monitoring. The present work introduces the use of an Underwater Remotely Operated Vehicle (UROV) to develop 3-D optical models of submarine environments. The UROV used a Raspberry Pi camera mounted to a small servo which allowed for pitch control. Prior to video data collection, in situ camera calibration was conducted with the system. Multiple image frames were extracted from the underwater video for 3D reconstruction using Structure from Motion (SFM). This system provides a simple and cost effective solution to obtaining detailed bathymetry in optically clear submarine environments.

Underwater Acoustic Wireless Sensor Networks: Advances and Future Trends in Physical, MAC and Routing Layers

PubMed Central

Climent, Salvador; Sanchez, Antonio; Capella, Juan Vicente; Meratnia, Nirvana; Serrano, Juan Jose

2014-01-01

This survey aims to provide a comprehensive overview of the current research on underwater wireless sensor networks, focusing on the lower layers of the communication stack, and envisions future trends and challenges. It analyzes the current state-of-the-art on the physical, medium access control and routing layers. It summarizes their security threads and surveys the currently proposed studies. Current envisioned niches for further advances in underwater networks research range from efficient, low-power algorithms and modulations to intelligent, energy-aware routing and medium access control protocols. PMID:24399155

Controllable underwater anisotropic oil-wetting

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yong, Jiale; Chen, Feng, E-mail: chenfeng@mail.xjtu.edu.cn; Yang, Qing

This Letter demonstrates a simple method to achieve underwater anisotropic oil-wetting using silicon surfaces with a microgroove array produced by femtosecond laser ablation. The oil contact angles along the direction perpendicular to the grooves are consistently larger than those parallel to the microgroove arrays in water because the oil droplet is restricted by the energy barrier that exists between the non-irradiated domain and the trapped water in the laser-ablated microgrooves. This underwater anisotropic oil-wetting is able to be controlled, and the anisotropy can be tuned from 0° to ∼20° by adjusting the period of the microgroove arrays.

The Effect of Underwater Gait Training on Balance Ability of Stroke Patients

PubMed Central

Park, Seok Woo; Lee, Kyoung Jin; Shin, Doo Chul; Shin, Seung Ho; Lee, Myung Mo; Song, Chang Ho

2014-01-01

[Purpose] The purpose of this study was to investigate the effects of underwater treadmill gait training on the balance ability of stroke patients. [Subjects] Twenty-two patients with stroke were randomly assigned to an underwater treadmill group (n =11) or a control group (n =11). [Methods] Both groups received general rehabilitation for 30 min per session, 5 times per week, over a 4-week period. The underwater treadmill group received additional underwater gait training for 30 min per session, 5 times per week, over the same 4-week period. Static and dynamic balances were evaluated before and after the intervention. [Results] The means of static and dynamic balance ability increased significantly in both groups, but there was no significant difference between the two groups. [Conclusion] Compared to the general rehabilitation program, underwater treadmill gait training was not more effective at improving the balance ability of stroke patients than land-based training. PMID:25013292

Controlling autonomous underwater floating platforms using bacterial fermentation.

PubMed

Biffinger, Justin C; Fitzgerald, Lisa A; Howard, Erinn C; Petersen, Emily R; Fulmer, Preston A; Wu, Peter K; Ringeisen, Bradley R

2013-01-01

Biogenic gas has a wide range of energy applications from being used as a source for crude bio-oil components to direct ignition for heating. The current study describes the use of biogenic gases from Clostridium acetobutylicum for a new application-renewable ballast regeneration for autonomous underwater devices. Uninterrupted (continuous) and blocked flow (pressurization) experiments were performed to determine the overall biogas composition and total volume generated from a semirigid gelatinous matrix. For stopped flow experiments, C. acetobutylicum generated a maximum pressure of 55 psi over 48 h composed of 60 % hydrogen gas when inoculated in a 5 % agar (w/v) support with 5 % glucose (w/v) in the matrix. Typical pressures over 24 h at 318 K ranged from 10 to 33 psi. These blocked flow experiments show for the first time the use of microbial gas production as a way to repressurize gas cylinders. Continuous flow experiments successfully demonstrated how to deliver biogas to an open ballast control configuration for deployable underwater platforms. This study is a starting point for engineering and microbiology investigations of biogas which will advance the integration of biology within autonomous systems.

Mobility Systems For Robotic Vehicles

NASA Astrophysics Data System (ADS)

Chun, Wendell

1987-02-01

The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

Feasibility Study of 2000 Foot Underwater Breathing Apparatus

DTIC Science & Technology

1978-08-14

It was found that a backpack mounted scrubber , with integral gas heating and P02 control, with a fan-driven circulation system, could be inte’faced...PROGRAMS.............................5 K BACKPACK FAN- SCRUBBER ...................................... . 5 The Backpack...9 The Scrubber .................................... .......... 9 Gas Heating ......................................... ..... 9 The Helmet

The effect of traveling wave shapes in the maneuver control and efficiency of an underwater robot propelled by an undulating fin

NASA Astrophysics Data System (ADS)

Liu, Hanlin; Curet, Oscar

2016-11-01

Effective control of propulsive undulating fins has the potential to enhance the maneuverability and efficiency of underwater vehicles allowing them to navigate in more complex environments. Aquatic animals using this type of propulsion are able to perform complex maneuvers by sending different traveling waves along one or multiple elongated fins. Recent work has investigated the propulsive forces, the hydrodynamics and the efficiency of an undulating ribbon fin. However, it is still not understood how different traveling wave shapes along the fin can be used to control the hydrodynamic forces and torques to perform different maneuvers. In this work, we study the effect of traveling wave shapes on the hydrodynamic forces and torques, swimming speed, maneuver control and propulsive performance of an underwater vehicle propelled by an undulating fin. The underwater robot propels by actuating a fin that is composed of sixteen independent rays interconnected with a flexible membrane. The hull contains all the electronics, batteries, motors and sensors. The underwater vehicle was tested in a water tank-flume facility. In a series of experiments, we measured the motion of the vessel and the power consumption for different traveling wave patterns. In addition, we measured the flow around the fin using Particle Image Velocimetry. We present the results concerning the power distribution along the fin, propulsive efficiency, free-swimming speed and pitch control based on different fin kinematics. National Science Foundation under Grant No. 1420774.

A Summary of the Naval Postgraduate School Research Program.

DTIC Science & Technology

1982-05-01

and testing of PCM modu- lation formats, design and test of an underwater video line using a diver’s handheld camera and bi-directional interconnection...to design and develop advanced control schemes which successfully optimize the tor- pedo steering performance for Project Courageous. cummary: Work...investigating the feasibility and design of fiber optic communications in underwater torpedo ranges. Summary: An underwater fiber optic video uplink was

3D Laser Scanner for Underwater Manipulation.

PubMed

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

2018-04-04

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

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

DTIC Science & Technology

2015-09-30

Wireless Networks (WUWNet’14), Rome, Italy, Nov. 12 ­ 14, 2014. J. Preisig, “ Underwater Acoustic Communications: Enabling the Next Generation at the...on Wireless Communication. M. Pajovic, J. Preisig, “Performance Analytics and Optimal Design of Multichannel Equalizers for Underwater Acoustic Communications”, to appear in IEEE Journal of Oceanic Engineering. 6 ...Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award #3

Heterogeneous Teams of Autonomous Vehicles: Advanced Sensing & Control

DTIC Science & Technology

2009-03-01

Final Technical 3. DATES COVERED (From To) 7/1/05-12/31708 4. TITLE AND SUBTITLE Heterogeneous Teams of Autonomous Vehicles Advanced Sensing...assimilating data from underwater and surface autonomous vehicles in addition to the usual sources of Eulerian and Lagrangian systems into a small scale

Underwater Light Regimes in Rivers from Multiple Measurement Approaches

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

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

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

ABS-FishCount: An Agent-Based Simulator of Underwater Sensors for Measuring the Amount of Fish.

PubMed

García-Magariño, Iván; Lacuesta, Raquel; Lloret, Jaime

2017-11-13

Underwater sensors provide one of the possibilities to explore oceans, seas, rivers, fish farms and dams, which all together cover most of our planet's area. Simulators can be helpful to test and discover some possible strategies before implementing these in real underwater sensors. This speeds up the development of research theories so that these can be implemented later. In this context, the current work presents an agent-based simulator for defining and testing strategies for measuring the amount of fish by means of underwater sensors. The current approach is illustrated with the definition and assessment of two strategies for measuring fish. One of these two corresponds to a simple control mechanism, while the other is an experimental strategy and includes an implicit coordination mechanism. The experimental strategy showed a statistically significant improvement over the control one in the reduction of errors with a large Cohen's d effect size of 2.55.

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hobbs, B.; Kahabka, J.

1995-06-01

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

Drive Control System for Pipeline Crawl Robot Based on CAN Bus

NASA Astrophysics Data System (ADS)

Chen, H. J.; Gao, B. T.; Zhang, X. H.; Deng2, Z. Q.

2006-10-01

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

System for effecting underwater coupling of optical fiber cables characterized by a novel V-probe cable capture mechanism

NASA Astrophysics Data System (ADS)

Hillenbrand, Christopher F.; Barron, Thomas D.; Nugent, David M.

1995-03-01

A submarine trails one fiber optic cable and an undersea vehicle is controlled by this first cable. A missile/torpedo trails a second cable that is to be coupled to the first cable. The second cable has a segment suspended vertically underwater between a buoyant pod and a sea anchor type buoy. The undersea vehicle, or Autonomous Undersea Vehicle, (AUV) hunts for the pod by conventional homing means. A forked cable pickup device in the nose of the AUV captures the suspended cable segment directing it into a slot so a male socket in the underside of the pod mates with a female socket in the slot.

Underwater fiber-wireless communication with a passive front end

NASA Astrophysics Data System (ADS)

Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning

2017-11-01

We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.

Underwater sympathetic detonation of pellet explosive

NASA Astrophysics Data System (ADS)

Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

2017-06-01

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

Characterization of underwater optical turbulence on the example of the Rayleigh-Benard water tank

NASA Astrophysics Data System (ADS)

Gladysz, Szymon; Barros, Rui; Kanaev, Andrey V.; Hou, Weilin

2017-09-01

For many years sound has been used as a primary method for underwater communication. However, data transmission rate of acoustic systems is low because typical frequencies associated with underwater acoustics are between tens of hertz and hundreds of kilohertz. A higher bandwidth can be achieved with visible light to transfer data underwater. The first challenge for underwater laser communication is scattering and absorption. In addition, there are disturbances caused by spatial and temporal changes in the water refraction index due to temperature and/or salinity variations. Optical turbulence, which includes the two effects, is the main theme of this paper. We will discuss the joint IOSB-NRL experiment whose goal was to test techniques for characterization of underwater optical turbulence and in particular we will focus on differential motion measurement from an LED array.

Parametric synthesis of a robust controller on a base of mathematical programming method

NASA Astrophysics Data System (ADS)

Khozhaev, I. V.; Gayvoronskiy, S. A.; Ezangina, T. A.

2018-05-01

Considered paper is dedicated to deriving sufficient conditions, linking root indices of robust control quality with coefficients of interval characteristic polynomial, on the base of mathematical programming method. On the base of these conditions, a method of PI- and PID-controllers, providing aperiodic transient process with acceptable stability degree and, subsequently, acceptable setting time, synthesis was developed. The method was applied to a problem of synthesizing a controller for a depth control system of an unmanned underwater vehicle.

Underwater Sensor Network Redeployment Algorithm Based on Wolf Search

PubMed Central

Jiang, Peng; Feng, Yang; Wu, Feng

2016-01-01

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. PMID:27775659

Risk Factors Detection for Strategic Importance Objectives in Littoral Areas

NASA Astrophysics Data System (ADS)

Slămnoiu, G.; Radu, O.; Roşca, V.; Pascu, C.; Surdu, G.; Curcă, E.; Damian, R. G.; Rădulescu, A.

2017-06-01

With the invention and development of underwater explosive devices the need to neutralize them has also appeared, both for enemy and for own devices once conflicts are finished. The fight against active underwater explosive devices is a very complicated action that requires a very careful approach. Also, in the current context, strategic importance objectives located in the littoral areas can also become targets for divers or fast boats (suicidal actions).The system for detection, localization, tracking and identification of risk factors for strategic importance objectives in littoral areas has as one of its components an AUV and a hydro-acoustic sub-system for determining the ‘fingerprints’ of potential targets. The overall system will provide support for main missions such as underwater environment surveillance (detection, monitoring) in harbor areas and around other coast objectives, ship anchorage areas, mandatory pass points and also provide warnings about the presence of underwater and surface dangers in the interest areas.

Real-Time Modeling of Cross-Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle (AUV)

DTIC Science & Technology

1998-03-01

34Numerical Recipes in C," second edition, Cambridge University Press, Cambridge England, 1992. Marco, David , "Autonomous Control of Underwater...in the viewer. -202- LIST OF REFERENCES Ames, Andrea L., Nadeau, David R., Moreland, John L., VRML 2.0 Sourcebook, Second edition, John Wiley...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," AI-Based Mobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy, MJT/AAAI

Underwater Electrical Safety Practices

DTIC Science & Technology

1976-01-01

under water. While advances continue in developing new and more effective underwater electrical equipment, the Navy is concerned that its underwater...levels passing through human tissue is known to alter, temporarily, the physiological function of cells. The long-term effects , if any, are unknown. Much...of the system--human physiology, equipment, procedures, and training. Human Physiology Present knowledge of the physiological effects of electrical

Microcontroller-based underwater acoustic ECG telemetry system.

PubMed

Istepanian, R S; Woodward, B

1997-06-01

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

Operational experience in underwater photogrammetry

NASA Astrophysics Data System (ADS)

Leatherdale, John D.; John Turner, D.

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

The Analysis of a Longitudinal Control System for Underwater Vehicles

DTIC Science & Technology

1975-10-01

9 PERFORMING ORGANIZATION NAME AND ADDRESS Naval Coastal Systems Laboratory Panama City, Florida 32401 10. PROGRAM ELEMENT. PROJECT. TASK...TfM.PH) VCNC + 1 ) = 0# U(NC >»QP/UCNC*1 -) V(NC)=0. FORM NEW KFOUCEn COFF »- ICIFVTS Aft 00 A9 T=1#NC 000u6fl<*0 00006660 OOGu6S70 000O68M0

Solving Wakulla Springs underwater mysteries. Using GPS to map Florida's underground caverns

USGS Publications Warehouse

Am, Ende B.

2002-01-01

Located in the Woodville Karst Plain stretching south from Tallahassee to the Gulf of Mexico, Florida's Wakulla Springs is one of the largest and deepest freshwater Springs in the world. It is also a gateway into one of the longest underwater cave system in the United States, a system that remained largely unexplored until recently. Soon, however, thanks to one of the world's most extreme scientific and exploration-related diving projects ever undertaken, visitors to Wakulla Springs State Park will be able to take a virtual tour through the Spring's huge underwater labyrinth. Using such cutting-edge technology as a 3D Digital Wall Mapper (DWM) and the Global Positioning System (GPS), the Wakulla 2 Expedition - with 151 volunteer cave divers, scientists and engineers from all over the world - created the world's first three-dimensional digital map of an underwater cave. Underwater caves are priceless treasures, helping supply fresh water to the region as well as acting as 'time capsules' to the past. Home to creatures found in few other places, areas such as Wakulla face threats of pollution and over-development. Wakulla 2 hopes their 3D interactive 'swim through' will help increase the understanding and preservation of these important areas.

Design and implementation of an underwater sound recording device

DOE Office of Scientific and Technical Information (OSTI.GOV)

Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.

2011-09-01

To monitor the underwater sound and pressure waves generated by activities such as underwater blasting and pile driving, an autonomous system used to record underwater acoustic signals was designed. The device designed allows two hydrophones or other dynamic pressure sensors to be connected, filters out high frequency noise, has a gain that can be independently set for each sensor, and allows two hours of data to be collected. Two versions of the USR were created; one is submersible to a maximum depth of 300 m, and the other, although watertight, is not intended to be fully submersed. Tests were performedmore » in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to the each component. These tests verified that the device performs as well as larger commercially available data acquisition systems, which are not suited for field use. A prototype of the device was used in a case study to investigate the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. The case study demonstrated that the device was able to tolerate being operated in harsh environments, making it a valuable tool for collecting field measurements.« less

An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System.

PubMed

Yao, Yiqing; Xu, Xiaosu; Xu, Xiang

2017-09-05

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.

Effects of Underwater Explosions on Fish Without Swimbladders

DTIC Science & Technology

1994-02-02

various organ systems is given in Table 2-3. The evaluations are summarized in Tables 2-4 and 2-5. Control fish were handled in a manner similar to the...When the explosion rig went overboard, the controls were placed in a holding tank on deck. After the explosion and retrieval of the rig, the controls ... controls were then removed from the bags and all were placed in a single cage and held for 24 hours in the same holding tank with the experimental fish that

Modeling and simulation of a counter-rotating turbine system for underwater vehicles

NASA Astrophysics Data System (ADS)

Wang, Xinping; Dang, Jianjun

2016-12-01

The structure of a counter-rotating turbine of an underwater vehicle is designed by adding the counter-rotating second-stage turbine disk after the conventional single-stage turbine. The available kinetic energy and the absorption power of the auxiliary system are calculated at different working conditions, and the results show that the power of the main engine and auxiliary system at the counter-rotating turbine system matches well with each other. The experimental simulation of the lubricating oil loop, fuel loop, and seawater loop are completed right before the technology scheme of the counter-rotating turbine system is proposed. The simulation results indicate that the hydraulic transmission system can satisfy the requirements for an underwater vehicle running at a steady sailing or variable working conditions.

Natural Underwater Adhesives

PubMed Central

Stewart, Russell J.; Ransom, Todd C.; Hlady, Vladimir

2011-01-01

The general topic of this review is protein-based underwater adhesives produced by aquatic organisms. The focus is on mechanisms of interfacial adhesion to native surfaces and controlled underwater solidification of natural water-borne adhesives. Four genera that exemplify the broad range of function, general mechanistic features, and unique adaptations are discussed in detail: blue mussels, acorn barnacles, sandcastle worms, and freshwater caddisfly larva. Aquatic surfaces in nature are charged and in equilibrium with their environment, populated by an electrical double layer of ions as well as adsorbed natural polyelectrolytes and microbial biofilms. Surface adsorption of underwater bioadhesives likely occurs by exchange of surface bound ligands by amino acid sidechains, driven primarily by relative affinities and effective concentrations of polymeric functional groups. Most aquatic organisms exploit modified amino acid sidechains, in particular phosphorylated serines and hydroxylated tyrosines (dopa), with high-surface affinity that form coordinative surface complexes. After delivery to the surfaces as a fluid, permanent natural adhesives solidify to bear sustained loads. Mussel plaques are assembled in a manner superficially reminiscent of in vitro layer-by-layer strategies, with sequentially delivered layers associated through Fe(dopa)3 coordination bonds. The adhesives of sandcastle worms, caddisfly larva, and barnacles may be delivered in a form somewhat similar to in vitro complex coacervation. Marine adhesives are secreted, or excreted, into seawater that has a significantly higher pH and ionic strength than the internal environment. Empirical evidence suggests these environment triggers could provide minimalistic, fail-safe timing mechanisms to prevent premature solidification (insolubilization) of the glue within the secretory system, yet allow rapid solidification after secretion. Underwater bioadhesives are further strengthened by secondary covalent curing. PMID:21643511

The alkaline aluminium/hydrogen peroxide power source in the Hugin II unmanned underwater vehicle

NASA Astrophysics Data System (ADS)

Hasvold, Øistein; Johansen, Kjell Håvard; Mollestad, Ole; Forseth, Sissel; Størkersen, Nils

In 1993, The Norwegian Defence Research Establishment (FFI) demonstrated AUV-Demo, an unmanned (untethered) underwater vehicle (UUV), powered by a magnesium/dissolved oxygen seawater battery (SWB). This technology showed that an underwater range of at least 1000 nautical miles at a speed of 4 knots was possible, but also that the maximum hotel load this battery system could support was very limited. Most applications for UUV technology need more power over a shorter period of time. Seabed mapping using a multibeam echo sounder mounted on an UUV was identified as a viable application and the Hugin project was started in 1995 in cooperation with Norwegian industry. For this application, an endurance of 36 h at 4 knots was required. Development of the UUV hull and electronics system resulted in the UUV Hugin I. It carries a Ni/Cd battery of 3 kW h, allowing up to 6 h under-water endurance. In parallel, we developed a battery based on a combination of alkaline Al/air and SWB technology, using a circulating alkaline electrolyte, aluminium anodes and maintaining the oxidant concentration in the electrolyte by continuously adding hydrogen peroxide (HP) to the electrolyte. This concept resulted in a safe battery, working at ambient pressure (balanced) and with sufficient power and energy density to allow the UUV Hugin II to make a number of successive dives, each of up to 36 h duration and with only 1 h deck time between dives for HP refill and electrolyte exchange. After 100 h, an exchange of anodes takes place. The power source consists of a four-cell Al/HP battery, a DC/DC converter delivering 600 W at 30 V, circulation and dosing pumps and a battery control unit. Hugin II is now in routine use by the Norwegian Underwater Intervention AS (NUI) which operates the UUV for high-precision seabed mapping down to a water depth of 600 m.

Underwater Advanced Time-Domain Electromagnetic System

DTIC Science & Technology

2017-03-01

distribution statement initially submitted with AD1042986, entitled Underwater Advanced Time Domain Electromagnetic System (MR-201313), has been appealed...Advanced Time -Domain Electromagnetic System ESTCP Project MR-201313 MARCH 2017 Mr. Steve Saville CH2M Distribution Statement D: Distribution...is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and

The rat: a laboratory model for studies of the diving response

PubMed Central

Gan, Qi; Juric, Rajko

2010-01-01

Underwater submersion in mammals induces apnea, parasympathetically mediated bradycardia, and sympathetically mediated peripheral vasoconstriction. These effects are collectively termed the diving response, potentially the most powerful autonomic reflex known. Although these physiological responses are directed by neurons in the brain, study of neural control of the diving response has been hampered since 1) it is difficult to study the brains of animals while they are underwater, 2) feral marine mammals are usually large and have brains of variable size, and 3) there are but few references on the brains of naturally diving species. Similar responses are elicited in anesthetized rodents after stimulation of their nasal mucosa, but this nasopharyngeal reflex has not been compared directly with natural diving behavior in the rat. In the present study, we compared hemodynamic responses elicited in awake rats during volitional underwater submersion with those of rats swimming on the water's surface, rats involuntarily submerged, and rats either anesthetized or decerebrate and stimulated nasally with ammonia vapors. We show that the hemodynamic changes to voluntary diving in the rat are similar to those of naturally diving marine mammals. We also show that the responses of voluntary diving rats are 1) significantly different from those seen during swimming, 2) generally similar to those elicited in trained rats involuntarily “dunked” underwater, and 3) generally different from those seen from dunking naive rats underwater. Nasal stimulation of anesthetized rats differed most from the hemodynamic variables of rats trained to dive voluntarily. We propose that the rat trained to dive underwater is an excellent laboratory model to study neural control of the mammalian diving response, and also suggest that some investigations may be done with nasal stimulation of decerebrate preparations to decipher such control. PMID:20093670

On the Probability of Error and Stochastic Resonance in Discrete Memoryless Channels

DTIC Science & Technology

2013-12-01

Information - Driven Doppler Shift Estimation and Compensation Methods for Underwater Wireless Sensor Networks ”, which is to analyze and develop... underwater wireless sensor networks . We formulated an analytic relationship that relates the average probability of error to the systems parameters, the...thesis, we studied the performance of Discrete Memoryless Channels (DMC), arising in the context of cooperative underwater wireless sensor networks

A review of underwater acoustic systems and methods for locating objects lost at sea

NASA Technical Reports Server (NTRS)

Lovelady, R. W.; Ferguson, R. L.

1983-01-01

Information related to the location of objects lost at sea is presented. Acoustic devices attached to an object prior to being transported is recommended as a homing beacon. Minimum requirements and some environmental constraints are defined. Methods and procedures for search and recovery are also discussed. Both an interim system and a more advanced system are outlined. Controlled acoustic emission to enhance security is the theme followed.

Underwater audiogram of the California sea lion by the conditioned vocalization technique1

PubMed Central

Schusterman, Ronald J.; Balliet, Richard F.; Nixon, James

1972-01-01

Conditioning techniques were developed demonstrating that pure tone frequencies under water can exert nearly perfect control over the underwater click vocalizations of the California sea lion (Zalophus californianus). Conditioned vocalizations proved to be a reliable way of obtaining underwater sound detection thresholds in Zalophus at 13 different frequencies, covering a frequency range of 250 to 64,000 Hz. The audiogram generated by these threshold measurements suggests that under water, the range of maximal sensitivity for Zalophus lies between one and 28 kHz with best sensitivity at 16 kHz. Between 28 and 36 kHz there is a loss in sensitivity of 60 dB/octave. However, with relatively intense acoustic signals (> 38 dB re 1 μb underwater), Zalophus will respond to frequencies at least as high as 192 kHz. These results are compared with the underwater hearing of other marine mammals. ImagesFig. 1. PMID:5033891

The Design of an Autonomous Underwater Vehicle for Water Quality Monitoring

NASA Astrophysics Data System (ADS)

Li, Yulong; Liu, Rong; Liu, Shujin

2018-01-01

This paper describes the development of a civilian-used autonomous underwater vehicle (AUV) for water quality monitoring at reservoirs and watercourses that can obtain realtime visual and locational information. The mechanical design was completed with CAD software Solidworks. Four thrusters—two horizontal and two vertical—on board enable the vehicle to surge, heave, yaw, and pitch. A specialized water sample collection compartment is designed to perform water collection at target locations. The vehicle has a central controller—STM32—and a sub-coordinate controller—Arduino MEGA 2560—that coordinates multiple sensors including an inertial sensor, ultrasonic sensors, etc. Global Navigation Satellite System (GNSS) and the inertial sensor enable the vehicle’s localization. Remote operators monitor and control the vehicle via a host computer system. Operators choose either semi-autonomous mode in which they set target locations or manual mode. The experimental results show that the vehicle is able to perform well in either mode.

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

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

Communication and Control for Fleets of Autonomous Underwater Vehicles

DTIC Science & Technology

2006-10-30

Washington State University (WSU) on fuzzy logic control systems [2-4] and autonomous vehicles [5-10]. The ALWSE-MC program developed at NAVSEA CSS was...rotating head sonar on crawlers as an additional sensor for navigation. We have previously investigated the use of video cameras on autonomous vehicles for...simulates autonomous vehicles performing mine reconnaissance/mapping, clearance, and surveillance in a littoral region. Three simulations were preformed

Shock Waves for Possible Application in Regenerative Medicine

NASA Astrophysics Data System (ADS)

Hosseini, S. H. R.; Nejad, S. Moosavi; Akiyama, H.

The paper reports experimental study of underwater shock waves effects in modification and possible control of embryonic stem cell differentiation and proliferation. The study is motivated by its application in regenerativemedicine. Underwater shock waves have been of interest for various scientific, industrial, and medical applications.

ABS-FishCount: An Agent-Based Simulator of Underwater Sensors for Measuring the Amount of Fish

PubMed Central

2017-01-01

Underwater sensors provide one of the possibilities to explore oceans, seas, rivers, fish farms and dams, which all together cover most of our planet’s area. Simulators can be helpful to test and discover some possible strategies before implementing these in real underwater sensors. This speeds up the development of research theories so that these can be implemented later. In this context, the current work presents an agent-based simulator for defining and testing strategies for measuring the amount of fish by means of underwater sensors. The current approach is illustrated with the definition and assessment of two strategies for measuring fish. One of these two corresponds to a simple control mechanism, while the other is an experimental strategy and includes an implicit coordination mechanism. The experimental strategy showed a statistically significant improvement over the control one in the reduction of errors with a large Cohen’s d effect size of 2.55. PMID:29137165

Application of underwater spectrometric system for survey of ponds of the MR reactor (NRC Kurchatov institute)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stepanov, Vyacheslav; Potapov, Victor; Safronov, Alexey

2013-07-01

The underwater spectrometric system for survey the bottom of material science multi-loop reactor MR ponds was elaborated. This system uses CdZnTe (CZT) detectors that allow for spectrometric measurements in high radiation fields. The underwater system was used in the spectrometric survey of the bottom of the MR reactor pool, as well as in the survey located in the MR storage pool of highly radioactive containers and parts of the reactor construction. As a result of these works irradiated nuclear fuel was detected on the bottom of pools, and obtained estimates of the effective surface activity detected radionuclides and created bymore » them the dose rate. (authors)« less

Deformable Self-Propelled Micro-Object Comprising Underwater Oil Droplets

NASA Astrophysics Data System (ADS)

Banno, Taisuke; Asami, Arisa; Ueno, Naoko; Kitahata, Hiroyuki; Koyano, Yuki; Asakura, Kouichi; Toyota, Taro

2016-08-01

The self-propelled motion with deformation of micrometer-sized soft matter in water has potential application not only for underwater carriers or probes in very narrow spaces but also for understanding cell locomotion in terms of non-equilibrium physics. As far as we know, there have been no reports about micrometer-sized self-propelled soft matter mimicking amoeboid motion underwater. Here, we report an artificial molecular system of underwater oil droplets exhibiting self-propelled motion with deformation as an initial experimental model. We describe the heterogeneity in a deformable self-propelled oil droplet system in aqueous and oil phases and at their interface based on the behavior and interaction of surfactant and oil molecules. The current results have great importance for scientific frontiers such as developing deformable micro-swimmers and exploring the emergence of self-locomotion of oil droplet-type protocells.

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

NASA Astrophysics Data System (ADS)

Zhou, Zhi

2017-12-01

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

A study on practical use of underwater abrasive water jet cutting

NASA Astrophysics Data System (ADS)

Yamaguchi, Hitoshi; Demura, Kenji

1993-09-01

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

Deformable Self-Propelled Micro-Object Comprising Underwater Oil Droplets.

PubMed

Banno, Taisuke; Asami, Arisa; Ueno, Naoko; Kitahata, Hiroyuki; Koyano, Yuki; Asakura, Kouichi; Toyota, Taro

2016-08-09

The self-propelled motion with deformation of micrometer-sized soft matter in water has potential application not only for underwater carriers or probes in very narrow spaces but also for understanding cell locomotion in terms of non-equilibrium physics. As far as we know, there have been no reports about micrometer-sized self-propelled soft matter mimicking amoeboid motion underwater. Here, we report an artificial molecular system of underwater oil droplets exhibiting self-propelled motion with deformation as an initial experimental model. We describe the heterogeneity in a deformable self-propelled oil droplet system in aqueous and oil phases and at their interface based on the behavior and interaction of surfactant and oil molecules. The current results have great importance for scientific frontiers such as developing deformable micro-swimmers and exploring the emergence of self-locomotion of oil droplet-type protocells.

Design and Implementation of an Underwater Sound Recording Device

PubMed Central

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

2011-01-01

To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR) allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements. PMID:22164089

Sonar Locator Systems

NASA Technical Reports Server (NTRS)

1985-01-01

An underwater locator device called a Pinger is attached to an airplane's flight recorder for recovery in case of a crash. Burnett Electronics Pinger Model 512 resulted from a Burnett Electronics Laboratory, Inc./Langley Research Center contract for development of a search system for underwater mines. The Pinger's battery-powered transmitter is activated when immersed in water, and sends multidirectional signals for up to 500 hours. When a surface receiver picks up the signal, a diver can retrieve the pinger and the attached airplane flight recorder. Other pingers are used to track whales, mark underwater discoveries and assist oil drilling vessels.

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

NASA Astrophysics Data System (ADS)

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

2016-07-01

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

Trajectory-based visual localization in underwater surveying missions.

PubMed

Burguera, Antoni; Bonin-Font, Francisco; Oliver, Gabriel

2015-01-14

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.

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

PubMed

Zhang, Tao; Chen, Liping; Li, Yao

2015-12-30

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

Underwater olfaction for real-time detection of submerged unexploded ordnance

NASA Astrophysics Data System (ADS)

Harper, Ross J.; Dock, Matthew L.

2007-04-01

The presence of Underwater Unexploded Ordnance (UUXO) represents a considerable threat in the marine environment. Elevated concentrations of dissolved explosive compounds, such as TNT and RDX, may be produced in the vicinity of degraded UUXO shell casings and are known to have significant toxicant effects on local marine organisms. During World War II and in subsequent years, the US military inadvertently or, in some cases intentionally, deposited many thousands of tons of UUXO in US coastal waters. Much of this material is difficult to locate by magnetometry or sonar imaging techniques, and can be extremely challenging to identify by visual means after lying on the bottom of the ocean for several decades. The present work is focused on advances in underwater olfaction, wherein trace amounts of dissolved explosive compounds may be detected and discriminated from other chemical species found in the marine environment, for the purpose of establishing safe cordons and/or neutralization of the explosives. ICx Nomadics has developed the first known real-time sensor system that is capable of detecting chemical signatures emanating from underwater explosives. The SeaPup sensor, which is based on the fluorescence-quenching transduction mechanism of an amplifying fluorescent polymer (AFP), is capable of real-time detection of the trace chemical signatures emanating from submerged explosive compounds. The SeaPup system has been successfully tested on various marine platforms, including a crawler robot, an autonomous underwater vehicle (AUV), and a remotely operated underwater vehicle (ROV). In one study, the SeaPup was shown to effectively map liquid phase "explosive scent plumes" emanating from an underwater source of TNT. The presented paper will provide an overview of the history, current status, and future development of explosive analyte detection in the underwater environment.

Comparison of three underwater antennas for use in radiotelemetry

USGS Publications Warehouse

Beeman, J.W.; Grant, C.; Haner, P.V.

2004-01-01

The radiation patterns of three versions of underwater radiotelemetry antennas were measured to compare the relative reception ranges in the horizontal and vertical planes, which are important considerations when designing detection systems. The received signal strengths of an antenna made by stripping shielding from a section of coaxial cable (stripped coax) and by two versions of a dipole antenna were measured at several orientations relative to a dipole transmit antenna under controlled field conditions. The received signal strengths were greater when the transmit and receive antennas were parallel to each other than when they were perpendicular, indicating that a parallel orientation provides optimal detection range. The horizontal plane radiation pattern of the flexible, stripped coax antenna was similar to that of a rigid dipole antenna, but movement of underwater stripped coax antennas in field applications could affect the orientation of transmit and receive antennas in some applications, resulting in decreased range and variation in received signal strengths. Compared with a standard dipole, a dipole antenna armored by housing within a polyvinyl chloride fitting had a smaller radiation pattern in the horizontal plane but a larger radiation pattern in the vertical plane. Each of these types of underwater antenna can be useful, but detection ranges can be maximized by choosing an appropriate antenna after consideration of the location, relation between transmit and receive antenna orientations, radiation patterns, and overall antenna resiliency.

Impacts of underwater turbulence on acoustical and optical signals and their linkage.

PubMed

Hou, Weilin; Jarosz, Ewa; Woods, Sarah; Goode, Wesley; Weidemann, Alan

2013-02-25

Acoustical and optical signal transmission underwater is of vital interest for both civilian and military applications. The range and signal to noise during the transmission, as a function of system and water optical properties, in terms of absorption and scattering, determines the effectiveness of deployed electro-optical (EO) technology. The impacts from turbulence have been demonstrated to affect system performance comparable to those from particles by recent studies. This paper examines the impacts from underwater turbulence on both acoustic scattering and EO imaging degradation, and establishes a framework that can be used to correlate these. It is hypothesized here that underwater turbulence would influence the acoustic scattering cross section and the optical turbulence intensity coefficient in a similar manner. Data from a recent field campaign, Skaneateles Optical Turbulence Exercise (SOTEX, July, 2010) is used to examine the above relationship. Results presented here show strong correlation between the acoustic scattering cross-sections and the intensity coefficient related to the modulation transfer function of an EO imaging system. This significant finding will pave ways to utilize long range acoustical returns to predict EO system performance.

Underwater detection by using ultrasonic sensor

NASA Astrophysics Data System (ADS)

Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.

2017-09-01

This paper described the low cost implementation of hardware and software in developing the system of ultrasonic which can visualize the feedback of sound in the form of measured distance through mobile phone and monitoring the frequency of detection by using real time graph of Java application. A single waterproof transducer of JSN-SR04T had been used to determine the distance of an object based on operation of the classic pulse echo detection method underwater. In this experiment, the system was tested by placing the housing which consisted of Arduino UNO, Bluetooth module of HC-06, ultrasonic sensor and LEDs at the top of the box and the transducer was immersed in the water. The system which had been tested for detection in vertical form was found to be capable of reporting through the use of colored LEDs as indicator to the relative proximity of object distance underwater form the sensor. As a conclusion, the system can detect the presence of an object underwater within the range of ultrasonic sensor and display the measured distance onto the mobile phone and the real time graph had been successfully generated.

A Recovery System for Unmanned Underwater Vehicles

DTIC Science & Technology

2017-09-28

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

System for fuel rod removal from a reactor module

DOEpatents

Matchett, R.L.; Fodor, G.; Kikta, T.J.; Bacvinsicas, W.S.; Roof, D.R.; Nilsen, R.J.; Wilczynski, R.

1988-07-28

A robotic system for remote underwater withdrawal of the fuel rods from fuel modules of a light water breeder reactor includes a collet/grapple assembly for gripping and removing fuel rods in each module, which is positioned by use of a winch and a radial support means attached to a vertical support tube which is mounted over the fuel module. A programmable logic controller in conjunction with a microcomputer, provides control for the accurate positioning and pulling force of the rod grapple assembly. Closed circuit television cameras are provided which aid in operator interface with the robotic system. 7 figs.

System for fuel rod removal from a reactor module

DOEpatents

Matchett, Richard L.; Roof, David R.; Kikta, Thomas J.; Wilczynski, Rosemarie; Nilsen, Roy J.; Bacvinskas, William S.; Fodor, George

1990-01-01

A robotic system for remote underwater withdrawal of the fuel rods from fuel modules of a light water breeder reactor includes a collet/grapple assembly for gripping and removing fuel rods in each module, which is positioned by use of a winch and a radial support means attached to a vertical support tube which is mounted over the fuel module. A programmable logic controller in conjunction with a microcomputer, provides control for the accurate positioning and pulling force of the rod grapple assembly. Closed circuit television cameras are provided which aid in operator interface with the robotic system.

First year of practical experiences of the new Arctic AWIPEV-COSYNA cabled Underwater Observatory in Kongsfjorden, Spitsbergen

NASA Astrophysics Data System (ADS)

Fischer, Philipp; Schwanitz, Max; Loth, Reiner; Posner, Uwe; Brand, Markus; Schröder, Friedhelm

2017-04-01

A combined year-round assessment of selected oceanographic data and a macrobiotic community assessment was performed from October 2013 to November 2014 in the littoral zone of the Kongsfjorden polar fjord system on the western coast of Svalbard (Norway). State of the art remote controlled cabled underwater observatory technology was used for daily vertical profiles of temperature, salinity, and turbidity together with a stereo-optical assessment of the macrobiotic community, including fish. The results reveal a distinct seasonal cycle in total species abundances, with a significantly higher total abundance and species richness during the polar winter when no light is available underwater compared to the summer months when 24 h light is available. During the winter months, a temporally highly segmented community was observed with respect to species occurrence, with single species dominating the winter community for restricted times. In contrast, the summer community showed an overall lower total abundance as well as a significantly lower number of species. The study clearly demonstrates the high potential of cable connected remote controlled digital sampling devices, especially in remote areas, such as polar fjord systems, with harsh environmental conditions and limited accessibility. A smart combination of such new digital sampling methods with classic sampling procedures can provide a possibility to significantly extend the sampling time and frequency, especially in remote and difficult to access areas. This can help to provide a sufficient data density and therefore statistical power for a sound scientific analysis without increasing the invasive sampling pressure in ecologically sensitive environments.

Neural Network-Based Self-Tuning PID Control for Underwater Vehicles

PubMed Central

Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando

2016-01-01

For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme. PMID:27608018

Neural Network-Based Self-Tuning PID Control for Underwater Vehicles.

PubMed

Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando

2016-09-05

For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.

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

PubMed

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

2015-01-01

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

An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System

PubMed Central

Yao, Yiqing

2017-01-01

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified. PMID:28872602

Development of tools and techniques for monitoring underwater artifacts

NASA Astrophysics Data System (ADS)

Lazar, Iulian; Ghilezan, Alin; Hnatiuc, Mihaela

2016-12-01

The different assessments provide information on the best methods to approach an artifact. The presence and extent of potential threats to archaeology must also be determined. In this paper we present an underwater robot, built in the laboratory, able to identify the artifact and to get it to the surface. It is an underwater remotely operated vehicle (ROV) which can be controlled remotely from the shore, a boat or a control station and communication is possible through an Ethernet cable with a maximum length of 100 m. The robot is equipped with an IP camera which sends real time images that can be accessed anywhere from within the network. The camera also has a microSD card to store the video. The methods developed for data communication between the robot and the user is present. A communication protocol between the client and server is developed to control the ROV.

Deformable Self-Propelled Micro-Object Comprising Underwater Oil Droplets

PubMed Central

Banno, Taisuke; Asami, Arisa; Ueno, Naoko; Kitahata, Hiroyuki; Koyano, Yuki; Asakura, Kouichi; Toyota, Taro

2016-01-01

The self-propelled motion with deformation of micrometer-sized soft matter in water has potential application not only for underwater carriers or probes in very narrow spaces but also for understanding cell locomotion in terms of non-equilibrium physics. As far as we know, there have been no reports about micrometer-sized self-propelled soft matter mimicking amoeboid motion underwater. Here, we report an artificial molecular system of underwater oil droplets exhibiting self-propelled motion with deformation as an initial experimental model. We describe the heterogeneity in a deformable self-propelled oil droplet system in aqueous and oil phases and at their interface based on the behavior and interaction of surfactant and oil molecules. The current results have great importance for scientific frontiers such as developing deformable micro-swimmers and exploring the emergence of self-locomotion of oil droplet-type protocells. PMID:27503336

Precoding based channel prediction for underwater acoustic OFDM

NASA Astrophysics Data System (ADS)

Cheng, En; Lin, Na; Sun, Hai-xin; Yan, Jia-quan; Qi, Jie

2017-04-01

The life duration of underwater cooperative network has been the hot topic in recent years. And the problem of node energy consuming is the key technology to maintain the energy balance among all nodes. To ensure energy efficiency of some special nodes and obtain a longer lifetime of the underwater cooperative network, this paper focuses on adopting precoding strategy to preprocess the signal at the transmitter and simplify the receiver structure. Meanwhile, it takes into account the presence of Doppler shifts and long feedback transmission delay in an underwater acoustic communication system. Precoding technique is applied based on channel prediction to realize energy saving and improve system performance. Different precoding methods are compared. Simulated results and experimental results show that the proposed scheme has a better performance, and it can provide a simple receiver and realize energy saving for some special nodes in a cooperative communication.

Attenuation of low-frequency underwater sound using an array of air-filled balloons and comparison to effective medium theory.

PubMed

Lee, Kevin M; Wilson, Preston S; Wochner, Mark S

2017-12-01

The ultimate goal of this work is to accurately predict the attenuation through a collection of large (on the order of 10-cm-radius) tethered encapsulated bubbles used in underwater noise abatement systems. Measurements of underwater sound attenuation were performed during a set of lake experiments, where a low-frequency compact electromechanical sound source was surrounded by different arrays of encapsulated bubbles with various individual bubbles sizes and void fractions. The measurements were compared with an existing predictive model [Church, J. Acoust. Soc. Am. 97, 1510-1521 (1995)] of the dispersion relation for linear propagation in liquid containing encapsulated bubbles. Although the model was originally intended to describe ultrasound contrast agents, it is evaluated here for large bubbles, and hence low frequencies, as a design tool for future underwater noise abatement systems, and there is good quantitative agreement between the observations and the model.

Multisensor system for the protection of critical infrastructure of a seaport

NASA Astrophysics Data System (ADS)

Kastek, Mariusz; Dulski, Rafał; Zyczkowski, Marek; Szustakowski, Mieczysław; Trzaskawka, Piotr; Ciurapinski, Wiesław; Grelowska, Grazyna; Gloza, Ignacy; Milewski, Stanislaw; Listewnik, Karol

2012-06-01

There are many separated infrastructural objects within a harbor area that may be considered "critical", such as gas and oil terminals or anchored naval vessels. Those objects require special protection, including security systems capable of monitoring both surface and underwater areas, because an intrusion into the protected area may be attempted using small surface vehicles (boats, kayaks, rafts, floating devices with weapons and explosives) as well as underwater ones (manned or unmanned submarines, scuba divers). The paper will present the concept of multisensor security system for a harbor protection, capable of complex monitoring of selected critical objects within the protected area. The proposed system consists of a command centre and several different sensors deployed in key areas, providing effective protection from land and sea, with special attention focused on the monitoring of underwater zone. The initial project of such systems will be presented, its configuration and initial tests of the selected components. The protection of surface area is based on medium-range radar and LLTV and infrared cameras. Underwater zone will be monitored by a sonar and acoustic and magnetic barriers, connected into an integrated monitoring system. Theoretical analyses concerning the detection of fast, small surface objects (such as RIB boats) by a camera system and real test results in various weather conditions will also be presented.

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

PubMed Central

Zhang, Tao; Chen, Liping; Li, Yao

2015-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

Distant touch hydrodynamic imaging with an artificial lateral line.

PubMed

Yang, Yingchen; Chen, Jack; Engel, Jonathan; Pandya, Saunvit; Chen, Nannan; Tucker, Craig; Coombs, Sheryl; Jones, Douglas L; Liu, Chang

2006-12-12

Nearly all underwater vehicles and surface ships today use sonar and vision for imaging and navigation. However, sonar and vision systems face various limitations, e.g., sonar blind zones, dark or murky environments, etc. Evolved over millions of years, fish use the lateral line, a distributed linear array of flow sensing organs, for underwater hydrodynamic imaging and information extraction. We demonstrate here a proof-of-concept artificial lateral line system. It enables a distant touch hydrodynamic imaging capability to critically augment sonar and vision systems. We show that the artificial lateral line can successfully perform dipole source localization and hydrodynamic wake detection. The development of the artificial lateral line is aimed at fundamentally enhancing human ability to detect, navigate, and survive in the underwater environment.

Development and creation of a remote-controlled underwater laser induced breakdown spectrometer for analysis of the chemical composition of sea water and bottom sediments

NASA Astrophysics Data System (ADS)

Golik, Sergey S.; Mayor, Alexsander Yu.; Proschenko, Dmitriy Yu.; Ilyin, Alexey A.; Nagorniy, Ivan G.; Biryukova, Yuliya S.; Babiy, Michael Yu.; Golik, Natalia N.; Gevorgyan, Tigran A.; Lisitsa, Vladimir V.; Borovskiy, Anton V.; Kulchin, Yuri N.

2017-10-01

The developed underwater laser induced breakdown spectrometer consists of two units: 1- remotely operated vehicle (ROV) with the next main characteristics: work deep - up to 150 meters, maximum speed of immersion 1 m/s, maximum cruise velocity - 2 m/s and 2 - spectrometer unit (SU) consist of a DPSS Nd: YAG laser excitation source (double pulse with 50 mJ energy for each pulse at wavelength 1064 nm, pulse width 12 ns and pulse repetition rate 1-15 Hz, DF251, SOL Instruments), a spectrum recording system (Maya HR4000 or 2000 Pro spectrometer, Ocean Optics) and microcomputer. These two units are connected by Ethernet network and registered spectral data are automatically processed in a MATLAB platform.

Induction of settlement in mussel (Perna canaliculus) larvae by vessel noise.

PubMed

Wilkens, S L; Stanley, J A; Jeffs, A G

2012-01-01

Underwater sound plays an important role in the settlement behaviour of many coastal organisms. Large steel-hulled vessels are known to be a major source of underwater sound in the marine environment. The possibility that underwater sound from vessels may promote biofouling of hulls through triggering natural larval settlement cues was investigated for the mussel, Perna canaliculus. The mussel larvae showed significantly faster settlement when exposed to the underwater noise produced by a 125-m long steel-hulled passenger and freight ferry. Median time to attachment on the substrata (ie settlement) was reduced by 22% and the time taken for all experimental larvae to settle was reduced by 40% relative to a silent control. There was no difference in the survival of the mussel larvae among the various noise treatments. The decrease in settlement time of the mussel larvae appeared to correlate with the intensity of the vessel sound, suggesting that underwater sound emanating from vessels may be an important factor in exacerbating hull fouling by mussels.

Omnidirectional Underwater Camera Design and Calibration

PubMed Central

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

2015-01-01

This paper presents the development of an underwater omnidirectional multi-camera system (OMS) based on a commercially available six-camera system, originally designed for land applications. A full calibration method is presented for the estimation of both the intrinsic and extrinsic parameters, which is able to cope with wide-angle lenses and non-overlapping cameras simultaneously. This method is valid for any OMS in both land or water applications. For underwater use, a customized housing is required, which often leads to strong image distortion due to refraction among the different media. This phenomena makes the basic pinhole camera model invalid for underwater cameras, especially when using wide-angle lenses, and requires the explicit modeling of the individual optical rays. To address this problem, a ray tracing approach has been adopted to create a field-of-view (FOV) simulator for underwater cameras. The simulator allows for the testing of different housing geometries and optics for the cameras to ensure a complete hemisphere coverage in underwater operation. This paper describes the design and testing of a compact custom housing for a commercial off-the-shelf OMS camera (Ladybug 3) and presents the first results of its use. A proposed three-stage calibration process allows for the estimation of all of the relevant camera parameters. Experimental results are presented, which illustrate the performance of the calibration method and validate the approach. PMID:25774707

Development of fast wireless detection system for fixed offshore platform

NASA Astrophysics Data System (ADS)

Li, Zhigang; Yu, Yan; Jiao, Dong; Wang, Jie; Li, Zhirui; Ou, Jinping

2011-04-01

Offshore platforms' security is concerned since in 1950s and 1960s, and in the early 1980s some important specifications and standards are built, and all these provide technical basis of fixed platform design, construction, installation and evaluation. With the condition that more and more platforms are in serving over age, the research about the evaluation and detection technology of offshore platform has been a hotspot, especially underwater detection, and assessment method based on the finite element calculation. For fixed platform structure detection, conventional NDT methods, such as eddy current, magnetic powder, permeate, X-ray and ultrasonic, etc, are generally used. These techniques are more mature, intuitive, but underwater detection needs underwater robot, the necessary supporting tools of auxiliary equipment, and trained professional team, thus resources and cost used are considerable, installation time of test equipment is long. This project presents a new kind of fast wireless detection and damage diagnosis system for fixed offshore platform using wireless sensor networks, that is, wireless sensor nodes can be put quickly on the offshore platform, detect offshore platform structure global status by wireless communication, and then make diagnosis. This system is operated simply, suitable for offshore platform integrity states rapid assessment. The designed system consists in intelligence acquisition equipment and 8 wireless collection nodes, the whole system has 64 collection channels, namely every wireless collection node has eight 16-bit accuracy of A/D channels. Wireless collection node, integrated with vibration sensing unit, embedded low-power micro-processing unit, wireless transceiver unit, large-capacity power unit, and GPS time synchronization unit, can finish the functions such as vibration data collection, initial analysis, data storage, data wireless transmission. Intelligence acquisition equipment, integrated with high-performance computation unit, wireless transceiver unit, mobile power unit and embedded data analysis software, can totally control multi-wireless collection nodes, receive and analyze data, parameter identification. Data is transmitted at the 2.4GHz wireless communication channel, every sensing data channel in charge of data transmission is in a stable frequency band, control channel responsible for the control of power parameters is in a public frequency band. The test is initially conducted for the designed system, experimental results show that the system has good application prospects and practical value with fast arrangement, high sampling rate, high resolution, capacity of low frequency detection.

Modeling and experiments on the drive characteristics of high-strength water hydraulic artificial muscles

NASA Astrophysics Data System (ADS)

Zhang, Zengmeng; Hou, Jiaoyi; Ning, Dayong; Gong, Xiaofeng; Gong, Yongjun

2017-05-01

Fluidic artificial muscles are popular in robotics and function as biomimetic actuators. Their pneumatic version has been widely investigated. A novel water hydraulic artificial muscle (WHAM) with high strength is developed in this study. WHAMs can be applied to underwater manipulators widely used in ocean development because of their environment-friendly characteristics, high force-to-weight ratio, and good bio-imitability. Therefore, the strength of WHAMs has been improved to fit the requirements of underwater environments and the work pressure of water hydraulic components. However, understanding the mechanical behaviors of WHAMs is necessary because WHAMs use work media and pressure control that are different from those used by pneumatic artificial muscles. This paper presents the static and dynamic characteristics of the WHAM system, including the water hydraulic pressure control circuit. A test system is designed and built to analyze the drive characteristics of the developed WHAM. The theoretical relationships among the amount of contraction, pressure, and output drawing force of the WHAM are tested and verified. A linearized transfer function is proposed, and the dynamic characteristics of the WHAM are investigated through simulation and inertia load experiments. Simulation results agree with the experimental results and show that the proposed model can be applied to the control of WHAM actuators.

Underwater terrain-aided navigation system based on combination matching algorithm.

PubMed

Li, Peijuan; Sheng, Guoliang; Zhang, Xiaofei; Wu, Jingqiu; Xu, Baochun; Liu, Xing; Zhang, Yao

2018-07-01

Considering that the terrain-aided navigation (TAN) system based on iterated closest contour point (ICCP) algorithm diverges easily when the indicative track of strapdown inertial navigation system (SINS) is large, Kalman filter is adopted in the traditional ICCP algorithm, difference between matching result and SINS output is used as the measurement of Kalman filter, then the cumulative error of the SINS is corrected in time by filter feedback correction, and the indicative track used in ICCP is improved. The mathematic model of the autonomous underwater vehicle (AUV) integrated into the navigation system and the observation model of TAN is built. Proper matching point number is designated by comparing the simulation results of matching time and matching precision. Simulation experiments are carried out according to the ICCP algorithm and the mathematic model. It can be concluded from the simulation experiments that the navigation accuracy and stability are improved with the proposed combinational algorithm in case that proper matching point number is engaged. It will be shown that the integrated navigation system is effective in prohibiting the divergence of the indicative track and can meet the requirements of underwater, long-term and high precision of the navigation system for autonomous underwater vehicles. Copyright © 2017. Published by Elsevier Ltd.

Deep Learning Methods for Quantifying Invasive Benthic Species in the Great Lakes

NASA Astrophysics Data System (ADS)

Billings, G.; Skinner, K.; Johnson-Roberson, M.

2017-12-01

In recent decades, invasive species such as the round goby and dreissenid mussels have greatly impacted the Great Lakes ecosystem. It is critical to monitor these species, model their distribution, and quantify the impacts on the native fisheries and surrounding ecosystem in order to develop an effective management response. However, data collection in underwater environments is challenging and expensive. Furthermore, the round goby is typically found in rocky habitats, which are inaccessible to standard survey techniques such as bottom trawling. In this work we propose a robotic system for visual data collection to automatically detect and quantify invasive round gobies and mussels in the Great Lakes. Robotic platforms equipped with cameras can perform efficient, cost-effective, low-bias benthic surveys. This data collection can be further optimized through automatic detection and annotation of the target species. Deep learning methods have shown success in image recognition tasks. However, these methods often rely on a labelled training dataset, with up to millions of labelled images. Hand labeling large numbers of images is expensive and often impracticable. Furthermore, data collected in the field may be sparse when only considering images that contain the objects of interest. It is easier to collect dense, clean data in controlled lab settings, but this data is not a realistic representation of real field environments. In this work, we propose a deep learning approach to generate a large set of labelled training data realistic of underwater environments in the field. To generate these images, first we draw random sample images of individual fish and mussels from a library of images captured in a controlled lab environment. Next, these randomly drawn samples will be automatically merged into natural background images. Finally, we will use a generative adversarial network (GAN) that incorporates constraints of the physical model of underwater light propagation to simulate the process of underwater image formation in various water conditions. The output of the GAN will be realistic looking annotated underwater images. This generated dataset of images will be used to train a classifier to identify round gobies and mussels in order to measure the biomass and abundance of these invasive species in the Great Lakes.

Influence of range-gated intensifiers on underwater imaging system SNR

NASA Astrophysics Data System (ADS)

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

2013-08-01

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

Student-Built Underwater Video and Data Capturing Device

NASA Astrophysics Data System (ADS)

Whitt, F.

2016-12-01

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

Free-space and underwater GHz data transmission using AlGaInN laser diode technology

NASA Astrophysics Data System (ADS)

Najda, S. P.; Perlin, P.; Suski, T.; Marona, L.; Boćkowski, M.; Leszczyński, M.; Wisniewski, P.; Czernecki, R.; Kucharski, R.; Targowski, G.; Watson, S.; Kelly, A. E.

2016-05-01

Laser diodes fabricated from the AlGaInN material system is an emerging technology for defence and security applications; in particular for free space laser communication. Conventional underwater communication is done acoustically with very slow data rates, short reach, and vulnurable for interception. AlGaInN blue-green laser diode technology allows the possibility of both airbourne links and underwater telecom that operate at very fast data rates (GHz), long reach (100's of metres underwater) and can also be quantum encrypted. The latest developments in AlGaInN laser diode technology are reviewed for defence and security applications. The AlGaInN material system allows for laser diodes to be fabricated over a very wide range of wavelengths from u.v., ~380nm, to the visible ~530nm, by tuning the indium content of the laser GaInN quantum well. Ridge waveguide laser diode structures are fabricated to achieve single mode operation with optical powers of <100mW. Visible light communications at high frequency (up to 2.5 Gbit/s) using a directly modulated 422nm Galliumnitride (GaN) blue laser diode is reported in free-space and underwater.

ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2013-01-01

This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

Underwater hydrophone location survey

NASA Technical Reports Server (NTRS)

Cecil, Jack B.

1993-01-01

The Atlantic Undersea Test and Evaluation Center (AUTEC) is a U.S. Navy test range located on Andros Island, Bahamas, and a Division of the Naval Undersea Warfare Center (NUWC), Newport, RI. The Headquarters of AUTEC is located at a facility in West Palm Beach, FL. AUTEC's primary mission is to provide the U.S. Navy with a deep-water test and evaluation facility for making underwater acoustic measurements, testing and calibrating sonars, and providing accurate underwater, surface, and in-air tracking data on surface ships, submarines, aircraft, and weapon systems. Many of these programs are in support of Antisubmarine Warfare (ASW), undersea research and development programs, and Fleet assessment and operational readiness trials. Most tests conducted at AUTEC require precise underwater tracking (plus or minus 3 yards) of multiple acoustic signals emitted with the correct waveshape and repetition criteria from either a surface craft or underwater vehicle.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.

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 createmore » 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.« less

Underwater Sensor System 2009 Field Trial Report

DTIC Science & Technology

2011-03-01

abrasion by the ice was shown to be useable, but the lower end was found to have been covered by gravel that must be cleared away. Significance: The...be threaded through the pipe in preparation for future operations. iv DRDC Atlantic TM 2010-241 Sommaire Underwater Sensor System 2009...is uncertain if the cause was abrasion or nibbling by sea life. ......................................................................... 9 Figure 7

NEW TECHNOLOGY FOR CONDUCTING RADIATION HAZARD ASSESSMENTS: THE APPLICATION OF THE UNDERWATER RADIATION SPECTRAL IDENTIFICATION SYSTEM (URSIS) AT THE MASSACHUSETTS BAY INDUSTRIAL WASTE (SITE) (U.S.A.)

EPA Science Inventory

The Underwater Radiation Spectral Identification System (URSIS) is a portable spectrometer used for the in situ detection of radioactivity in the marine environment. This paper reports on the first time application of this technology to assess, in a preliminary manner, the potent...

Underwater Adhesives Retrofit Pipelines with Advanced Sensors

NASA Technical Reports Server (NTRS)

2015-01-01

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

A combined stereo-photogrammetry and underwater-video system to study group composition of dolphins

NASA Astrophysics Data System (ADS)

Bräger, S.; Chong, A.; Dawson, S.; Slooten, E.; Würsig, B.

1999-11-01

One reason for the paucity of knowledge of dolphin social structure is the difficulty of measuring individual dolphins. In Hector's dolphins, Cephalorhynchus hectori, total body length is a function of age, and sex can be determined by individual colouration pattern. We developed a novel system combining stereo-photogrammetry and underwater-video to record dolphin group composition. The system consists of two downward-looking single-lens-reflex (SLR) cameras and a Hi8 video camera in an underwater housing mounted on a small boat. Bow-riding Hector's dolphins were photographed and video-taped at close range in coastal waters around the South Island of New Zealand. Three-dimensional, stereoscopic measurements of the distance between the blowhole and the anterior margin of the dorsal fin (BH-DF) were calibrated by a suspended frame with reference points. Growth functions derived from measurements of 53 dead Hector's dolphins (29 female : 24 male) provided the necessary reference data. For the analysis, the measurements were synchronised with corresponding underwater-video of the genital area. A total of 27 successful measurements (8 with corresponding sex) were obtained, showing how this new system promises to be potentially useful for cetacean studies.

NEMO-SMO acoustic array: A deep-sea test of a novel acoustic positioning system for a km3-scale underwater neutrino telescope

NASA Astrophysics Data System (ADS)

Viola, S.; Ardid, M.; Bertin, V.; Enzenhöfer, A.; Keller, P.; Lahmann, R.; Larosa, G.; Llorens, C. D.; NEMO Collaboration; SMO Collaboration

2013-10-01

Within the activities of the NEMO project, the installation of a 8-floors tower (NEMO-Phase II) at a depth of 3500 m is foreseen in 2012. The tower will be installed about 80 km off-shore Capo Passero, in Sicily. On board the NEMO tower, an array of 18 acoustic sensors will be installed, permitting acoustic detection of biological sources, studies for acoustic neutrino detection and primarily acoustic positioning of the underwater structures. For the latter purpose, the sensors register acoustic signals emitted by five acoustic beacons anchored on the sea-floor. The data acquisition system of the acoustic sensors is fully integrated with the detector data transport system and is based on an “all data to shore” philosophy. Signals coming from hydrophones are continuously sampled underwater at 192 kHz/24 bit and transmitted to shore through an electro-optical cable for real-time analysis. A novel technology for underwater GPS time-stamping of data has been implemented and tested. The operation of the acoustic array will permit long-term test of sensors and electronics technologies that are proposed for the acoustic positioning system of KM3NeT.

Results from an Integrated Optical/Acoustic Communication System Installed at CORK 857D: Implications for Future Seafloor Observatories

NASA Astrophysics Data System (ADS)

Tivey, M.; Farr, N.; Ware, J.; Pontbriand, C.

2011-12-01

A CORK (Circulation Obviation Retrofit Kit) borehole represents all of the basic components required for a seafloor observatory: a stable environment for long-term continuous measurements of earth and ocean phenomena, access to a unique environment below the seafloor under controlled conditions (e.g. hydrologically sealed), and a standard interface for communication. Typically, however, due to power constraints and a limited frequency of data download opportunities, data sampling has been limited to rates on the order of several minutes. For full seismic wave sampling, at least 1 Hz or better is required. While some CORK systems are now being connected to an underwater cable to provide continuous power and real-time data (cf. Neptune network in the Northeast Pacific), there will be locations where cabled observatories are not viable. Another mode of communication is required to enable both high data rate communication and access for data download via more conventional vessels and not limited to those with ROV or submersibles. We here report on technology to enable high data rate download and transfer of data and information using underwater optical communications, which can be accomplished from a surface vessel of opportunity or, in the future, by autonomous underwater vehicle. In 2010, we successfully deployed and tested an underwater optical communication system that provides high data rate communications over a range of 100 meters from a deep sea CORK borehole observatory located in the northeast Pacific at IODP Hole 857D. The CORK is instrumented with a thermistor string and pressure sensors that record downhole formation pressures and temperatures within oceanic basement and is pressure sealed from the overlying water column. The seafloor Optical Telemetry System (OTS) was plugged into the CORK's existing underwater matable connector to provide an optical and acoustic communication interface and additional data storage and battery power for the CORK to sample at 1 Hz data-rate, an increase over the normal 15 sec data sample rate. A CTD-mounted OTS lowered by wire from a surface ship established an optical communication link at 100 meters range at rates of 1, 5 and 10 Mbps with no bit errors. This mode of communication demonstrates the effectiveness of using a ship-based system to interrogate the system remotely. The OTS was designed to be installed at the seafloor CORK for a year. In 2011, we will revisit the CORK and OTS using the ROV Jason to test the system, download the data collected during this period and to refurbish the batteries for a further year-long deployment period. We will report on the results of those tests at the meeting. As the need to observe oceanic and earth phenomenon over periods not limited to weather windows or cruise schedules increases, the borehole observatory will provide an important venue for gaining access to such timescales. High data-rate underwater communications will be required to make full use of such observatory infrastructure. The use of free water optical communication methods provides a logical way to accomplish these goals in the future.

Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Woodward, Gail

2011-01-01

As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.

OceanVideoLab: A Tool for Exploring Underwater Video

NASA Astrophysics Data System (ADS)

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

2016-02-01

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

Underwater vehicle propulsion and power generation

NASA Technical Reports Server (NTRS)

Jones, Jack A. (Inventor); Chao, Yi (Inventor)

2008-01-01

An underwater vehicle includes a shaft with a propeller disposed thereon; a generator/motor having a stator and a rotor, the rotor being operable to rotate with the propeller; at least one energy storage device connected to the generator/motor; and a controller for setting the generator/motor in a charge mode, a propulsion mode and an idle mode.

Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals

PubMed Central

Duecker, Daniel-André; Geist, A. René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen

2017-01-01

Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (μAUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μAUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large μAUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system. PMID:28445419

Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals.

PubMed

Duecker, Daniel-André; Geist, A René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen

2017-04-26

Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles ( μ AUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μ AUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large μ AUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system.

Velocity fields and optical turbulence near the boundary in a strongly convective laboratory flow

NASA Astrophysics Data System (ADS)

Matt, Silvia; Hou, Weilin; Goode, Wesley; Hellman, Samuel

2016-05-01

Boundary layers around moving underwater vehicles or other platforms can be a limiting factor for optical communication. Turbulence in the boundary layer of a body moving through a stratified medium can lead to small variations in the index of refraction, which impede optical signals. As a first step towards investigating this boundary layer effect on underwater optics, we study the flow near the boundary in the Rayleigh-Bénard laboratory tank at the Naval Research Laboratory Stennis Space Center. The tank is set up to generate temperature-driven, i.e., convective turbulence, and allows control of the turbulence intensity. This controlled turbulence environment is complemented by computational fluid dynamics simulations to visualize and quantify multi-scale flow patterns. The boundary layer dynamics in the laboratory tank are quantified using a state-of-the-art Particle Image Velocimetry (PIV) system to examine the boundary layer velocities and turbulence parameters. The velocity fields and flow dynamics from the PIV are compared to the numerical model and show the model to accurately reproduce the velocity range and flow dynamics. The temperature variations and thus optical turbulence effects can then be inferred from the model temperature data. Optical turbulence is also visible in the raw data from the PIV system. The newly collected data are consistent with previously reported measurements from high-resolution Acoustic Doppler Velocimeter profilers (Nortek Vectrino), as well as fast thermistor probes and novel next-generation fiber-optics temperature sensors. This multi-level approach to studying optical turbulence near a boundary, combining in-situ measurements, optical techniques, and numerical simulations, can provide new insight and aid in mitigating turbulence impacts on underwater optical signal transmission.

I-AUV Docking and Panel Intervention at Sea

PubMed Central

Palomeras, Narcís; Peñalver, Antonio; Massot-Campos, Miquel; Negre, Pep Lluís; Fernández, José Javier; Ridao, Pere; Sanz, Pedro J.; Oliver-Codina, Gabriel

2016-01-01

The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea. PMID:27754348

I-AUV Docking and Panel Intervention at Sea.

PubMed

Palomeras, Narcís; Peñalver, Antonio; Massot-Campos, Miquel; Negre, Pep Lluís; Fernández, José Javier; Ridao, Pere; Sanz, Pedro J; Oliver-Codina, Gabriel

2016-10-12

The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.

Design and implementation of a biomimetic turtle hydrofoil for an autonomous underwater vehicle.

PubMed

Font, Davinia; Tresanchez, Marcel; Siegentahler, Cedric; Pallejà, Tomàs; Teixidó, Mercè; Pradalier, Cedric; Palacin, Jordi

2011-01-01

This paper presents the design and implementation of a turtle hydrofoil for an Autonomous Underwater Vehicle (AUV). The final design of the AUV must have navigation performance like a turtle, which has also been the biomimetic inspiration for the design of the hydrofoil and propulsion system. The hydrofoil design is based on a National Advisory Committee for Aeronautics (NACA) 0014 hydrodynamic profile. During the design stage, four different propulsion systems were compared in terms of propulsion path, compactness, sealing and required power. The final implementation is based on a ball-and-socket mechanism because it is very compact and provides three degrees of freedom (DoF) to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained with the final implementation of the hydrofoil has been empirically evaluated in a water channel comparing different motion strategies. The results obtained have confirmed that the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be used in the future implementation of the planned AUV.

AUV (Autonomous Underwater Vehicle) Dive Control System Development Including Sensor Bias Compensation and Parameter Estimation

DTIC Science & Technology

1988-12-01

equations, x(k+l) = A*x(k) + B*u(k) + Ko *[y(k)-C*x(k)] in which y(k) is the previous time sensor output signals. In this case, two outputs were...available to the observer, the pitch rate, and the water depth. The observer gains, Ko , may be selected by using the dual of the controller pole placement...becomes, 15 y(k) = [l;l]*ye(k) so that the gains for the two-input system become Ko = [l;l]*ke where Ke are found via pole placement using ye(k). The

Threshold Based Stochastic Resonance for the Binary-Input Ternary-Output Discrete Memoryless Channels

DTIC Science & Technology

2012-05-01

noise (AGN) [1] and [11]. We focus on threshold communication systems due to the underwater environment, noncoherent communication techniques are...the threshold level. In the context of the underwater communications, where noncoherent communication techniques are affected both by noise and

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

NASA Technical Reports Server (NTRS)

1983-01-01

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

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

PubMed

Zhang, Tao; Shi, Hongfei; Chen, Liping; Li, Yao; Tong, Jinwu

2016-03-11

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.

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

PubMed Central

Zhang, Tao; Shi, Hongfei; Chen, Liping; Li, Yao; Tong, Jinwu

2016-01-01

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. PMID:26978361

Magnetic gradiometer for underwater detection applications

NASA Astrophysics Data System (ADS)

Kumar, S.; Skvoretz, D. C.; Moeller, C. R.; Ebbert, M. J.; Perry, A. R.; Ostrom, R. K.; Tzouris, A.; Bennett, S. L.; Czipott, P. V.; Sulzberger, G.; Allen, G. I.; Bono, J.; Clem, T. R.

2006-05-01

We have designed and constructed a magnetic gradiometer for underwater mine detection, location and tracking. The United States Naval Surface Warfare Center (NSWC PC) in Panama City, FL has conducted sea tests of the system using an unmanned underwater vehicle (UUV). The Real-Time Tracking Gradiometer (RTG) measures the magnetic field gradients caused by the presence of a mine in the Earth's magnetic field. These magnetic gradients can then be used to detect and locate a target with the UUV in motion. Such a platform can also be used for other applications, including the detection and tracking of vessels and divers for homeland (e.g., port) security and the detection of underwater pipelines. Data acquired by the RTG in sea tests is presented in this paper.

Study of opto-acoustic communication between air and underwater carrier

NASA Astrophysics Data System (ADS)

Zong, Si-Guang; Liu, Tao; Cao, Jing; He, Qi-Yi

2018-02-01

How to solve the communication problem to the underwater target has turned into one of the subjects that the militarists of all over the world commonly concern. Laser-induced acoustic signal is a new approach for underwater acoustic source, which has much virtue such as high intensity, short pulse and broad frequency. The paper studies the opto-acoustic communication method. The acoustic signal characteristic of laser-induced breakdown is studied and corresponding theory model is systemically analyzed. The opto-acoustic communication experimental measure investigation is formed with the high power laser, water tank and high frequency hydrophone. The characteristic of acoustic signal is analyzed, such as intensity and frequency. This makes a stride for pursing the feasibility of laser-acoustic underwater communication.

Position, Orientation and Velocity Detection of Unmanned Underwater Vehicles (UUVs) Using an Optical Detector Array

PubMed Central

Pe’eri, Shachak; Thein, May-Win; Rzhanov, Yuri; Celikkol, Barbaros; Swift, M. Robinson

2017-01-01

This paper presents a proof-of-concept optical detector array sensor system to be used in Unmanned Underwater Vehicle (UUV) navigation. The performance of the developed optical detector array was evaluated for its capability to estimate the position, orientation and forward velocity of UUVs with respect to a light source fixed in underwater. The evaluations were conducted through Monte Carlo simulations and empirical tests under a variety of motion configurations. Monte Carlo simulations also evaluated the system total propagated uncertainty (TPU) by taking into account variations in the water column turbidity, temperature and hardware noise that may degrade the system performance. Empirical tests were conducted to estimate UUV position and velocity during its navigation to a light beacon. Monte Carlo simulation and empirical results support the use of the detector array system for optics based position feedback for UUV positioning applications. PMID:28758936

A biomimetic underwater vehicle actuated by waves with ionic polymer-metal composite soft sensors.

PubMed

Shen, Qi; Wang, Tianmiao; Kim, Kwang J

2015-09-28

The ionic polymer-metal composite (IPMC) is a soft material based actuator and sensor and has a promising potential in underwater application. This paper describes a hybrid biomimetic underwater vehicle that uses IPMCs as sensors. Propelled by the energy of waves, this underwater vehicle does not need an additional energy source. A physical model based on the hydrodynamics of the vehicle was developed, and simulations were conducted. Using the Poisson-Nernst-Planck system of equations, a physics model for the IPMC sensor was proposed. For this study, experimental apparatus was developed to conduct hydrodynamic experiments for both the underwater vehicle and the IPMC sensors. By comparing the experimental and theoretical results, the speed of the underwater vehicle and the output of the IPMC sensors were well predicted by the theoretical models. A maximum speed of 1.08 × 10(-1) m s(-1) was recorded experimentally at a wave frequency of 1.6 Hz. The peak output voltage of the IPMC sensor was 2.27 × 10(-4) V, recorded at 0.8 Hz. It was found that the speed of the underwater vehicle increased as the wave frequency increased and the IPMC output decreased as the wave frequency increased. Further, the energy harvesting capabilities of the underwater vehicle hosting the IPMCs were tested. A maximum power of 9.50 × 10(-10) W was recorded at 1.6 Hz.

Switching PD-based sliding mode control for hovering of a tilting-thruster underwater robot.

PubMed

Jin, Sangrok; Bak, Jeongae; Kim, Jongwon; Seo, TaeWon; Kim, Hwa Soo

2018-01-01

This paper presents a switching PD-based sliding mode control (PD-SMC) method for the 6-degree-of-freedom (DOF) hovering motion of the underwater robot with tilting thrusters. Four thrusters of robot can be tilted simultaneously in the horizontal and vertical directions, and the 6-DOF motion is achieved by switching between two thruster configurations. Therefore, the tilting speed of thruster becomes the most essential parameter to determine the stability of hovering motion. Even though the previous PD control ensures stable hovering motion within a certain ranges of tilting speed, a PD-SMC is suggested in this paper by combining PD control with sliding mode control in order to achieve acceptable hovering performance even at the much lower tilting speeds. Also, the sign function in the sliding mode control is replaced by a sigmoid function to reduce undesired chattering. Simulations show that while PD control is effective only for tilting duration of 600 ms, the PD-based sliding mode control can guarantee the stable hovering motion of underwater robot even for the tilting duration of up to 1500 ms. Extensive experimental results confirm the hovering performance of the proposed PD-SMC method is much superior to that of PD method for much larger tilting durations.

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

NASA Astrophysics Data System (ADS)

Agoes Moelyadi, Mochammad; Bambang Riswandi, Bagus

2018-04-01

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

Operation of electrothermal and electrostatic MUMPs microactuators underwater

NASA Astrophysics Data System (ADS)

Sameoto, Dan; Hubbard, Ted; Kujath, Marek

2004-10-01

Surface-micromachined actuators made in multi-user MEMS processes (MUMPs) have been operated underwater without modifying the manufacturing process. Such actuators have generally been either electro-thermally or electro-statically actuated and both actuator styles are tested here for suitability underwater. This is believed to be the first time that thermal and electrostatic actuators have been compared for deflection underwater relative to air performance. A high-frequency ac square wave is used to replicate a dc-driven actuator output without the associated problem of electrolysis in water. This method of ac activation, with frequencies far above the mechanical resonance frequencies of the MEMS actuators, has been termed root mean square (RMS) operation. Both thermal and electrostatic actuators have been tested and proved to work using RMS control. Underwater performance has been evaluated by using in-air operation of these actuators as a benchmark. When comparing deflection per volt applied, thermal actuators operate between 5 and 9% of in-air deflection and electrostatic actuators show an improvement in force per volt applied of upwards of 6000%. These results agree with predictions based on the physical properties of the surrounding medium.

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Using underwater video imaging as an assessment tool for coastal condition

EPA Science Inventory

As part of an effort to monitor ecological conditions in nearshore habitats, from 2009-2012 underwater videos were captured at over 400 locations throughout the Laurentian Great Lakes. This study focuses on developing a video rating system and assessing video images. This ratin...

Impact of MAC Delay on AUV Localization: Underwater Localization Based on Hyperbolic Frequency Modulation Signal

PubMed Central

2018-01-01

Medium Access Control (MAC) delay which occurs between the anchor node’s transmissions is one of the error sources in underwater localization. In particular, in AUV localization, the MAC delay significantly degrades the ranging accuracy. The Cramer-Rao Low Bound (CRLB) definition theoretically proves that the MAC delay significantly degrades the localization performance. This paper proposes underwater localization combined with multiple access technology to decouple the localization performance from the MAC delay. Towards this goal, we adopt hyperbolic frequency modulation (HFM) signal that provides multiplexing based on its good property, high-temporal correlation. Owing to the multiplexing ability of the HFM signal, the anchor nodes can transmit packets without MAC delay, i.e., simultaneous transmission is possible. In addition, the simulation results show that the simultaneous transmission is not an optional communication scheme, but essential for the localization of mobile object in underwater. PMID:29373518

Impact of MAC Delay on AUV Localization: Underwater Localization Based on Hyperbolic Frequency Modulation Signal.

PubMed

Kim, Sungryul; Yoo, Younghwan

2018-01-26

Medium Access Control (MAC) delay which occurs between the anchor node's transmissions is one of the error sources in underwater localization. In particular, in AUV localization, the MAC delay significantly degrades the ranging accuracy. The Cramer-Rao Low Bound (CRLB) definition theoretically proves that the MAC delay significantly degrades the localization performance. This paper proposes underwater localization combined with multiple access technology to decouple the localization performance from the MAC delay. Towards this goal, we adopt hyperbolic frequency modulation (HFM) signal that provides multiplexing based on its good property, high-temporal correlation. Owing to the multiplexing ability of the HFM signal, the anchor nodes can transmit packets without MAC delay, i.e., simultaneous transmission is possible. In addition, the simulation results show that the simultaneous transmission is not an optional communication scheme, but essential for the localization of mobile object in underwater.

A VLF-based technique in applications to digital control of nonlinear hybrid multirate systems

NASA Astrophysics Data System (ADS)

Vassilyev, Stanislav; Ulyanov, Sergey; Maksimkin, Nikolay

2017-01-01

In this paper, a technique for rigorous analysis and design of nonlinear multirate digital control systems on the basis of the reduction method and sublinear vector Lyapunov functions is proposed. The control system model under consideration incorporates continuous-time dynamics of the plant and discrete-time dynamics of the controller and takes into account uncertainties of the plant, bounded disturbances, nonlinear characteristics of sensors and actuators. We consider a class of multirate systems where the control update rate is slower than the measurement sampling rates and periodic non-uniform sampling is admitted. The proposed technique does not use the preliminary discretization of the system, and, hence, allows one to eliminate the errors associated with the discretization and improve the accuracy of analysis. The technique is applied to synthesis of digital controller for a flexible spacecraft in the fine stabilization mode and decentralized controller for a formation of autonomous underwater vehicles. Simulation results are provided to validate the good performance of the designed controllers.

The effects of infrared laser therapy and weightbath traction hydrotherapy as components of complex physical treatment in disorders of the lumbar spine: a controlled pilot study with follow-up

NASA Astrophysics Data System (ADS)

Oláh, Csaba; Oláh, Mihály; Demeter, Béla; Jancsó, Zoltán; Páll, Valéria; Bender, Tamás

2010-02-01

Introduction: The therapeutic modalities available for the conservative management of chronic lumbar pain included infrared laser therapy and underwater traction, which usefulness is not universally acknowledged. This study was intended to ascertain any beneficial impact of infrared laser therapy and weightbath treatment on the clinical parameters and quality of life of patients with lumbar discopathy. Material and methods: The study population comprised 54 randomised subjects. I. group of 18 patents received only infrared laser therapy to lumbar region and painful Valley points. II. group of 18 subjects each received underwater traction therapy of lumbar spine with add-on McKenzie exercise and iontophoresis. The remaining III. group treated with exercise and iontophoresis, served as control. VAS, Oswestry index, SF36 scores, range of motion, neurological findings and thermography were monitored to appraise therapeutic afficacy in lumbar discopathy. A CT or MRI scan was done at baseline and after 3 months follow-up. Result:Infrared laser therapy and underwater traction for discopathy achieved significant improvement of all study parameters, which was evident 3 months later. Among the controls, significant improvement of only a single parameter was seen in patients with lumbar discopathy. Conclusions: Infrared laser therapy and underwater traction treatment effectively mitigate pain, muscle spasms, enhance joint flexibility, and improve the quality of life of patients with lumbar discopathy.

Application of GA, PSO, and ACO algorithms to path planning of autonomous underwater vehicles

NASA Astrophysics Data System (ADS)

Aghababa, Mohammad Pourmahmood; Amrollahi, Mohammad Hossein; Borjkhani, Mehdi

2012-09-01

In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a numerical solution of a nonlinear optimal control problem (NOCP). An energy performance index as a cost function, which should be minimized, was defined. The resulting problem was a two-point boundary value problem (TPBVP). A genetic algorithm (GA), particle swarm optimization (PSO), and ant colony optimization (ACO) algorithms were applied to solve the resulting TPBVP. Applying an Euler-Lagrange equation to the NOCP, a conjugate gradient penalty method was also adopted to solve the TPBVP. The problem of energetic environments, involving some energy sources, was discussed. Some near-optimal paths were found using a GA, PSO, and ACO algorithms. Finally, the problem of collision avoidance in an energetic environment was also taken into account.

Aquatic Acoustic Metrics Interface

DOE Office of Scientific and Technical Information (OSTI.GOV)

2012-12-18

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

10-m 9.51-Gb/s RGB laser diodes-based WDM underwater wireless optical communication.

PubMed

Kong, Meiwei; Lv, Weichao; Ali, Tariq; Sarwar, Rohail; Yu, Chuying; Qiu, Yang; Qu, Fengzhong; Xu, Zhiwei; Han, Jun; Xu, Jing

2017-08-21

The availability of the underwater wireless optical communication (UWOC) based on red (R), green (G) and blue (B) lights makes the realization of the RGB wavelength division multiplexing (WDM) UWOC system possible. By properly mixing RGB lights to form white light, the WDM UWOC system has prominent potentiality for simultaneous underwater illumination and high-speed communication. In this work, for the first time, we experimentally demonstrate a 9.51-Gb/s WDM UWOC system using a red-emitting laser diode (LD), a single-mode pigtailed green-emitting LD and a multi-mode pigtailed blue-emitting LD. By employing 32-quadrature amplitude modulation (QAM) orthogonal frequency division multiplexing (OFDM) modulation in the demonstration, the red-light, the green-light and the blue-light LDs successfully transmit signals with the data rates of 4.17 Gb/s, 4.17 Gb/s and 1.17 Gb/s, respectively, over a 10-m underwater channel. The corresponding bit error rates (BERs) are 2.2 × 10 -3 , 2.0 × 10 -3 and 2.3 × 10 -3 , respectively, which are below the forward error correction (FEC) threshold of 3.8 × 10 -3 .

Effects of Underwater Sound Simulating the Intermediate Scale Measurement System on Fish and Zooplankton of Lake Pend Oreille, Idaho

DTIC Science & Technology

1994-05-01

Micrptens salmoides Black crappie Pomozfs nigromaculafts Esocidae Northern pike Esox lucius Saimonidae Kokanee Oncodunchus nerka Rainbow trout Oncorhynchus ...1969. Underwater noise spectra, fish sounds and response to low frequencies of cutthroat trout Oncorhynchus clari with reference to orientation and

Chemical Sensing of Unexploded Ordnance with the Mobile Underwater Survey System (MUDSS)

NASA Technical Reports Server (NTRS)

Chutjian, A.; Darrach, M.

1999-01-01

The ability to sense explosives residues in the marine environment is a critical tool for identification and classification of underwater unexploded ordnance (UXO). Trace explosives signatures of TNT and DNT have been extracted from mulitple sediment samples adjacent to unexploded undersea ordnance at Halifax Harbor, Canada.

Modeling the utility of binaural cues for underwater sound localization.

PubMed

Schneider, Jennifer N; Lloyd, David R; Banks, Patchouly N; Mercado, Eduardo

2014-06-01

The binaural cues used by terrestrial animals for sound localization in azimuth may not always suffice for accurate sound localization underwater. The purpose of this research was to examine the theoretical limits of interaural timing and level differences available underwater using computational and physical models. A paired-hydrophone system was used to record sounds transmitted underwater and recordings were analyzed using neural networks calibrated to reflect the auditory capabilities of terrestrial mammals. Estimates of source direction based on temporal differences were most accurate for frequencies between 0.5 and 1.75 kHz, with greater resolution toward the midline (2°), and lower resolution toward the periphery (9°). Level cues also changed systematically with source azimuth, even at lower frequencies than expected from theoretical calculations, suggesting that binaural mechanical coupling (e.g., through bone conduction) might, in principle, facilitate underwater sound localization. Overall, the relatively limited ability of the model to estimate source position using temporal and level difference cues underwater suggests that animals such as whales may use additional cues to accurately localize conspecifics and predators at long distances. Copyright © 2014 Elsevier B.V. All rights reserved.

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

PubMed Central

Wu, Geng-De; Huang, Chun-Ju

2017-01-01

The Internet of Underwater Things (IoUT) is a novel class of Internet of Things (IoT), and is defined as the network of smart interconnected underwater objects. IoUT is expected to enable various practical applications, such as environmental monitoring, underwater exploration, and disaster prevention. With these applications, IoUT is regarded as one of the potential technologies toward developing smart cities. To support the concept of IoUT, Underwater Wireless Sensor Networks (UWSNs) have emerged as a promising network system. UWSNs are different from the traditional Territorial Wireless Sensor Networks (TWSNs), and have several unique properties, such as long propagation delay, narrow bandwidth, and low reliability. These unique properties would be great challenges for IoUT. In this paper, we provide a comprehensive study of IoUT, and the main contributions of this paper are threefold: (1) we introduce and classify the practical underwater applications that can highlight the importance of IoUT; (2) we point out the differences between UWSNs and traditional TWSNs, and these differences are the main challenges for IoUT; and (3) we investigate and evaluate the channel models, which are the technical core for designing reliable communication protocols on IoUT. PMID:28640220

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

PubMed

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

2017-06-22

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

Aquatic Acoustic Metrics Interface Utility for Underwater Sound Monitoring and Analysis

PubMed Central

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

2012-01-01

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

Efficient system for wavenumber-frequency analysis of underwater structures

NASA Astrophysics Data System (ADS)

Boober, Walter H.; Morton, David; Gedney, Charles; Abbot, Philip

1998-06-01

A watertight housing was developed to a low a scanning laser vibrometer (SLV) system to work underwater. Compared to other underwater optical measurement systems, this system offers distinct advantages, including ease of adaptation to a variety of teste, no requirement to be near tank windows, and a simplified rigging system. The system was recently sued to successfully conduct a wavenumber frequency evaluation of the vibratory response of a submerged cylindrical shell. The technical issues in developing the housing and assuring the integrity of the SLV accuracy during transition to underwater use will be discussed. Also, problems encountered in maximizing return signal strength, preparation of the shell, and the process of on-sight data transfer for quick-look wavenumber-frequency analysis while data are being acquired will be presented. The cylindrical shell was excited with 100 to 5000 Hz chirp signals by a 44 N shaker that was attached axially at the center of a bulkhead. A scan consisted of 3 columns with 64 measurement points per column. The shell was rotated 11.25 degrees and the scan repeated to collect an array of 32 by 64 equally spaced points totalling 6144 measurements. The time of data acquisition was about 11 hours. This underwater housing permitted the type of measurements that are not readily available with other systems. With most other techniques the collection time would have been significantly longer. The transfer functions between the velocities measured at each scan location and the shaker force signal were computed as functions of frequency. The transfer functions computed for the center scan columns were then transformed into the wavevector domain using a 2D FFT program. Preliminary results show that the shell response is concentrated near zero circumferential wavenumber, due to the axial symmetry of the driving force. Further, the maximum shell response is also concentrated near the ring frequency of the cylinder, at an axial wavenumber of about -20 rad/m.

A Software Architecture for a Small Autonomous Underwater Vehicle Navigation System

DTIC Science & Technology

1993-06-01

angle consistent with system accuracy objectives for the interim SANS system must be quantified. 12 DEPTH CHAC oCLIMB ANGLE HORIZONTAL DISTANCE Figure...Figure 4.1 illustrates the hardware interface. COMPUTER (ESP-8o80) D IG IT A L B I N A R GYRO SIGNAL BINARY BINARY HEADING DATA "\\DATA DEPTH /RS-232...Mode 3 of the 82C54 provides a square wave through any of the 3 counters in the 82C54. An initial count N is written to the counter control register

A Cost Effective Block Framing Scheme for Underwater Communication

PubMed Central

Shin, Soo-Young; Park, Soo-Hyun

2011-01-01

In this paper, the Selective Multiple Acknowledgement (SMA) method, based on Multiple Acknowledgement (MA), is proposed to efficiently reduce the amount of data transmission by redesigning the transmission frame structure and taking into consideration underwater transmission characteristics. The method is suited to integrated underwater system models, as the proposed method can handle the same amount of data in a much more compact frame structure without any appreciable loss of reliability. Herein, the performance of the proposed SMA method was analyzed and compared to those of the conventional Automatic Repeat-reQuest (ARQ), Block Acknowledgement (BA), block response, and MA methods. The efficiency of the underwater sensor network, which forms a large cluster and mostly contains uplink data, is expected to be improved by the proposed method. PMID:22247689

Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

PubMed

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

2014-10-01

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

The Underwater Spectrometric System Based on CZT Detector for Survey of the Bottom of MR Reactor Pool - 13461

DOE Office of Scientific and Technical Information (OSTI.GOV)

Potapov, Victor; Safronov, Alexey; Ivanov, Oleg

2013-07-01

The underwater spectrometer system for detection of irradiated nuclear fuel on the pool bottom of the reactor was elaborated. During the development process metrological studies of CdZnTe (CZT) detectors were conducted. These detectors are designed for spectrometric measurements in high radiation fields. A mathematical model based on the Monte Carlo method was created to evaluate the capability of such a system. A few experimental models were realized and the characteristics of the spectrometric system are represented. (authors)

Controlled trial of balneotherapy in treatment of low back pain.

PubMed Central

Konrad, K; Tatrai, T; Hunka, A; Vereckei, E; Korondi, I

1992-01-01

Three treatments for non-specific lumbar pain--balneotherapy, underwater traction bath, and underwater massage--were assessed in a randomised prospective controlled trial in 158 outpatients. Each group was treated for four weeks and patients were reviewed at the end of this period and at 12 months after entry to the trial. The prescription of analgesics and the pain score were significantly reduced in all three treated groups, but there was no difference between the three groups. No significant change occurred in spinal motion and the straight leg raising test. After one year only the analgesic consumption was significantly lower than in the control group. PMID:1535495

Telepresence in the human exploration of Mars: Field studies in analog environments

NASA Technical Reports Server (NTRS)

Stoker, Carol R.

1993-01-01

This paper describes the role of telepresence in performing exploration of Mars. As part of an effort to develop telepresence to support Mars exploration, NASA is developing telepresence technology and using it to perform exploration in space analog environments. This paper describes experiments to demonstrate telepresence control of an underwater remotely operated vehicle (TROV) to perform scientific field work in isolated and hostile environments. Toward this end, we have developed a telepresence control system and interfaced it to an underwater remotely operated vehicle. This vehicle was used during 1992 to study aquatic ecosystems in Antarctica including a study of the physical and biological environment of permanently ice-covered lake. We also performed a preliminary analysis of the potential for using the TROV to study the benthic ecology under the sea ice in McMurdo sound. These expeditions are opening up new areas of research by using telepresence control of remote vehicles to explore isolated and extreme environments on Earth while also providing an impetus to develop technology which will play a major role in the human exploration of Mars. Antarctic field operations, in particular, provide an excellent analog experience for telepresence operation in space.

Underwater Communications for Video Surveillance Systems at 2.4 GHz

PubMed Central

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

2016-01-01

Video surveillance is needed to control many activities performed in underwater environments. The use of wired media can be a problem since the material specially designed for underwater environments is very expensive. In order to transmit the images and videos wirelessly under water, three main technologies can be used: acoustic waves, which do not provide high bandwidth, optical signals, although the effect of light dispersion in water severely penalizes the transmitted signals and therefore, despite offering high transfer rates, the maximum distance is very small, and electromagnetic (EM) waves, which can provide enough bandwidth for video delivery. In the cases where the distance between transmitter and receiver is short, the use of EM waves would be an interesting option since they provide high enough data transfer rates to transmit videos with high resolution. This paper presents a practical study of the behavior of EM waves at 2.4 GHz in freshwater underwater environments. First, we discuss the minimum requirements of a network to allow video delivery. From these results, we measure the maximum distance between nodes and the round trip time (RTT) value depending on several parameters such as data transfer rate, signal modulations, working frequency, and water temperature. The results are statistically analyzed to determine their relation. Finally, the EM waves’ behavior is modeled by a set of equations. The results show that there are some combinations of working frequency, modulation, transfer rate and temperature that offer better results than others. Our work shows that short communication distances with high data transfer rates is feasible. PMID:27782095

Underwater Communications for Video Surveillance Systems at 2.4 GHz.

PubMed

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

2016-10-23

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

A novel soft biomimetic microrobot with two motion attitudes.

PubMed

Shi, Liwei; Guo, Shuxiang; Li, Maoxun; Mao, Shilian; Xiao, Nan; Gao, Baofeng; Song, Zhibin; Asaka, Kinji

2012-12-06

 A variety of microrobots have commonly been used in the fields of biomedical engineering and underwater operations during the last few years. Thanks to their compact structure, low driving power, and simple control systems, microrobots can complete a variety of underwater tasks, even in limited spaces. To accomplish our objectives, we previously designed several bio-inspired underwater microrobots with compact structure, flexibility, and multi-functionality, using ionic polymer metal composite (IPMC) actuators. To implement high-position precision for IPMC legs, in the present research, we proposed an electromechanical model of an IPMC actuator and analysed the deformation and actuating force of an equivalent IPMC cantilever beam, which could be used to design biomimetic legs, fingers, or fins for an underwater microrobot. We then evaluated the tip displacement of an IPMC actuator experimentally. The experimental deflections fit the theoretical values very well when the driving frequency was larger than 1 Hz. To realise the necessary multi-functionality for adapting to complex underwater environments, we introduced a walking biomimetic microrobot with two kinds of motion attitudes: a lying state and a standing state. The microrobot uses eleven IPMC actuators to move and two shape memory alloy (SMA) actuators to change its motion attitude. In the lying state, the microrobot implements stick-insect-inspired walking/rotating motion, fish-like swimming motion, horizontal grasping motion, and floating motion. In the standing state, it implements inchworm-inspired crawling motion in two horizontal directions and grasping motion in the vertical direction. We constructed a prototype of this biomimetic microrobot and evaluated its walking, rotating, and floating speeds experimentally. The experimental results indicated that the robot could attain a maximum walking speed of 3.6 mm/s, a maximum rotational speed of 9°/s, and a maximum floating speed of 7.14 mm/s. Obstacle-avoidance and swimming experiments were also carried out to demonstrate its multi-functionality.

Photogrammetry in maritime and underwater archaeology: two marble wrecks from Sicily

NASA Astrophysics Data System (ADS)

Balletti, C.; Beltrame, C.; Costa, E.; Guerra, F.; Vernier, P.

2015-06-01

Underwater survey, compared to land archaeology, needs some specific techniques, because the application of some active 3D sensor, such as laser scanner, is obviously impossible. The necessity to produce three-dimensional survey, offering the same accuracy of classical terrestrial laserscanning or photogrammetric methods, combined with the request of low costs and rapid solutions, led the researchers to test and apply oftentimes image-based techniques. In the last two years the Ca' Foscari University and University IUAV of Venice are conducting a research on the application of integrated techniques to support underwater metric documentation, comparing them to the manual traditional one. The gained experience (and confirmed by other recently published papers) shows that the actual multiimage digital photogrammetry is a good solution for the underwater archaeology. This approach is useful both from a metric and from a recording point of view, because it achieves high quality results, such as accurate 3D models or 2D representations, offering a complete documentation of underwater sites. But photogrammetry has to be supported by a topographical survey (to acquire ground control points - GCP) to georeference all the finds in the same reference system. This paper presents the integrated survey of two roman shipwrecks, approaching differently in the GCP's acquisition just for the different morphological characteristic of the sites. The wrecks' cargos are huge marble blocks, presenting differences in quantities, layout and depths. Those characteristics determine the choice of the topographic survey. The results of the survey are two 3D polygonal textured models of the sites, which can be easily used for different analyses and reconstructive hypothesis, opening new possibilities of documentation with both specialists and the wider public. Furthermore, 3D models are the geometric base for 2D orthophoto and cross section extraction. The paper will illustrate all the phases regarding the survey's design, acquisition and realization and the data processing to obtain 2D and 3D final representation.

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

PubMed

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

2016-09-14

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

An underwater ranging system based on photoacoustic effect occurring on target surface

NASA Astrophysics Data System (ADS)

Ni, Kai; Hu, Kai; Li, Xinghui; Wang, Lidai; Zhou, Qian; Wang, Xiaohao

2016-11-01

In this paper, an underwater ranging system based on photoacoustic effect occurring on target surface is proposed. In this proposal, laser pulse generated by blue-green laser is directly incident on target surface, where the photoacoustic effect occurs and a sound source is formed. And then the sound wave which is also called photoacoustic signal is received by the ultrasonic receiver after passing through water. According to the time delay between transmitting laser and receiving photoacoustic signal, and sound velocity in water, the distance between the target and the ultrasonic receiver can be calculated. Differing from underwater range finding by only laser, this approach can avoid backscattering of laser beam, so easier to implement. Experimental system according to this principle has been constructed to verify the feasibility of this technology. The experimental results showed that a ranging accuracy of 1 mm can be effectively achieved when the target is close to the ultrasonic receiver.

A digital underwater video camera system for aquatic research in regulated rivers

USGS Publications Warehouse

Martin, Benjamin M.; Irwin, Elise R.

2010-01-01

We designed a digital underwater video camera system to monitor nesting centrarchid behavior in the Tallapoosa River, Alabama, 20 km below a peaking hydropower dam with a highly variable flow regime. Major components of the system included a digital video recorder, multiple underwater cameras, and specially fabricated substrate stakes. The innovative design of the substrate stakes allowed us to effectively observe nesting redbreast sunfish Lepomis auritus in a highly regulated river. Substrate stakes, which were constructed for the specific substratum complex (i.e., sand, gravel, and cobble) identified at our study site, were able to withstand a discharge level of approximately 300 m3/s and allowed us to simultaneously record 10 active nests before and during water releases from the dam. We believe our technique will be valuable for other researchers that work in regulated rivers to quantify behavior of aquatic fauna in response to a discharge disturbance.

Design and Experimental Validation of a USBL Underwater Acoustic Positioning System

PubMed Central

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

2016-01-01

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

46 CFR 71.50-27 - Alternative Hull Examination (AHE) program options: Divers or underwater remotely operated...

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 3 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) program options...-27 Alternative Hull Examination (AHE) program options: Divers or underwater remotely operated vehicle... operations; (2) Provide permanent hull markings, a temporary grid system of wires or cables spaced not more...

Minimizing noise in fiberglass aquaculture tanks: Noise reduction potential of various retrofits

USDA-ARS?s Scientific Manuscript database

Equipment used in intensive aquaculture systems, such as pumps and blowers can produce underwater sound levels and frequencies within the range of fish hearing. The impacts of underwater noise on fish are not well known, but limited research suggests that subjecting fish to noise could result in imp...

The deep-sea hub of the ANTARES neutrino telescope

NASA Astrophysics Data System (ADS)

Anghinolfi, M.; Calzas, A.; Dinkespiler, B.; Cuneo, S.; Favard, S.; Hallewell, G.; Jaquet, M.; Musumeci, M.; Papaleo, R.; Raia, G.; Valdy, P.; Vernin, P.

2006-11-01

The ANTARES neutrino telescope, currently under construction at 2500 m depth off the French Mediterranean coast, will contain 12 detection lines, powered and read out through a deep-sea junction box (JB) hub. Electrical energy from the shore station is distributed through a transformer with multiple secondary windings and a plugboard with 16 deep sea-mateable electro-optic connectors. Connections are made to the JB outputs using manned or remotely operated submersible vehicles. The triply redundant power management and slow control system is based on two identical AC-powered systems, communicating with the shore through 160 Mb/s fibre G-links and a third battery-powered system using a slower link. We describe the power and slow control systems of the underwater hub.

Integrated Seawater Sampler and Data Acquisition System Prototype

DTIC Science & Technology

1993-04-01

circuitry. The sample bags, initially sealed in a chemically clean environment , were opened by pumping the water out of the tray, thus forcing water into...the water sample containers from materials having low metals content. Control of the sample transfer environment through the use of Class-100 clean... environment . CTD designers also intended their underwater units and deck terminals to be connected directly together providing AC grounding appropriate to

Utilization of volume correlation filters for underwater mine identification in LIDAR imagery

NASA Astrophysics Data System (ADS)

Walls, Bradley

2008-04-01

Underwater mine identification persists as a critical technology pursued aggressively by the Navy for fleet protection. As such, new and improved techniques must continue to be developed in order to provide measurable increases in mine identification performance and noticeable reductions in false alarm rates. In this paper we show how recent advances in the Volume Correlation Filter (VCF) developed for ground based LIDAR systems can be adapted to identify targets in underwater LIDAR imagery. Current automated target recognition (ATR) algorithms for underwater mine identification employ spatial based three-dimensional (3D) shape fitting of models to LIDAR data to identify common mine shapes consisting of the box, cylinder, hemisphere, truncated cone, wedge, and annulus. VCFs provide a promising alternative to these spatial techniques by correlating 3D models against the 3D rendered LIDAR data.

Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace.

PubMed

Zhu, Daqi; Huang, Huan; Yang, S X

2013-04-01

For a 3-D underwater workspace with a variable ocean current, an integrated multiple autonomous underwater vehicle (AUV) dynamic task assignment and path planning algorithm is proposed by combing the improved self-organizing map (SOM) neural network and a novel velocity synthesis approach. The goal is to control a team of AUVs to reach all appointed target locations for only one time on the premise of workload balance and energy sufficiency while guaranteeing the least total and individual consumption in the presence of the variable ocean current. First, the SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in 3-D ocean environment. The working process involves special definition of the initial neural weights of the SOM network, the rule to select the winner, the computation of the neighborhood function, and the method to update weights. Then, the velocity synthesis approach is applied to plan the shortest path for each AUV to visit the corresponding target in a dynamic environment subject to the ocean current being variable and targets being movable. Lastly, to demonstrate the effectiveness of the proposed approach, simulation results are given in this paper.

15. NBS TOP SIDE CONTROL ROOM. THE SUIT SYSTEMS CONSOLE ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

15. NBS TOP SIDE CONTROL ROOM. THE SUIT SYSTEMS CONSOLE IS USED TO CONTROL AIR FLOW AND WATER FLOW TO THE UNDERWATER SPACE SUIT DURING THE TEST. THE SUIT SYSTEMS ENGINEER MONITORS AIR FLOW ON THE PANEL TO THE LEFT, AND SUIT DATA ON THE COMPUTER MONITOR JUST SLIGHTLY TO HIS LEFT. WATER FLOW IS MONITORED ON THE PANEL JUST SLIGHTLY TO HIS RIGHT AND TEST VIDEO TO HIS FAR RIGHT. THE DECK CHIEF MONITORS THE DIVER'S DIVE TIMES ON THE COMPUTER IN THE UPPER RIGHT. THE DECK CHIEF LOGS THEM IN AS THEY ENTER THE WATER, AND LOGS THEM OUT AS THEY EXIT THE WATER. THE COMPUTER CALCULATES TOTAL DIVE TIME. - Marshall Space Flight Center, Neutral Buoyancy Simulator Facility, Rideout Road, Huntsville, Madison County, AL

An Investigation into Ground Effect for an Underwater Biologically Inspired Flapping Foil

DTIC Science & Technology

2014-01-01

strength that it could be used as a parameter on a future underwater vehicle to control altitude above the ground. The benefit to flapping in...16 Figure 10. Clamped vs . pinned pitch shaft support bearings ........................................ 17 Figure 11. Comparison between old (large... altitude near the bottom surface (Licht & Dahl, 2013). This work is a humble beginning to investigating the benefits and challenges that may be

Simulation of the communication system between an AUV group and a surface station

NASA Astrophysics Data System (ADS)

Burtovaya, D.; Demin, A.; Demeshko, M.; Moiseev, A.; Kudryashova, A.

2017-01-01

An object model for simulation of the communications system of an autonomous underwater vehicles (AUV) group with a surface station is proposed in the paper. Implementation of the model is made on the basis of the software package “Object Distribution Simulation”. All structural relationships and behavior details are described. The application was developed on the basis of the proposed model and is now used for computational experiments on the simulation of the communications system between the autonomous underwater vehicles group and a surface station.

Lessons learned from the NEPTUNE power system, and other deep-sea adventures

NASA Astrophysics Data System (ADS)

Kirkham, Harold

2006-11-01

The development of underwater science systems presents some challenging technical issues. It seems that the best efforts of the engineers and scientists involved are sometimes inadequate, and projects that once seemed straightforward end up being late or over-budget, or cancelled. This paper will review some of the lessons that may be learned from the examples of three science projects in the deep ocean: the Deep Underwater Muon and Neutrino Detector neutrino detector, the H2O observatory, and the power system part of the NEPTUNE regional cabled observatory.

Distributed Underwater Sensing: A Paradigm Change for the Future

NASA Astrophysics Data System (ADS)

Yang, T. C.

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

Physical gills prevent drowning of many wetland insects, spiders and plants.

PubMed

Pedersen, Ole; Colmer, Timothy D

2012-03-01

Insects, spiders and plants risk drowning in their wetland habitats. The slow diffusion of O(2) can cause asphyxiation when underwater, as O(2) supply cannot meet respiratory demands. Some animals and plants have found a common solution to the major challenge: how to breathe underwater with respiratory systems evolved for use in air? Hydrophobic surfaces on their bodies possess gas films that act as a 'physical gill' to collect O(2) when underwater and thus sustain respiration. In aquatic insects, this feature/process has been termed 'plastron respiration'. Here, we demonstrate the similarities in function between underwater respiration of insect (Aphelocheirus aestivalis) plastrons and gas films on leaves of wetland plants (Phalaris arundinacea) and also show the importance of these physical gills by the resulting changes upon their removal. The gas films provide an enlarged gas-water interface to enhance O(2) uptake underwater that is above that if only spiracles (insects) or stomata (plants) provided the gas-phase contact with the water. Body-surface gas films contribute to the survival of many insects, spiders and plants in aquatic and flood-prone environments.

Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis.

PubMed

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

2016-01-01

Action sport cameras (ASC) are currently adopted mainly for entertainment purposes but their uninterrupted technical improvements, in correspondence of cost decreases, are going to disclose them for three-dimensional (3D) motion analysis in sport gesture study and athletic performance evaluation quantitatively. Extending this technology to sport analysis however still requires a methodologic step-forward to making ASC a metric system, encompassing ad-hoc camera setup, image processing, feature tracking, calibration and 3D reconstruction. Despite traditional laboratory analysis, such requirements become an issue when coping with both indoor and outdoor motion acquisitions of athletes. In swimming analysis for example, the camera setup and the calibration protocol are particularly demanding since land and underwater cameras are mandatory. In particular, the underwater camera calibration can be an issue affecting the reconstruction accuracy. In this paper, the aim is to evaluate the feasibility of ASC for 3D underwater analysis by focusing on camera setup and data acquisition protocols. Two GoPro Hero3+ Black (frequency: 60Hz; image resolutions: 1280×720/1920×1080 pixels) were located underwater into a swimming pool, surveying a working volume of about 6m3. A two-step custom calibration procedure, consisting in the acquisition of one static triad and one moving wand, carrying nine and one spherical passive markers, respectively, was implemented. After assessing camera parameters, a rigid bar, carrying two markers at known distance, was acquired in several positions within the working volume. The average error upon the reconstructed inter-marker distances was less than 2.5mm (1280×720) and 1.5mm (1920×1080). The results of this study demonstrate that the calibration of underwater ASC is feasible enabling quantitative kinematic measurements with accuracy comparable to traditional motion capture systems.

Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis

PubMed Central

Cerveri, Pietro; Barros, Ricardo M. L.; Marins, João C. B.; Silvatti, Amanda P.

2016-01-01

Action sport cameras (ASC) are currently adopted mainly for entertainment purposes but their uninterrupted technical improvements, in correspondence of cost decreases, are going to disclose them for three-dimensional (3D) motion analysis in sport gesture study and athletic performance evaluation quantitatively. Extending this technology to sport analysis however still requires a methodologic step-forward to making ASC a metric system, encompassing ad-hoc camera setup, image processing, feature tracking, calibration and 3D reconstruction. Despite traditional laboratory analysis, such requirements become an issue when coping with both indoor and outdoor motion acquisitions of athletes. In swimming analysis for example, the camera setup and the calibration protocol are particularly demanding since land and underwater cameras are mandatory. In particular, the underwater camera calibration can be an issue affecting the reconstruction accuracy. In this paper, the aim is to evaluate the feasibility of ASC for 3D underwater analysis by focusing on camera setup and data acquisition protocols. Two GoPro Hero3+ Black (frequency: 60Hz; image resolutions: 1280×720/1920×1080 pixels) were located underwater into a swimming pool, surveying a working volume of about 6m3. A two-step custom calibration procedure, consisting in the acquisition of one static triad and one moving wand, carrying nine and one spherical passive markers, respectively, was implemented. After assessing camera parameters, a rigid bar, carrying two markers at known distance, was acquired in several positions within the working volume. The average error upon the reconstructed inter-marker distances was less than 2.5mm (1280×720) and 1.5mm (1920×1080). The results of this study demonstrate that the calibration of underwater ASC is feasible enabling quantitative kinematic measurements with accuracy comparable to traditional motion capture systems. PMID:27513846

Design and Implementation of a Biomimetic Turtle Hydrofoil for an Autonomous Underwater Vehicle

PubMed Central

Font, Davinia; Tresanchez, Marcel; Siegentahler, Cedric; Pallejà, Tomàs; Teixidó, Mercè; Pradalier, Cedric; Palacin, Jordi

2011-01-01

This paper presents the design and implementation of a turtle hydrofoil for an Autonomous Underwater Vehicle (AUV). The final design of the AUV must have navigation performance like a turtle, which has also been the biomimetic inspiration for the design of the hydrofoil and propulsion system. The hydrofoil design is based on a National Advisory Committee for Aeronautics (NACA) 0014 hydrodynamic profile. During the design stage, four different propulsion systems were compared in terms of propulsion path, compactness, sealing and required power. The final implementation is based on a ball-and-socket mechanism because it is very compact and provides three degrees of freedom (DoF) to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained with the final implementation of the hydrofoil has been empirically evaluated in a water channel comparing different motion strategies. The results obtained have confirmed that the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be used in the future implementation of the planned AUV. PMID:22247660

A swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamics.

PubMed

Jaffe, Jules S; Franks, Peter J S; Roberts, Paul L D; Mirza, Diba; Schurgers, Curt; Kastner, Ryan; Boch, Adrien

2017-01-24

Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (<1-10 km) requires new technologies and approaches. Here we introduce the Mini-Autonomous Underwater Explorer (M-AUE), deployed as a swarm of 16 independent vehicles whose 3D trajectories are measured near-continuously, underwater. As the vehicles drift with the ambient flow or execute preprogrammed vertical behaviours, the simultaneous measurements at multiple, known locations resolve the details of the flow within the swarm. We describe the design, construction, control and underwater navigation of the M-AUE. A field programme in the coastal ocean using a swarm of these robots programmed with a depth-holding behaviour provides a unique test of a physical-biological interaction leading to plankton patch formation in internal waves. The performance of the M-AUE vehicles illustrates their novel capability for measuring submesoscale dynamics.

A swarm of autonomous miniature underwater robot drifters for exploring submesoscale ocean dynamics

NASA Astrophysics Data System (ADS)

Jaffe, Jules S.; Franks, Peter J. S.; Roberts, Paul L. D.; Mirza, Diba; Schurgers, Curt; Kastner, Ryan; Boch, Adrien

2017-01-01

Measuring the ever-changing 3-dimensional (3D) motions of the ocean requires simultaneous sampling at multiple locations. In particular, sampling the complex, nonlinear dynamics associated with submesoscales (<1-10 km) requires new technologies and approaches. Here we introduce the Mini-Autonomous Underwater Explorer (M-AUE), deployed as a swarm of 16 independent vehicles whose 3D trajectories are measured near-continuously, underwater. As the vehicles drift with the ambient flow or execute preprogrammed vertical behaviours, the simultaneous measurements at multiple, known locations resolve the details of the flow within the swarm. We describe the design, construction, control and underwater navigation of the M-AUE. A field programme in the coastal ocean using a swarm of these robots programmed with a depth-holding behaviour provides a unique test of a physical-biological interaction leading to plankton patch formation in internal waves. The performance of the M-AUE vehicles illustrates their novel capability for measuring submesoscale dynamics.

Breathing Like a Fish

ERIC Educational Resources Information Center

Katsioloudis, Petros J.

2010-01-01

Being able to dive and breathe underwater has been a challenge for thousands of years. In 1980, Fuji Systems of Tokyo developed a series of prototype gills for divers as a way of demonstrating just how good its membranes are. Even though gill technology has not yet reached the point where recipients can efficiently use implants to dive underwater,…

Using Side-scan Sonar to Characterize and Map Physical Habitat and Anthropogenic Underwater Features in the St. Louis River. (poster)

EPA Science Inventory

Characterizing underwater habitat and other features is difficult and costly, especially in large river systems. The St. Louis River is the largest US tributary to Lake Superior and the lower portion consists of a 48.5 km2 complex of wetlands, tributaries, and bays. We surveyed 8...

Using side-scan sonar to characterize and map physical habitat and anthropogenic underwater features in the St. Louis River

EPA Science Inventory

Characterizing underwater habitat and other features is difficult and costly, especially in large river systems. The St. Louis River is the largest US tributary to Lake Superior and the lower portion consists of a 48.5 km2 complex of wetlands, tributaries, and bays. We surveyed 8...

New York City Police Department automated fuel monitoring system. Volume II: documentation report

DOE Office of Scientific and Technical Information (OSTI.GOV)

McGrath, W.J.; McNamara, M.M.

1981-11-01

The New York City Police Department's (NYCPD) automated fuel monitoring system was designed and implemented for NYCPD as a major aspect of the Naval Underwater System Center's technology transfer program. The system, which is the largest of its kind installed to date, provides complete control of fuel usage for an agency with 4,000 motor vehicles and 25,000 vehicle operators, and can be scaled up or down to meet the needs of other governmental units. Estimated annual cost savings to NYCPD are $2,000,000. Other benefits of the new system are: (1) central control of fuel ordering and dispensing which ensures fewermore » sites out of fuel and for shorter periods; (2) less out-of-precinct travel because personnel do not have to go from site to site looking for gas; and (3) control of the total fuel operation, both for management and accounting purposes.« less

Underwater lidar system: design challenges and application in pollution detection

NASA Astrophysics Data System (ADS)

Gupta, Pradip; Sankolli, Swati; Chakraborty, A.

2016-05-01

The present remote sensing techniques have imposed limitations in the applications of LIDAR Technology. The fundamental sampling inadequacy of the remote sensing data obtained from satellites is that they cannot resolve in the third spatial dimension, the vertical. This limits our possibilities of measuring any vertical variability in the water column. Also the interaction between the physical and biological process in the oceans and their effects at subsequent depths cannot be modeled with present techniques. The idea behind this paper is to introduce underwater LIDAR measurement system by using a LIDAR mounted on an Autonomous Underwater Vehicle (AUV). The paper introduces working principles and design parameters for the LIDAR mounted AUV (AUV-LIDAR). Among several applications the papers discusses the possible use and advantages of AUV-LIDAR in water pollution detection through profiling of Dissolved Organic Matter (DOM) in water bodies.

Photoactivatable Mussel-Based Underwater Adhesive Proteins by an Expanded Genetic Code.

PubMed

Hauf, Matthias; Richter, Florian; Schneider, Tobias; Faidt, Thomas; Martins, Berta M; Baumann, Tobias; Durkin, Patrick; Dobbek, Holger; Jacobs, Karin; Möglich, Andreas; Budisa, Nediljko

2017-09-19

Marine mussels exhibit potent underwater adhesion abilities under hostile conditions by employing 3,4-dihydroxyphenylalanine (DOPA)-rich mussel adhesive proteins (MAPs). However, their recombinant production is a major biotechnological challenge. Herein, a novel strategy based on genetic code expansion has been developed by engineering efficient aminoacyl-transfer RNA synthetases (aaRSs) for the photocaged noncanonical amino acid ortho-nitrobenzyl DOPA (ONB-DOPA). The engineered ONB-DOPARS enables in vivo production of MAP type 5 site-specifically equipped with multiple instances of ONB-DOPA to yield photocaged, spatiotemporally controlled underwater adhesives. Upon exposure to UV light, these proteins feature elevated wet adhesion properties. This concept offers new perspectives for the production of recombinant bioadhesives. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Distortion of Prospective Time Production Underwater.

PubMed

Hobbs, Malcolm B; Kneller, Wendy

2017-07-01

The few prior studies of time perception underwater have reached contradictory conclusions as to how, and if, time perception becomes distorted when submerged. The current paper expands upon this limited data by describing two studies of prospective time production in scuba divers. Study 1 (N = 32) compared performance on a 30-s interval time production task in deep water (35 m-42 m/∼115-138 ft) with a shallow water control (3-12 m/∼10-39 ft). Using the same task, study 2 (N = 31) tested performance at the surface and at a range of depths underwater (1 m/3 ft; 11 m/36 ft; 20 m/66 ft; 30 m/98 ft; 40 m/131 ft). Study 1 revealed time production to be significantly longer in deep water compared to shallow water. In study 2 time production at the surface was not significantly different from that at 1 m, but productions at 11-40 m were significantly longer than at both 1 m and on the surface. Time productions between 11-40 m did not differ significantly. It was concluded that divers judge less time to have passed underwater than is objectively the case from a depth of 11 m, but that this effect does not deteriorate significantly once past 11 m. The cause of this distortion of time perception underwater was suggested to be the action of gas narcosis.Hobbs MB, Kneller W. Distortion of prospective time production underwater. Aerosp Med Hum Perform. 2017; 88(7):677-681.

Complex coacervates as a foundation for synthetic underwater adhesives

PubMed Central

Stewart, Russell J.; Wang, Ching Shuen; Shao, Hui

2011-01-01

Complex coacervation was proposed to play a role in the formation of the underwater bioadhesive of the Sandcastle worm (Phragmatopoma californica) based on the polyacidic and polybasic nature of the glue proteins and the balance of opposite charges at physiological pH. Morphological studies of the secretory system suggested the natural process does not involve complex coacervation as commonly defined. The distinction may not be important because electrostatic interactions likely play an important role in formation of the sandcastle glue. Complex coacervation has also been invoked in the formation of adhesive underwater silk fibers of caddisfly larvae and the adhesive plaques of mussels. A process similar to complex coacervation, that is, condensation and dehydration of biopolyelectrolytes through electrostatic associations, seems plausible for the caddisfly silk. This much is clear, the sandcastle glue complex coacervation model provided a valuable blueprint for the synthesis of a biomimetic, waterborne, underwater adhesive with demonstrated potential for repair of wet tissue. PMID:21081223

Randomised clinical trial of chest drainage systems.

PubMed Central

Graham, A N; Cosgrove, A P; Gibbons, J R; McGuigan, J A

1992-01-01

BACKGROUND: Problems in the management of thoracic trauma have stimulated the search for an alternative to underwater seals for drainage of the pleural cavity. A chest drainage bag incorporating a one way flutter valve has been compared with underwater seal drains in a randomised clinical trial. METHODS: During June-December 1989 119 patients undergoing elective thoracotomy were randomised to receive postoperative chest drainage by drainage bags (56 patients, 87 drains) or by underwater seal drains (63 patients, 98 drains). Daily drainage volumes, the requirement for pleural suction, mobility, and complications were recorded prospectively. RESULTS: There was no significant difference between the two groups in the mean volume drained, the requirements for pleural suction, or the occurrence of complications. Patients with drainage bags were fully mobile 23 hours (95% confidence interval 0-47 hours) earlier than the others. CONCLUSIONS: When used after elective thoracotomy drainage bags are safe and effective and permit earlier mobility than underwater seal drains. PMID:1496507

An underwater optical wireless communication system based on LED source

NASA Astrophysics Data System (ADS)

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

2011-11-01

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

Coupled Research in Ocean Acoustics and Signal Processing for the Next Generation of Underwater Acoustic Communication Systems

DTIC Science & Technology

2016-08-05

JPAnalytics LLC CC: DCMA Boston DTIC Director, NRL Progress Report #8 Coupled Research in Ocean Acoustics and Signal Processing for the Next...Generation of Underwater Acoustic Communication Systems Principal Investigator’s Name: Dr. James Preisig Period Covered By Report: 1/20/2016 to 4/19/2016...Technical work this period has spanned two areas. The first of these is VHF Acoustics . During this time period, the Principle Investigator worked with Dr

Aided target recognition processing of MUDSS sonar data

NASA Astrophysics Data System (ADS)

Lau, Brian; Chao, Tien-Hsin

1998-09-01

The Mobile Underwater Debris Survey System (MUDSS) is a collaborative effort by the Navy and the Jet Propulsion Lab to demonstrate multi-sensor, real-time, survey of underwater sites for ordnance and explosive waste (OEW). We describe the sonar processing algorithm, a novel target recognition algorithm incorporating wavelets, morphological image processing, expansion by Hermite polynomials, and neural networks. This algorithm has found all planted targets in MUDSS tests and has achieved spectacular success upon another Coastal Systems Station (CSS) sonar image database.

Far Field Boundary Conditions for Underwater Explosions

DTIC Science & Technology

1994-12-22

NSWCDDfTR-94/20 CHAPTER 1 INTRODUCTION A factor controlling the computational resources required to model an underwater explo- sion is the extent of...NSWCDD/TRI-94/20 SPHERICAL SHOCKS The explosion of a spherical TNT charge in a uniform water environment is modeled in spherical coordinates. The TNT is...described using a JWL equation of state while the water is modeled using a modified Tait equation of state.6 The TNT is assumed to combust

Integration of robotic resources into FORCEnet

NASA Astrophysics Data System (ADS)

Nguyen, Chinh; Carroll, Daniel; Nguyen, Hoa

2006-05-01

The Networked Intelligence, Surveillance, and Reconnaissance (NISR) project integrates robotic resources into Composeable FORCEnet to control and exploit unmanned systems over extremely long distances. The foundations are built upon FORCEnet-the U.S. Navy's process to define C4ISR for net-centric operations-and the Navy Unmanned Systems Common Control Roadmap to develop technologies and standards for interoperability, data sharing, publish-and-subscribe methodology, and software reuse. The paper defines the goals and boundaries for NISR with focus on the system architecture, including the design tradeoffs necessary for unmanned systems in a net-centric model. Special attention is given to two specific scenarios demonstrating the integration of unmanned ground and water surface vehicles into the open-architecture web-based command-and-control information-management system of Composeable FORCEnet. Planned spiral development for NISR will improve collaborative control, expand robotic sensor capabilities, address multiple domains including underwater and aerial platforms, and extend distributive communications infrastructure for battlespace optimization for unmanned systems in net-centric operations.

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

PubMed

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

2017-01-30

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

Experimental demonstration of three-dimensional broadband underwater acoustic carpet cloak

NASA Astrophysics Data System (ADS)

Bi, Yafeng; Jia, Han; Sun, Zhaoyong; Yang, Yuzhen; Zhao, Han; Yang, Jun

2018-05-01

We present the design, architecture, and detailed performance of a three-dimensional (3D) underwater acoustic carpet cloak (UACC). The proposed system of the 3D UACC is an octahedral pyramid, which is composed of periodical steel strips. This underwater acoustic device, placed over the target to hide, is able to manipulate the scattered wavefront to mimic a reflecting plane. The effectiveness of the prototype is experimentally demonstrated in an anechoic tank. The measured acoustic pressure distributions show that the 3D UACC can work in all directions in a wide frequency range. This experimental verification of 3D device paves the way for guidelines on future practical applications.

Sonic Kayaks: Environmental monitoring and experimental music by citizens.

PubMed

Griffiths, Amber G F; Kemp, Kirsty M; Matthews, Kaffe; Garrett, Joanne K; Griffiths, David J

2017-11-01

The Sonic Kayak is a musical instrument used to investigate nature and developed during open hacklab events. The kayaks are rigged with underwater environmental sensors, which allow paddlers to hear real-time water temperature sonifications and underwater sounds, generating live music from the marine world. Sensor data is also logged every second with location, time and date, which allows for fine-scale mapping of water temperatures and underwater noise that was previously unattainable using standard research equipment. The system can be used as a citizen science data collection device, research equipment for professional scientists, or a sound art installation in its own right.

Sonic Kayaks: Environmental monitoring and experimental music by citizens

PubMed Central

Kemp, Kirsty M.; Matthews, Kaffe; Garrett, Joanne K.; Griffiths, David J.

2017-01-01

The Sonic Kayak is a musical instrument used to investigate nature and developed during open hacklab events. The kayaks are rigged with underwater environmental sensors, which allow paddlers to hear real-time water temperature sonifications and underwater sounds, generating live music from the marine world. Sensor data is also logged every second with location, time and date, which allows for fine-scale mapping of water temperatures and underwater noise that was previously unattainable using standard research equipment. The system can be used as a citizen science data collection device, research equipment for professional scientists, or a sound art installation in its own right. PMID:29190283

An Architecture for Cooperative Localization in Underwater Acoustic Networks

DTIC Science & Technology

2015-10-24

range. (b) Independent navigation and control system onboard Iver AUVs . The cooperative localization process is highlighted in red. Figure 1: Block...Iver2 AUVs (Fig. 3) and a topside ship. While we make spe- cific notes about this three vehicle network, the architecture is vehicle independent. 3.1...Single vehicle subsystem Each vehicle executes several processes including sensor drivers, a pose estimator (Section 2), and, in the case of the AUVs

Coherent Path Beamformer Front End for High Performance Acoustic Modems

DTIC Science & Technology

1999-09-30

transmission underwater. This knowledge will be used to develop a test model for evaluating under water acoustic modem and other shallow water sonar ...rates can be achieved, as shown in the following two sections. WORK COMPLETED Two systems have been developed in the Sonar Laboratory of Ocean...2) More performant variable gain preamplifiers have been installed and the software updated for a better control of the dynamic range. 3) An

A transient thermal model of a neutral buoyancy cryogenic fluid delivery system

NASA Astrophysics Data System (ADS)

Bue, Grant C.; Conger, Bruce S.

A thermal-performance model is presently used to evaluate a preliminary Neutral Buoyancy Cryogenic fluid-delivery system for underwater EVA training. Attention is given to the modeling of positional transients generated from the moving of internal components, including the control of cycling artifacts, as well as to the convection and boiling characteristics of the cryofluid, 250-psi N2/O2 gas, and water contained in the tank. Two piston designs are considered according to performance criteria; temperature and heat-transfer rate profiles are presented.

Modular AUV System with Integrated Real-Time Water Quality Analysis.

PubMed

Eichhorn, Mike; Ament, Christoph; Jacobi, Marco; Pfuetzenreuter, Torsten; Karimanzira, Divas; Bley, Kornelia; Boer, Michael; Wehde, Henning

2018-06-05

This paper describes the concept, the technical implementation and the practical application of a miniaturized sensor system integrated into an autonomous underwater vehicle (AUV) for real-time acquisition of water quality parameters. The main application field of the presented system is the analysis of the discharge of nitrates into Norwegian fjords near aqua farms. The presented system was developed within the research project SALMON (Sea Water Quality Monitoring and Management) over a three-year period. The development of the sensor system for water quality parameters represented a significant challenge for the research group, as it was to be integrated in the payload unit of the autonomous underwater vehicle in compliance with the underwater environmental conditions. The German company -4H- JENA engineering GmbH (4HJE), with experience in optical in situ-detection of nutrients, designed and built the measurement system. As a carrier platform, the remotely operated vehicle (ROV) "CWolf" from Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung - Institutsteil Angewandte Systemtechnik (IOSB-AST) modified to an AUV was deployed. The concept presented illustrates how the measurement system can be integrated easily into the vehicle with a minimum of hard- and software technical interfaces.

Inverse optimal self-tuning PID control design for an autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Rout, Raja; Subudhi, Bidyadhar

2017-01-01

This paper presents a new approach to path following control design for an autonomous underwater vehicle (AUV). A NARMAX model of the AUV is derived first and then its parameters are adapted online using the recursive extended least square algorithm. An adaptive Propotional-Integral-Derivative (PID) controller is developed using the derived parameters to accomplish the path following task of an AUV. The gain parameters of the PID controller are tuned using an inverse optimal control technique, which alleviates the problem of solving Hamilton-Jacobian equation and also satisfies an error cost function. Simulation studies were pursued to verify the efficacy of the proposed control algorithm. From the obtained results, it is envisaged that the proposed NARMAX model-based self-tuning adaptive PID control provides good path following performance even in the presence of uncertainty arising due to ocean current or hydrodynamic parameter.

Localization of source with unknown amplitude using IPMC sensor arrays

NASA Astrophysics Data System (ADS)

Abdulsadda, Ahmad T.; Zhang, Feitian; Tan, Xiaobo

2011-04-01

The lateral line system, consisting of arrays of neuromasts functioning as flow sensors, is an important sensory organ for fish that enables them to detect predators, locate preys, perform rheotaxis, and coordinate schooling. Creating artificial lateral line systems is of significant interest since it will provide a new sensing mechanism for control and coordination of underwater robots and vehicles. In this paper we propose recursive algorithms for localizing a vibrating sphere, also known as a dipole source, based on measurements from an array of flow sensors. A dipole source is frequently used in the study of biological lateral lines, as a surrogate for underwater motion sources such as a flapping fish fin. We first formulate a nonlinear estimation problem based on an analytical model for the dipole-generated flow field. Two algorithms are presented to estimate both the source location and the vibration amplitude, one based on the least squares method and the other based on the Newton-Raphson method. Simulation results show that both methods deliver comparable performance in source localization. A prototype of artificial lateral line system comprising four ionic polymer-metal composite (IPMC) sensors is built, and experimental results are further presented to demonstrate the effectiveness of IPMC lateral line systems and the proposed estimation algorithms.

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

NASA Astrophysics Data System (ADS)

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

2016-02-01

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

46 CFR 169.230 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2010 CFR

2010-10-01

... vessel is— (1) Less than 15 years of age; (2) A steel or aluminum hulled vessel; (3) Fitted with an... less than 15 years of age, you must submit an application for an underwater survey to the OCMI at least... of the hull protection system; and (7) The name and qualifications of any third party examiner. (c...

Underwater speech communications with a modulated laser

NASA Astrophysics Data System (ADS)

Woodward, B.; Sari, H.

2008-04-01

A novel speech communications system using a modulated laser beam has been developed for short-range applications in which high directionality is an exploitable feature. Although it was designed for certain underwater applications, such as speech communications between divers or between a diver and the surface, it may equally be used for air applications. With some modification it could be used for secure diver-to-diver communications in the situation where untethered divers are swimming close together and do not want their conversations monitored by intruders. Unlike underwater acoustic communications, where the transmitted speech may be received at ranges of hundreds of metres omnidirectionally, a laser communication link is very difficult to intercept and also obviates the need for cables that become snagged or broken. Further applications include the transmission of speech and data, including the short message service (SMS), from a fixed installation such as a sea-bed habitat; and data transmission to and from an autonomous underwater vehicle (AUV), particularly during docking manoeuvres. The performance of the system has been assessed subjectively by listening tests, which revealed that the speech was intelligible, although of poor quality due to the speech algorithm used.

Elasticity-dependent fast underwater adhesion demonstrated by macroscopic supramolecular assembly.

PubMed

Ju, Guannan; Cheng, Mengjiao; Guo, Fengli; Zhang, Qian; Shi, Feng

2018-05-30

Macroscopic supramolecular assembly (MSA) is a recent progress in supramolecular chemistry to associate visible building blocks through non-covalent interactions in a multivalent manner. Although various substrates (e. g. hydrogels, rigid materials) have been used, a general design rule of building blocks in MSA systems and interpretation of the assembly mechanism are still lacking and urgently in demand. Here we design three model systems with varied modulus and correlated the MSA probability with the elasticity. Based on the effects of substrate deformability on multivalency, we have proposed an elastic-modulus-dependent rule that building blocks below a critical modulus of 2.5 MPa can achieve MSA for the used host/guest system. Moreover, this MSA rule applies well to the design of materials applicable for fast underwater adhesion: Soft substrates (0.5 MPa) can achieve underwater adhesion within 10 s with one magnitude higher strength than that of rigid substrates (2.5 MPa). © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Selection of the most influential factors on the water-jet assisted underwater laser process by adaptive neuro-fuzzy technique

NASA Astrophysics Data System (ADS)

Nikolić, Vlastimir; Petković, Dalibor; Lazov, Lyubomir; Milovančević, Miloš

2016-07-01

Water-jet assisted underwater laser cutting has shown some advantages as it produces much less turbulence, gas bubble and aerosols, resulting in a more gentle process. However, this process has relatively low efficiency due to different losses in water. It is important to determine which parameters are the most important for the process. In this investigation was analyzed the water-jet assisted underwater laser cutting parameters forecasting based on the different parameters. The method of ANFIS (adaptive neuro fuzzy inference system) was applied to the data in order to select the most influential factors for water-jet assisted underwater laser cutting parameters forecasting. Three inputs are considered: laser power, cutting speed and water-jet speed. The ANFIS process for variable selection was also implemented in order to detect the predominant factors affecting the forecasting of the water-jet assisted underwater laser cutting parameters. According to the results the combination of laser power cutting speed forms the most influential combination foe the prediction of water-jet assisted underwater laser cutting parameters. The best prediction was observed for the bottom kerf-width (R2 = 0.9653). The worst prediction was observed for dross area per unit length (R2 = 0.6804). According to the results, a greater improvement in estimation accuracy can be achieved by removing the unnecessary parameter.

Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns.

PubMed

Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Y; Gravdahl, Jan T

2015-01-01

Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined areas. This is interesting for inspection and monitoring operations, for instance within the subsea oil and gas industry and within marine archeology. In addition, underwater snake robots can provide both inspection and intervention capabilities and are thus interesting candidates for the next generation inspection and intervention AUVs. Furthermore, bioinspired locomotion through oscillatory gaits, like lateral undulation and eel-like motion, is interesting from an energy efficiency point of view. Increasing the motion efficiency in terms of the achieved forward speed by improving the method of propulsion is a key issue for underwater robots. Moreover, energy efficiency is one of the main challenges for long-term autonomy of these systems. In this study, we will consider both these two aspects of efficiency. This paper considers the energy efficiency of swimming snake robots by presenting and experimentally investigating fundamental properties of the velocity and the power consumption of an underwater snake robot for both lateral undulation and eel-like motion patterns. In particular, we investigate the relationship between the parameters of the gait patterns, the forward velocity and the energy consumption for different motion patterns. The simulation and experimental results are seen to support the theoretical findings.

Modeling the Behavior of an Underwater Acoustic Relative Positioning System Based on Complementary Set of Sequences

PubMed Central

Aparicio, Joaquín; Jiménez, Ana; Álvarez, Fernando J.; Ureña, Jesús; De Marziani, Carlos; Diego, Cristina

2011-01-01

The great variability usually found in underwater media makes modeling a challenging task, but helpful for better understanding or predicting the performance of future deployed systems. In this work, an underwater acoustic propagation model is presented. This model obtains the multipath structure by means of the ray tracing technique. Using this model, the behavior of a relative positioning system is presented. One of the main advantages of relative positioning systems is that only the distances between all the buoys are needed to obtain their positions. In order to obtain the distances, the propagation times of acoustic signals coded by Complementary Set of Sequences (CSS) are used. In this case, the arrival instants are obtained by means of correlation processes. The distances are then used to obtain the position of the buoys by means of the Multidimensional Scaling Technique (MDS). As an early example of an application using this relative positioning system, a tracking of the position of the buoys at different times is performed. With this tracking, the surface current of a particular region could be studied. The performance of the system is evaluated in terms of the distance from the real position to the estimated one. PMID:22247661

The usefulness of Wi-Fi based digital chest drainage system in the post-operative care of pneumothorax.

PubMed

Cho, Hyun Min; Hong, Yoon Joo; Byun, Chun Sung; Hwang, Jung Joo

2016-03-01

Chest drainage systems are usually composed of chest tube and underwater-seal bottle. But this conventional system may restrict patients doing exercise and give clinicians obscure data about when to remove tubes because there is no objective indicator. Recently developed digital chest drainage systems may facilitate interpretation of the grade of air leak and make it easy for clinicians to decide when to remove chest tubes. In addition, with combination of wireless internet devices, monitoring and managing of drainage system distant from the patient is possible. Sixty patients of primary pneumothorax were included in a prospective randomized study and divided into two groups. Group I (study) consisted of digital chest drainage system while in group II (control), conventional underwater-seal chest bottle system was used. Data was collected from January, 2012 to September, 2013 in Eulji University Hospital, Daejeon, Korea. There was no difference in age, sex, smoking history and postoperative pain between two groups. But the average length of drainage was 2.2 days in group I and 3.1 days in group II (P<0.006). And more, about 90% of the patients in group I was satisfied with using new device for convenience. Digital system was beneficial on reducing the length of tube drainage by real time monitoring. It also had advantage in portability, loudness and gave more satisfaction than conventional system. Moreover, internet based digital drainage system will be a good method in thoracic telemedicine area in the near future.

Synchronization sampling method based on delta-sigma analog-digital converter for underwater towed array system.

PubMed

Jiang, Jia-Jia; Duan, Fa-Jie; Li, Yan-Chao; Hua, Xiang-Ning

2014-03-01

Synchronization sampling is very important in underwater towed array system where every acquisition node (AN) samples analog signals by its own analog-digital converter (ADC). In this paper, a simple and effective synchronization sampling method is proposed to ensure synchronized operation among different ANs of the underwater towed array system. We first present a master-slave synchronization sampling model, and then design a high accuracy phase-locked loop to synchronize all delta-sigma ADCs to a reference clock. However, when the master-slave synchronization sampling model is used, both the time-delay (TD) of messages traveling along the wired transmission medium and the jitter of the clocks will bring out synchronization sampling error (SSE). Therefore, a simple method is proposed to estimate and compensate the TD of the messages transmission, and then another effective method is presented to overcome the SSE caused by the jitter of the clocks. An experimental system with three ANs is set up, and the related experimental results verify the validity of the synchronization sampling method proposed in this paper.

Synchronization sampling method based on delta-sigma analog-digital converter for underwater towed array system

NASA Astrophysics Data System (ADS)

Jiang, Jia-Jia; Duan, Fa-Jie; Li, Yan-Chao; Hua, Xiang-Ning

2014-03-01

Synchronization sampling is very important in underwater towed array system where every acquisition node (AN) samples analog signals by its own analog-digital converter (ADC). In this paper, a simple and effective synchronization sampling method is proposed to ensure synchronized operation among different ANs of the underwater towed array system. We first present a master-slave synchronization sampling model, and then design a high accuracy phase-locked loop to synchronize all delta-sigma ADCs to a reference clock. However, when the master-slave synchronization sampling model is used, both the time-delay (TD) of messages traveling along the wired transmission medium and the jitter of the clocks will bring out synchronization sampling error (SSE). Therefore, a simple method is proposed to estimate and compensate the TD of the messages transmission, and then another effective method is presented to overcome the SSE caused by the jitter of the clocks. An experimental system with three ANs is set up, and the related experimental results verify the validity of the synchronization sampling method proposed in this paper.

Lateral-Line Detection of Underwater Objects: From Goldfish to Submarines

NASA Astrophysics Data System (ADS)

van Hemmen, J. Leo

2010-03-01

Fish and some aquatic amphibians use their mechanosensory lateral-line system to navigate by means of hydrodynamic cues. How a fish determines an object's position and shape only through the lateral-line system and the ensuing neuronal processing is still a challenging problem. Our studies have shown that both stimulus position and stimulus form can be determined within the range of about one fish length and are encoded through the response of the afferent nerves originating from the detectors. A minimal detection model of a vibrating sphere (a dipole) has now been extended to other stimuli such as translating spheres, ellipsoids, or even wakes (vortex rings). The theoretical model is fully verified by experimental data. We have also constructed an underwater robot with an artificial lateral-line system designed to detect e.g. the presence of walls by measuring the change of water flow around the body. We will show how a simple model fits experimental results obtained from trout and goldfish and how a submarine may well be able to detect underwater objects by using an artificial lateral-line system.

Neutron Interrogation System For Underwater Threat Detection And Identification

NASA Astrophysics Data System (ADS)

Barzilov, Alexander P.; Novikov, Ivan S.; Womble, Phil C.

2009-03-01

Wartime and terrorist activities, training and munitions testing, dumping and accidents have generated significant munitions contamination in the coastal and inland waters in the United States and abroad. Although current methods provide information about the existence of the anomaly (for instance, metal objects) in the sea bottom, they fail to identify the nature of the found objects. Field experience indicates that often in excess of 90% of objects excavated during the course of munitions clean up are found to be non-hazardous items (false alarm). The technology to detect and identify waterborne or underwater threats is also vital for protection of critical infrastructures (ports, dams, locks, refineries, and LNG/LPG). We are proposing a compact neutron interrogation system, which will be used to confirm possible threats by determining the chemical composition of the suspicious underwater object. The system consists of an electronic d-T 14-MeV neutron generator, a gamma detector to detect the gamma signal from the irradiated object and a data acquisition system. The detected signal then is analyzed to quantify the chemical elements of interest and to identify explosives or chemical warfare agents.

An incremental knowledge assimilation system (IKAS) for mine detection

NASA Astrophysics Data System (ADS)

Porway, Jake; Raju, Chaitanya; Varadarajan, Karthik Mahesh; Nguyen, Hieu; Yadegar, Joseph

2010-04-01

In this paper we present an adaptive incremental learning system for underwater mine detection and classification that utilizes statistical models of seabed texture and an adaptive nearest-neighbor classifier to identify varied underwater targets in many different environments. The first stage of processing uses our Background Adaptive ANomaly detector (BAAN), which identifies statistically likely target regions using Gabor filter responses over the image. Using this information, BAAN classifies the background type and updates its detection using background-specific parameters. To perform classification, a Fully Adaptive Nearest Neighbor (FAAN) determines the best label for each detection. FAAN uses an extremely fast version of Nearest Neighbor to find the most likely label for the target. The classifier perpetually assimilates new and relevant information into its existing knowledge database in an incremental fashion, allowing improved classification accuracy and capturing concept drift in the target classes. Experiments show that the system achieves >90% classification accuracy on underwater mine detection tasks performed on synthesized datasets provided by the Office of Naval Research. We have also demonstrated that the system can incrementally improve its detection accuracy by constantly learning from new samples.

Status of Research in Underwater Physiology

DTIC Science & Technology

1956-03-01

Qc ýLEVELSý A 0 ~STAT US O F RESEARCH IN ~ UNDERWATER PHYSIOLOGY MARCH 1958I 0 79 0 .15 U This doc-iment was prapartd Ly the Physiology Grouo of the...under- water breathing patterns, are vitally necessary to determine whether or not rad- ical deviations from the present design of self-contained...certain SCUBA operations. In single mul- tilevel dives no known tables could apply without a rigid control of the depth-time factors, and even under

Underwater manipulator

DOEpatents

Schrum, Phillip B.; Cohen, George H.

1993-01-01

Self-contained, waterproof, water-submersible, remote-controlled apparatus is provided 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.

A Strategy to employ coordinated, autonomous Platforms for addressing long-term biochemical observing Tasks

NASA Astrophysics Data System (ADS)

Waldmann, H. C.; Montenegro, S.

2016-02-01

Autonomous platforms get a growing importance for ocean observing tasks in particular to enable long-term observing tasks. Employing the mobility of those platforms allows a targeted investigations of phenomena that up to now are mainly seen from satellite but are lacking detailed scrutiny. As part oft he national funded project ROBEX new operation concepts for mobile platforms are developed in particular a new type of underwater glider with larger payload capacity compared to legacy systems will be developed. First tests in the pool of a aparticular hull shape have led to a better understanding oft he hydrodynamic condition and an optomized hull design was derived from that. The WAVEGLIDER system of Liquid Robotics lends itsself to be used as a communication hub and a platform to track underwater vehicles. Therefore the combination of those systems are currently assessed in regard to a possible operation and its hard- and software implementation. A major issue ist o achieve a coordinated displacement of these completely decoupled systems. Issues on how to mitigate faulty mission runs, coping with low communication bandwidths, and ensuring adequate positioning information about the underwater glider have to be addressed. Robotic concepts known from terrestrial applications like for UAV systems are tested under the more stringent environmental conditions in ocean waters. With this combination of WAVEGLIDER and underwater glider it is planned to carry out long-term missions to investigate biochemical processes in the water column in particular to investigate the particle transport through the water column and the processes resulting from that. Concepts and first results of those tasks will be presented.

Stratigraphic Evidence for Environmental Change in a Bermudian Coastal Underwater Cave (Palm Cave System) in Response to Holocene Sea-level Rise

NASA Astrophysics Data System (ADS)

Cresswell, J. N.; van Hengstum, P. J.; Iliffe, T. M.

2016-12-01

Unique environments exist worldwide in coastal underwater caves, including those from Bermuda, which has been a global epicenter for interdisciplinary cave research. However, the development of environments, ecosystems, and sedimentary deposits in coastal underwater caves, particularly over millennial timescales is poorly understood, with previous research from Bermuda indicating a critical role for sea-level rise in driving environmental change. A multi-proxy stratigraphic analysis of 14 sediment cores that were collected from the Palm Cave System in Bermuda from 2 m to 20 m water depths was conducted to better understand Holocene-scale environmental change in coastal underwater caves (e.g., textural analysis, x-radiographs, microfossil analysis, radiocarbon dating). The rate of deposition was found to be variable throughout time and dependent upon the proximity of core locations to cave openings (`karst windows') and conduit geometry. The oldest recovered sediment was likely Pleistocene-aged, terra-rosa soil deposits that predate the Holocene inundation. By 9500 Cal yrs BP, deposition was dominated by organic-rich facies (gyttja), with agglutinated brackish foraminifera (Trochammina, Polysaccammina) and bivalves indicating brackish aquatic conditions in the system by 9200 Cal yrs BP. A system-wide shift to carbonate deposition occurred 8500 Cal yrs BP, which indicates the onset of oxygenated marine water entering the cave and development of a marine-dominated (i.e., submarine) cave environment. Comparison with local maximum sea-level indicators shows that inundation of the Bermuda platform by Holocene sea-level rise likely drove environmental change in the Palm Cave System.

Hemispherical Optical Dome for Underwater Communication

NASA Technical Reports Server (NTRS)

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

2017-01-01

For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through the water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with using 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 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 the CREO CAD software and modeled using the 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 the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with the experimental test results, a geometric optimization model was derived providing insights to the design performance limits.

Hemispherical optical dome for underwater communication

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

Hemispherical Optical Dome for Underwater Communication

NASA Technical Reports Server (NTRS)

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

2017-01-01

For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through the water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with using 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 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 the CREO CAD software and modeled using the 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 the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with the experimental test results, a geometric optimization model was derived providing insights to the design performance limits.

Real-Time Systems

DTIC Science & Technology

1992-02-01

Postgraduate School Autonomous Under Vehicle (AUV) are then examined. Autonomous underwater vehicle (AUV), hard real-time system, real - time operating system , real-time programming language, real-time system, soft real-time system.

Alaska North Shore Ocean Acoustics Study

DTIC Science & Technology

2015-09-30

effects of changing ice cover, wind patterns and circulation/upwelling on underwater sound propagation and ambient noise in the areas of continental ...noise field along the edge of Arctic continental shelf. Underwater sound propagation in Arctic oceans with ice cover is influenced by the elastic...von der Heydt has been implmenting the following system upgrades: 1. Replacing the existing Seascan timebase ( drift 2 to 3ms/day) with a

An Adaptive Approach for Precise Underwater Vehicle Control in Combined Robot-Diver Operations

DTIC Science & Technology

2015-03-01

addressing rigid body and added mass, Coriolis effects , damping and restoring forces. 3. System Modeling for THAUS-like Platforms Yuh [3] presents...term, ( )C  is the rigid body and added mass Coriolis effects , ( )D  is the damping term, and )(g  is the reactionary force term. The second...operations potentially increase the efficiency, effectiveness and safety of the tasks they perfonn. The utilization of an autonomous unde1water vehicle

Laser line scan underwater imaging by complementary metal-oxide-semiconductor camera

NASA Astrophysics Data System (ADS)

He, Zhiyi; Luo, Meixing; Song, Xiyu; Wang, Dundong; He, Ning

2017-12-01

This work employs the complementary metal-oxide-semiconductor (CMOS) camera to acquire images in a scanning manner for laser line scan (LLS) underwater imaging to alleviate backscatter impact of seawater. Two operating features of the CMOS camera, namely the region of interest (ROI) and rolling shutter, can be utilized to perform image scan without the difficulty of translating the receiver above the target as the traditional LLS imaging systems have. By the dynamically reconfigurable ROI of an industrial CMOS camera, we evenly divided the image into five subareas along the pixel rows and then scanned them by changing the ROI region automatically under the synchronous illumination by the fun beams of the lasers. Another scanning method was explored by the rolling shutter operation of the CMOS camera. The fun beam lasers were turned on/off to illuminate the narrow zones on the target in a good correspondence to the exposure lines during the rolling procedure of the camera's electronic shutter. The frame synchronization between the image scan and the laser beam sweep may be achieved by either the strobe lighting output pulse or the external triggering pulse of the industrial camera. Comparison between the scanning and nonscanning images shows that contrast of the underwater image can be improved by our LLS imaging techniques, with higher stability and feasibility than the mechanically controlled scanning method.

From Apollo to Cognac

NASA Technical Reports Server (NTRS)

1980-01-01

Shell Oil Company started oil and gas production from a new offshore platform called Cognac located in the Gulf of Mexico. It is the world's tallest oil platform, slightly taller than the Empire State Building. The highly complex job of installing Cognac's support "jacket" under water more than a thousand feet deep was directed from a barge-based control center. To enable crews to practice in advance difficult tasks never before accomplished, Honeywell, adapting NASA's Apollo technology, developed a system for simulating the various underwater operations. In training sessions, displays and controls reacted exactly as they would in real operation.

Validation of trophic and anthropic underwater noise as settlement trigger in blue mussels

NASA Astrophysics Data System (ADS)

Jolivet, Aurélie; Tremblay, Rejean; Olivier, Fréderic; Gervaise, Cédric; Sonier, Rémi; Genard, Bertrand; Chauvaud, Laurent

2016-09-01

Like the majority of benthic invertebrates, the blue mussel Mytilus edulis has a bentho-pelagic cycle with its larval settlement being a complex phenomenon involving numerous factors. Among these factors, underwater noise and pelagic trophic conditions have been weakly studied in previous researches. Under laboratory conditions, we tested the hypothesis that picoplankton assimilation by the pediveliger blue mussel larvae acts as a food cue that interacts with anthropic underwater sound to stimulate settlement. We used 13C-labeling microalgae to validate the assimilation of different picoplankton species in the tissues of pediveliger larvae. Our results clearly confirm our hypothesis with a significant synergic effect of these two factors. However, only the picoeukaryotes strains assimilated by larvae stimulated the settlement, whereas the non-ingested picocyanobacteria did not. Similar positive responses were observed with underwater sound characterized by low frequency vessel noises. The combination of both factors (trophic and vessel noise) drastically increased the mussel settlement by an order of 4 compared to the control (without picoplankton and noise). Settlement levels ranged from 16.5 to 67% in 67 h.

Comparative assessment of amphibious hearing in pinnipeds.

PubMed

Reichmuth, Colleen; Holt, Marla M; Mulsow, Jason; Sills, Jillian M; Southall, Brandon L

2013-06-01

Auditory sensitivity in pinnipeds is influenced by the need to balance efficient sound detection in two vastly different physical environments. Previous comparisons between aerial and underwater hearing capabilities have considered media-dependent differences relative to auditory anatomy, acoustic communication, ecology, and amphibious life history. New data for several species, including recently published audiograms and previously unreported measurements obtained in quiet conditions, necessitate a re-evaluation of amphibious hearing in pinnipeds. Several findings related to underwater hearing are consistent with earlier assessments, including an expanded frequency range of best hearing in true seals that spans at least six octaves. The most notable new results indicate markedly better aerial sensitivity in two seals (Phoca vitulina and Mirounga angustirostris) and one sea lion (Zalophus californianus), likely attributable to improved ambient noise control in test enclosures. An updated comparative analysis alters conventional views and demonstrates that these amphibious pinnipeds have not necessarily sacrificed aerial hearing capabilities in favor of enhanced underwater sound reception. Despite possessing underwater hearing that is nearly as sensitive as fully aquatic cetaceans and sirenians, many seals and sea lions have retained acute aerial hearing capabilities rivaling those of terrestrial carnivores.

Overview of Doing Business with SPAWAR Systems Command (SPAWAR)

DTIC Science & Technology

2011-08-22

School Girls Day Out FY07 – 1 school FY08 – 34 schools FY09 – 35 schools FY10 – 47 schools Material World Modules International Autonomous Underwater...s it e , a n d a ls o f rom t h e foll o vn n g link: e-CC Self -Service News The 23rd P.nnual Na v y Gold Coast Small Business O pportunity Conf...Opportunities 1. Requirements Office: Joint Program Manager - Information Systems (JPMIS) 2. Joint Effects Model (JEM) Increment 1 Sustainment 3

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

DTIC Science & Technology

2014-05-09

again increase the size of the system. A comparison between switching frequency and efficiency for a nominal DC/DC converter was done in an EE ...Choosing the Optimum Switching Frequency of your DC / DC Converter,” EE Times, pp. 1–7, 2006. [19] ON Semiconductors, “Effects of High Switching Frequency...3.1W OUTPUT FILTER CAPACITOR EEE -FC1H101P 100uF ELECTROLYTIC 50V OUTPUT FILTER CAPACITOR C5750X7S2A106M230KB 10uF CERAMIC 100V

AlGaInN laser diode technology for free-space and plastic optical fibre telecom applications

NASA Astrophysics Data System (ADS)

Najda, S. P.; Perlin, P.; Suski, T.; Marona, L.; Bóckowski, M.; Leszczyński, M.; Wisniewski, P.; Czernecki, R.; Kucharski, R.; Targowski, G.; Watson, S.; Kelly, A. E.; Watson, M. A.; Blanchard, P.; White, H.

2016-03-01

Gallium Nitride laser diodes fabricated from the AlGaInN material system is an emerging technology for laser sources from the UV to visible and is a potential key enabler for new system applications such as free-space (underwater & air bourne links) and plastic optical fibre telecommunications. We measure visible light (free-space and underwater) communications at high frequency (up to 2.5 Gbit/s) and in plastic optical fibre (POF) using a directly modulated GaN laser diode.

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

DTIC Science & Technology

2017-06-01

FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor...June 2017 3. REPORT TYPE AND DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE A NEW TECHNIQUE FOR ROBOT VISION IN AUTONOMOUS UNDERWATER...Developing a technique for underwater robot vision is a key factor in establishing autonomy in underwater vehicles. A new technique is developed and

Underwater disorientation as induced by two helicopter ditching devices.

PubMed

Cheung, B; Hofer, K; Brooks, C J; Gibbs, P

2000-09-01

Spatial orientation is based on the integration of concordant and redundant information from the visual, vestibular, and somatosensory systems. When a person is submerged underwater, somatosensory cues are reduced, and vestibular cues are ambiguous with respect to upright or inverted position. Visual cues may be lost as a result of reduced ambient light. Underwater disorientation has been cited as one of the major factors that could inhibit emergency egress after a helicopter ditching into water. One countermeasure to familiarize aircrew with underwater disorientation is emergency egress training. This study examined the relative degree of underwater disorientation induced by the Modular Egress Training Simulator (METS) and the Shallow Water Egress Trainer (SWET). There were 36 healthy subjects (28 males and 8 females) who participated in the study. Underwater disorientation was quantified by measuring the deviation of subjective vertical-pointing from the gravitational vertical, time to egress, and subjective reports of disorientation and ease of egress. A repeated measure design was employed with seat position (SWET chair, METS window, and METS aisle) as the sole factor. Subjective response data indicated that the degree of disorientation is rated significantly higher, and the ease of egress is rated worse from the two METS seat positions than from the SWET. This is supported by the findings that subjective vertical-pointing accuracy is worse in the METS seat positions than in the SWET (p < 0.01). The time to egress is longer from the two METS seat positions than from SWET (p < 0.01). Our results indicate that the METS device is effective for inducing underwater disorientation as provoked by simulated helicopter ditching. disorientation, vestibular, subjective pointing.

Comparison of protocols for measuring and calculating postmortem submersion intervals for human analogs in fresh water.

PubMed

Humphreys, Michael K; Panacek, Edward; Green, William; Albers, Elizabeth

2013-03-01

Protocols for determining postmortem submersion interval (PMSI) have long been problematic for forensic investigators due to the wide variety of factors affecting the rate of decomposition of submerged carrion. Likewise, it has been equally problematic for researchers to develop standardized experimental protocols to monitor underwater decomposition without artificially affecting the decomposition rate. This study compares two experimental protocols: (i) underwater in situ evaluation with photographic documentation utilizing the Heaton et al. total aquatic decomposition (TAD) score and (ii) weighing the carrion before and after submersion. Complete forensic necropsies were performed as a control. Perinatal piglets were used as human analogs. The results of this study indicate that in order to objectively measure decomposition over time, the human analog should be examined at depth using the TAD scoring system rather than utilizing a carrion weight evaluation. The acquired TAD score can be used to calculate an approximate PMSI. © 2012 American Academy of Forensic Sciences.

Planar maneuvering control of underwater snake robots using virtual holonomic constraints.

PubMed

Kohl, Anna M; Kelasidi, Eleni; Mohammadi, Alireza; Maggiore, Manfredi; Pettersen, Kristin Y

2016-11-24

This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which is subject to hydrodynamic forces and ocean currents converge to a desired planar path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints which encode biologically inspired gaits on the snake robot configuration. The virtual constraints, parametrized by states of dynamic compensators, are used to regulate the orientation and forward speed of the snake robot. A two-state ocean current observer based on relative velocity sensors is proposed. It enables the robot to follow the path in the presence of unknown constant ocean currents. The efficacy of the proposed control algorithm for several biologically inspired gaits is verified both in simulations for different path geometries and in experiments.

Software control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

Nelson, Michael L.; DeAnda, Juan R.; Fox, Richard K.; Meng, Xiannong

1999-07-01

The Strategic-Tactical-Execution Software Control Architecture (STESCA) is a tri-level approach to controlling autonomous vehicles. Using an object-oriented approach, STESCA has been developed as a generalization of the Rational Behavior Model (RBM). STESCA was initially implemented for the Phoenix Autonomous Underwater Vehicle (Naval Postgraduate School -- Monterey, CA), and is currently being implemented for the Pioneer AT land-based wheeled vehicle. The goals of STESCA are twofold. First is to create a generic framework to simplify the process of creating a software control architecture for autonomous vehicles of any type. Second is to allow for mission specification system by 'anyone' with minimal training to control the overall vehicle functionality. This paper describes the prototype implementation of STESCA for the Pioneer AT.

Reachable set estimation for Takagi-Sugeno fuzzy systems against unknown output delays with application to tracking control of AUVs.

PubMed

Zhong, Zhixiong; Zhu, Yanzheng; Ahn, Choon Ki

2018-07-01

In this paper, we address the problem of reachable set estimation for continuous-time Takagi-Sugeno (T-S) fuzzy systems subject to unknown output delays. Based on the reachable set concept, a new controller design method is also discussed for such systems. An effective method is developed to attenuate the negative impact from the unknown output delays, which likely degrade the performance/stability of systems. First, an augmented fuzzy observer is proposed to capacitate a synchronous estimation for the system state and the disturbance term owing to the unknown output delays, which ensures that the reachable set of the estimation error is limited via the intersection operation of ellipsoids. Then, a compensation technique is employed to eliminate the influence on the system performance stemmed from the unknown output delays. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of autonomous underwater vehicles. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

An Optical Fibre Depth (Pressure) Sensor for Remote Operated Vehicles in Underwater Applications

PubMed Central

Duraibabu, Dinesh Babu; Poeggel, Sven; Omerdic, Edin; Capocci, Romano; Lewis, Elfed; Newe, Thomas; Leen, Gabriel; Toal, Daniel; Dooly, Gerard

2017-01-01

A miniature sensor for accurate measurement of pressure (depth) with temperature compensation in the ocean environment is described. The sensor is based on an optical fibre Extrinsic Fabry-Perot interferometer (EFPI) combined with a Fibre Bragg Grating (FBG). The EFPI provides pressure measurements while the Fibre Bragg Grating (FBG) provides temperature measurements. The sensor is mechanically robust, corrosion-resistant and suitable for use in underwater applications. The combined pressure and temperature sensor system was mounted on-board a mini remotely operated underwater vehicle (ROV) in order to monitor the pressure changes at various depths. The reflected optical spectrum from the sensor was monitored online and a pressure or temperature change caused a corresponding observable shift in the received optical spectrum. The sensor exhibited excellent stability when measured over a 2 h period underwater and its performance is compared with a commercially available reference sensor also mounted on the ROV. The measurements illustrates that the EFPI/FBG sensor is more accurate for depth measurements (depth of ~0.020 m). PMID:28218727

Underwater Mapping Results for Seabotix vLBV300 Vehicle with Tritech Gemini 720i Imaging Sonar near Newport, OR

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hollinger, Geoffrey

This document presents results from tests to demonstrate underwater mapping capabilities of an underwater vehicle in conditions typically found in marine renewable energy arrays. These tests were performed with a tethered Seabotix vLBV300 underwater vehicle. The vehicle is equipped with an inertial navigation system (INS) based on a Gladiator Landmark 40 IMU and Teledyne Explorer Doppler Velocity Log, as well as a Gemini 720i scanning sonar acquired from Tritech. The results presented include both indoor pool and offshore deployments. The indoor pool deployments were performed on October 7, 2016 and February 3, 2017 in Corvallis, OR. The offshore deployment wasmore » performed on April 20, 2016 off the coast of Newport, OR (44.678 degrees N, 124.109 degrees W). During the mission period, the sea state varied between 3 and 4, with an average significant wave height of 1.6 m. Data was recorded from both the INS and the sonar.« less

Underwater Chaotic Lidar using Blue Laser Diodes

NASA Astrophysics Data System (ADS)

Rumbaugh, Luke K.

The thesis proposes and explores an underwater lidar system architecture based on chaotic modulation of recently introduced, commercially available, low cost blue laser diodes. This approach is experimentally shown to allow accurate underwater impulse response measurements while eliminating the need for several major components typically found in high-performance underwater lidar systems. The proposed approach is to: 1. Generate wideband, noise-like intensity modulation signals using optical chaotic modulation of blue-green laser diodes, and then 2. Use this signal source to develop an underwater chaotic lidar system that uses no electrical signal generator, no electro-optic modulator, no optical frequency doubler, and no large-aperture photodetector. The outcome of this thesis is the demonstration of a new underwater lidar system architecture that could allow high resolution ranging, imaging, and water profiling measurements in turbid water, at a reduced size, weight, power and cost relative to state-of-the-art high-performance underwater lidar sensors. This work also makes contributions to the state of the art in optics, nonlinear dynamics, and underwater sensing by demonstrating for the first time: 1. Wideband noise-like intensity modulation of a blue laser diode using no electrical signal generator or electro-optic modulator. Optical chaotic modulation of a 462 nm blue InGaN laser diode by self-feedback is explored for the first time. The usefulness of the signal to chaotic lidar is evaluated in terms of bandwidth, modulation depth, and autocorrelation peak-to-sidelobe-ratio (PSLR) using both computer and laboratory experiments. In laboratory experiments, the optical feedback technique is shown to be effective in generating wideband, noise-like chaotic signals with strong modulation depth when the diode is operated in an external-cavity dominated state. The modulation signal strength is shown to be limited by the onset of lasing within the diode's internal cavity. The possibility of overcoming this limit by increasing optical feedback strength is discussed. 2. Power scaling in the blue-green spectrum using no optical frequency doubler. Synchronization of two 462 nm blue InGaN laser diodes by bi-directional optical injection is demonstrated for the first time in laboratory experiments. The improvement in chaotic intensity modulation signal strength is demonstrated to be 2.5x over the single-diode case. The signal strength is again shown to be limited by the onset of internal cavity lasing. The synchronized-laser arrangement is shown to be theoretically equivalent to a single-diode scenario in which the optical feedback is amplified by 2x, supporting the idea that increased optical feedback strength can be used to scale optical chaotic modulation of InGaN diodes to high powers. 3. Underwater impulse response measurements using a calibrated chaotic lidar system. An underwater chaotic lidar system using two synchronized diodes as transmitters is demonstrated in laboratory experiments for the first time. Reflective impulse response measurements using the lidar system are made in free space, and in a variety of clear and turbid water conditions, using a quasi-monostatic (i.e. co-located transmitter and receiver) arrangement. A calibration routine is implemented that increases accuracy and instantaneous dynamic range of the impulse response measurement, resulting in a baseline temporal resolution of 750 ps and a PSLR of over 10 dB. The calibrated system is shown to be able to simultaneously measure localized and distributed reflections, and to allow separation of the localized ( i.e. surface and target) reflections from the distributed ( i.e. backscatter) returns in several domains. Accurate range measurement with sub-inch typical error is demonstrated in laboratory water tank tests, which show accurate measurement through >6 feet of turbid water, as limited by the experimental water tank setup. Strong performance to the limit of the setup is shown at dwell times down to 1 mus. 4. Range measurement through turbid water using no large-aperture photodetector. The possibility of using a synchronized optical receiver to make range measurements through an attenuating channel (i.e. turbid water) is tested using two InGaN diodes for the first time. Using a variable optical attenuator to simulate channel attenuation, synchronization is maintained through 30 dB channel attenuation in the current experimental setup. Distance measurements are demonstrated by using the output of only one of the two diodes, suggesting that this method could be used to measure distance between two bi-static (i.e. physically separated), cooperative chaotic lidar systems in some water conditions. This thesis concludes that the proposed approach is a feasible path to a novel high resolution underwater lidar sensor capable of operating in turbid water, which would have significant size, weight, power, and cost reductions because it would not use an electrical signal generator, an electro-optic modulator, or an optical frequency doubler. The work also suggests the possibility of range measurement in a limited range of water conditions using no large-aperture photodetector, most feasibly in a bi-static cooperative arrangement.

Potential role of resurfacing Subtropical Underwater in ENSO evolution

NASA Astrophysics Data System (ADS)

Qu, T.; Chi, J.

2017-12-01

Results from a model of the Estimating the Circulation and Climate of the Ocean (ECCO) have shown that the resurfacing of high salinity Subtropical Underwater contributes to the sea surface salinity variability in the equatorial Pacific. On interannual time scale, this contribution can account for as much as 25% of the surface freshwater flux anomalies and is believed to play a role in ENSO evolution. Having these results in mind, this study investigates the surface salinity budget and its primary controls in the equatorial Pacific using ECCO output for the period 1993-2016. Particular attention is paid to 2014/2015 and 2015/2016. Preliminary analyses of the model results suggest that enhanced subsurface processes and in particular enhanced entrainment of Subtropical Underwater are primarily responsible for the positive sea surface salinity anomalies in the central equatorial Pacific during 2014/2015, which represents an opposite phase of El Niño. These subsurface processes weakened during 2015/2016, diretly contributing to the development of the 2015/2016 El Niño. The mechanisms controlling these subsurface processes are discussed.

Design of components for the NASA OCEAN project

NASA Technical Reports Server (NTRS)

Wright, Jenna (Editor); Clift, James; Dumais, Bryan; Gardner, Shannon; Hernandez, Juan Carlos; Nolan, Laura; Park, Mia; Peoples, Don; Phillips, Elizabeth; Tillman, Mark

1993-01-01

The goal of the Fall 1993 semester of the EGM 4000 class was to design, fabricate, and test components for the 'Ocean CELSS Experimental Analog NASA' Project (OCEAN Project) and to aid in the future development of NASA's Controlled Ecological Life Support System (CELSS). The OCEAN project's specific aims are to place a human, Mr. Dennis Chamberland from NASA's Life Science Division of Research, into an underwater habitat off the shore of Key Largo, FL for three months. During his stay, he will monitor the hydroponic growth of food crops and evaluate the conditions necessary to have a successful harvest of edible food. The specific designs chosen to contribute to the OCEAN project by the EGM 4000 class are in the areas of hydroponic habitat monitoring, human health monitoring, and production of blue/green algae. The hydroponic monitoring system focused on monitoring the environment of the plants. This included the continuous sensing of the atmospheric and hydroponic nutrient solution temperatures. Methods for monitoring the continuous flow of the hydroponic nutrient solution across the plants and the continuous supply of power for these sensing devices were also incorporated into the design system. The human health monitoring system concentrated on continuously monitoring various concerns of the occupant in the underwater living habitat of the OCEAN project. These concerns included monitoring the enclosed environment for dangerous levels of carbon monoxide and smoke, high temperatures from fire, and the ceasing of the continuous airflow into the habitat. The blue/green algae project emphasized both the production and harvest of a future source of food. This project did not interact with any part of the OCEAN project. Rather, it was used to show the possibility of growing this kind of algae as a supplemental food source inside a controlled ecological life support system.

Fabrication of Slippery Lubricant-Infused Porous Surface with High Underwater Transparency for the Control of Marine Biofouling.

PubMed

Wang, Peng; Zhang, Dun; Sun, Shimei; Li, Tianping; Sun, Yan

2017-01-11

Marine optical instruments are bearing serious biofouling problem, which affects the accuracy of data collected. To solve the biofouling problem of marine optical instruments, a novel instance of slippery lubricant-infused porous surface (SLIPS) with high underwater-transparency was designed over glass substrate via infusing lubricant into its porous microstructure fabricated with hydrothermal method. The advantage of SLIPS as antibiofouling strategy to marine optical instruments was proven by comparing its underwater optical and antibiofouling performances with three kinds of samples (hydrophilic glass sample, textured hydrophilic glass sample, and superhydrophobic glass sample). The modification of SLIPS enhances the underwater-transparency of glass sample within the wavelength of 500-800 nm, for the infusion of lubricant with lower refractive index than glass substrate. In contrast with hydrophilic surface, textured hydrophilic surface and superhydrophobic surface, SLIPS can significantly inhibit bacterial and algal settlements, thereby maintaining high underwater-transparency in both dynamic and static seawater. The inhibition of bacterial and algal settlements over SLIPS results from its liquid-like property. The contact angle hysteresis of water over SLIPS increases with immersion time in seawater under different conditions (static, dynamic, and vibration conditions). Both dynamic and vibration conditions accelerate the failure of SLIPS exposed in seawater. This research provides valuable information for solving biofouling problem of marine optical instruments with SLIPS.

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

NASA Astrophysics Data System (ADS)

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

2016-04-01

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

Underwater magnetic gradiometer for magnetic anomaly detection, localization, and tracking

NASA Astrophysics Data System (ADS)

Kumar, S.; Sulzberger, G.; Bono, J.; Skvoretz, D.; Allen, G. I.; Clem, T. R.; Ebbert, M.; Bennett, S. L.; Ostrom, R. K.; Tzouris, A.

2007-04-01

GE Security and the Naval Surface Warfare Center, Panama City (NSWC-PC) have collaborated to develop a magnetic gradiometer, called the Real-time Tracking Gradiometer or RTG that is mounted inside an unmanned underwater vehicle (UUV). The RTG is part of a buried mine hunting platform being developed by the United States Navy. The RTG has been successfully used to make test runs on mine-like targets buried off the coast of Florida. We will present a general description of the system and latest results describing system performance. This system can be also potentially used for other applications including those in the area of Homeland Security.

System Design for Ocean Sensor Data Transmission Based on Inductive Coupling

NASA Astrophysics Data System (ADS)

Xu, Ming; Liu, Fei; Zong, Yuan; Hong, Feng

Ocean observation is the precondition to explore and utilize ocean. How to acquire ocean data in a precise, efficient and real-time way is the key question of ocean surveillance. Traditionally, there are three types of methods for ocean data transmission: underwater acoustic, GPRS via mobile network and satellite communication. However, none of them can meet the requirements of efficiency, accuracy, real-time and low cost at the same time. In this paper, we propose a new wireless transmission system for underwater sensors, which established on FGR wireless modules, combined with inductive coupling lab and offshore experiments confirmed the feasibility and effectiveness of the proposed wireless transmission system.

Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and Navigation Support

DTIC Science & Technology

2012-09-30

Estimation Methods for Underwater OFDM 5) Two Iterative Receivers for Distributed MIMO - OFDM with Large Doppler Deviations. 6) Asynchronous Multiuser...multi-input multi-output ( MIMO ) OFDM is also pursued, where it is shown that the proposed hybrid initialization enables drastically improved receiver...are investigated. 5) Two Iterative Receivers for Distributed MIMO - OFDM with Large Doppler Deviations. This work studies a distributed system with

Shallow Water UXO Technology Demonstration Site Scoring Record No. 6

DTIC Science & Technology

2007-03-01

ferrous, nonferrous , and mixed metals . The ferrous and nonferrous items have been further divided into three weight zones as presented in Table 1...items are present as well. The mixed- metals clutter is composed of scrap ordnance items or fragments that have both a ferrous and nonferrous ...underwater system using Geonics EM61 High Power (underwater coils) electromagnetic metal detectors (one transmitter coil, three receiver coils). The

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays.

PubMed

Yan, Zheping; Wang, Lu; Wang, Tongda; Yang, Zewen; Chen, Tao; Xu, Jian

2018-03-30

To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

PubMed Central

Yan, Zheping; Wang, Lu; Wang, Tongda; Yang, Zewen; Chen, Tao; Xu, Jian

2018-01-01

To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region. PMID:29601537

An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles

PubMed Central

Bilbao, Sonia; Martínez, Belén; Frasheri, Mirgita; Cürüklü, Baran

2017-01-01

Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance. PMID:28783049

An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles.

PubMed

Rodríguez-Molina, Jesús; Bilbao, Sonia; Martínez, Belén; Frasheri, Mirgita; Cürüklü, Baran

2017-08-05

Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance.

An underwater work systems package. [remote handling

NASA Technical Reports Server (NTRS)

Estabrook, N. B.

1975-01-01

A modular unit which is adaptable to several existing deep sea submersibles was developed to extend their working abilities and acquire knowledge of components and techniques for working in the deep sea environment. This work systems package is composed of an aluminum pipe structure on which are mounted two six-function grabber arms, a seven function manipulator, tool suit, 1,000/lb. capacity winch, electrohydraulic power supply, electronics housing, lights, and television. The unit is designed to be operated by itself either remotely or with divers, attached to manned submersibles, or mounted on unmanned cable-controlled submersibles.

[Morphologic-functional study of the locomotor system of penguins as a general model of movement in under-water flight. I].

PubMed

Bannasch, R

1986-01-01

Regarding several theories of the evolution of the Sphenisciformes the specific morpho-physiological alterations for the changeover from aerial to underwater life are discussed. The peculiarities in the Penguin's "construction" become comprehensible as strong adjustments to the subaquatic locomotion. Surely they took their origin from the equipment of flying birds. The present data of the kinematics of the underwater locomotion show, that propulsion is produced in the same principal way by the flapping wings as in aerial flight. Therefore the short term "underwater flight" for the Penguin's style of locomotion is justified. Known data of swimming performance suggest that its essential adaptation is not that to top achievements but more to an economical use of energy budget. The favourable hydrodynamic characteristics of the Penguin body may be well interpreted from this point of view. The peculiarity of underwater flight is the absence of the necessity to produce a weight-compensating force. In order to create thrust forces in an appropriate magnitude during up- and downstroke of the beating cycle the upstroke must be powered. The anatomical architecture and the mode of operation of the parts of the muscle system must be adjusted to this demand. Based on these statements, the anatomy of active and passive apparatus of movement was studied by dissection of 26 individuals of Pygoscelis papua, P. antarctica, P. adeliae, Eudyptes chrysolophus, and Aptenodytes forsteri. Besides the functional explanation of the Articulatio sternocoracoidea (diverging considerably from the usual type in birds), a new interpretation is given for the structures of the Articulatio humeri. In this context, the role of the Ligamentum acrocoracohumerale as an important element for coordination of the motion processes in the shoulder joint is elucidated. The essential curvature of the Caput humeri is found to be satisfactorily approximated by a logarithmic spiral. The understanding of the mechanics of bones and tendons leads to a reinterpretation of the role of several groups of muscles which is described in detail. Besides of the preponderant thrust producing (flapping) muscles working mainly in the isotonic manner, muscles can be distinguished which are managing the transfer of the produced forces to the body operating thereby in the isometric way. Another group of muscles has to control the position of the humerus adjusting in this way the hydrodynamic angle of attack corresponding to the respective flow conditions.(ABSTRACT TRUNCATED AT 400 WORDS)

Automated control of hierarchical systems using value-driven methods

NASA Technical Reports Server (NTRS)

Pugh, George E.; Burke, Thomas E.

1990-01-01

An introduction is given to the Value-driven methodology, which has been successfully applied to solve a variety of difficult decision, control, and optimization problems. Many real-world decision processes (e.g., those encountered in scheduling, allocation, and command and control) involve a hierarchy of complex planning considerations. For such problems it is virtually impossible to define a fixed set of rules that will operate satisfactorily over the full range of probable contingencies. Decision Science Applications' value-driven methodology offers a systematic way of automating the intuitive, common-sense approach used by human planners. The inherent responsiveness of value-driven systems to user-controlled priorities makes them particularly suitable for semi-automated applications in which the user must remain in command of the systems operation. Three examples of the practical application of the approach in the automation of hierarchical decision processes are discussed: the TAC Brawler air-to-air combat simulation is a four-level computerized hierarchy; the autonomous underwater vehicle mission planning system is a three-level control system; and the Space Station Freedom electrical power control and scheduling system is designed as a two-level hierarchy. The methodology is compared with rule-based systems and with other more widely-known optimization techniques.

Underwater manipulator

DOEpatents

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

1993-04-20

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

CSI feedback-based CS for underwater acoustic adaptive modulation OFDM system with channel prediction

NASA Astrophysics Data System (ADS)

Kuai, Xiao-yan; Sun, Hai-xin; Qi, Jie; Cheng, En; Xu, Xiao-ka; Guo, Yu-hui; Chen, You-gan

2014-06-01

In this paper, we investigate the performance of adaptive modulation (AM) orthogonal frequency division multiplexing (OFDM) system in underwater acoustic (UWA) communications. The aim is to solve the problem of large feedback overhead for channel state information (CSI) in every subcarrier. A novel CSI feedback scheme is proposed based on the theory of compressed sensing (CS). We propose a feedback from the receiver that only feedback the sparse channel parameters. Additionally, prediction of the channel state is proposed every several symbols to realize the AM in practice. We describe a linear channel prediction algorithm which is used in adaptive transmission. This system has been tested in the real underwater acoustic channel. The linear channel prediction makes the AM transmission techniques more feasible for acoustic channel communications. The simulation and experiment show that significant improvements can be obtained both in bit error rate (BER) and throughput in the AM scheme compared with the fixed Quadrature Phase Shift Keying (QPSK) modulation scheme. Moreover, the performance with standard CS outperforms the Discrete Cosine Transform (DCT) method.

Instruments and Methodologies for the Underwater Tridimensional Digitization and Data Musealization

NASA Astrophysics Data System (ADS)

Repola, L.; Memmolo, R.; Signoretti, D.

2015-04-01

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.

Study of Command and Control (C&C) Structures on Integrating Unmanned Autonomous Systems (UAS) into Manned Environments

DTIC Science & Technology

2012-09-01

and traveled all the way around Lake Tahoe. The self - driving cars have logged over 140,000 miles since October 9, 2010 (Google 2010) pictured here...UNDERWATER VEHICLES (AUV) STARFISH is the name given to a small team of autonomous robotic fish - a project carried out by the Acoustic Research...www.scribd.com/doc/42245301/Manual-Mine- Clearance-Book1. Accessed July 23, 2012. Google. The Self - Driving Car Logs more Miles on New Wheels. August 7

Anthropomorphic Robot Hand And Teaching Glove

NASA Technical Reports Server (NTRS)

Engler, Charles D., Jr.

1991-01-01

Robotic forearm-and-hand assembly manipulates objects by performing wrist and hand motions with nearly human grasping ability and dexterity. Imitates hand motions of human operator who controls robot in real time by programming via exoskeletal "teaching glove". Telemanipulator systems based on this robotic-hand concept useful where humanlike dexterity required. Underwater, high-radiation, vacuum, hot, cold, toxic, or inhospitable environments potential application sites. Particularly suited to assisting astronauts on space station in safely executing unexpected tasks requiring greater dexterity than standard gripper.

A Review of Artificial Lateral Line in Sensor Fabrication and Bionic Applications for Robot Fish.

PubMed

Liu, Guijie; Wang, Anyi; Wang, Xinbao; Liu, Peng

2016-01-01

Lateral line is a system of sense organs that can aid fishes to maneuver in a dark environment. Artificial lateral line (ALL) imitates the structure of lateral line in fishes and provides invaluable means for underwater-sensing technology and robot fish control. This paper reviews ALL, including sensor fabrication and applications to robot fish. The biophysics of lateral line are first introduced to enhance the understanding of lateral line structure and function. The design and fabrication of an ALL sensor on the basis of various sensing principles are then presented. ALL systems are collections of sensors that include carrier and control circuit. Their structure and hydrodynamic detection are reviewed. Finally, further research trends and existing problems of ALL are discussed.

Fish and chips: implementation of a neural network model into computer chips to maximize swimming efficiency in autonomous underwater vehicles.

PubMed

Blake, R W; Ng, H; Chan, K H S; Li, J

2008-09-01

Recent developments in the design and propulsion of biomimetic autonomous underwater vehicles (AUVs) have focused on boxfish as models (e.g. Deng and Avadhanula 2005 Biomimetic micro underwater vehicle with oscillating fin propulsion: system design and force measurement Proc. 2005 IEEE Int. Conf. Robot. Auto. (Barcelona, Spain) pp 3312-7). Whilst such vehicles have many potential advantages in operating in complex environments (e.g. high manoeuvrability and stability), limited battery life and payload capacity are likely functional disadvantages. Boxfish employ undulatory median and paired fins during routine swimming which are characterized by high hydromechanical Froude efficiencies (approximately 0.9) at low forward speeds. Current boxfish-inspired vehicles are propelled by a low aspect ratio, 'plate-like' caudal fin (ostraciiform tail) which can be shown to operate at a relatively low maximum Froude efficiency (approximately 0.5) and is mainly employed as a rudder for steering and in rapid swimming bouts (e.g. escape responses). Given this and the fact that bioinspired engineering designs are not obligated to wholly duplicate a biological model, computer chips were developed using a multilayer perception neural network model of undulatory fin propulsion in the knifefish Xenomystus nigri that would potentially allow an AUV to achieve high optimum values of propulsive efficiency at any given forward velocity, giving a minimum energy drain on the battery. We envisage that externally monitored information on flow velocity (sensory system) would be conveyed to the chips residing in the vehicle's control unit, which in turn would signal the locomotor unit to adopt kinematics (e.g. fin frequency, amplitude) associated with optimal propulsion efficiency. Power savings could protract vehicle operational life and/or provide more power to other functions (e.g. communications).

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

PubMed Central

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Duca, Angelica Lo; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles—AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011. PMID:22438748

Secure cooperation of autonomous mobile sensors using an underwater acoustic network.

PubMed

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Lo Duca, Angelica; Munafò, Andrea

2012-01-01

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

Observability analysis of DVL/PS aided INS for a maneuvering AUV.

PubMed

Klein, Itzik; Diamant, Roee

2015-10-22

Recently, ocean exploration has increased considerably through the use of autonomous underwater vehicles (AUV). A key enabling technology is the precision of the AUV navigation capability. In this paper, we focus on understanding the limitation of the AUV navigation system. That is, what are the observable error-states for different maneuvering types of the AUV? Since analyzing the performance of an underwater navigation system is highly complex, to answer the above question, current approaches use simulations. This, of course, limits the conclusions to the emulated type of vehicle used and to the simulation setup. For this reason, we take a different approach and analyze the system observability for different types of vehicle dynamics by finding the set of observable and unobservable states. To that end, we apply the observability Gramian approach, previously used only for terrestrial applications. We demonstrate our analysis for an underwater inertial navigation system aided by a Doppler velocity logger or by a pressure sensor. The result is a first prediction of the performance of an AUV standing, rotating at a position and turning at a constant speed. Our conclusions of the observable and unobservable navigation error states for different dynamics are supported by extensive numerical simulation.

Observability Analysis of DVL/PS Aided INS for a Maneuvering AUV

PubMed Central

Klein, Itzik; Diamant, Roee

2015-01-01

Recently, ocean exploration has increased considerably through the use of autonomous underwater vehicles (AUV). A key enabling technology is the precision of the AUV navigation capability. In this paper, we focus on understanding the limitation of the AUV navigation system. That is, what are the observable error-states for different maneuvering types of the AUV? Since analyzing the performance of an underwater navigation system is highly complex, to answer the above question, current approaches use simulations. This, of course, limits the conclusions to the emulated type of vehicle used and to the simulation setup. For this reason, we take a different approach and analyze the system observability for different types of vehicle dynamics by finding the set of observable and unobservable states. To that end, we apply the observability Gramian approach, previously used only for terrestrial applications. We demonstrate our analysis for an underwater inertial navigation system aided by a Doppler velocity logger or by a pressure sensor. The result is a first prediction of the performance of an AUV standing, rotating at a position and turning at a constant speed. Our conclusions of the observable and unobservable navigation error states for different dynamics are supported by extensive numerical simulation. PMID:26506356

A new tool for the rapid remote detection of leaks from subsea pipelines during remotely operated vehicle inspections

NASA Astrophysics Data System (ADS)

McStay, D.; McIlroy, J.; Forte, A.; Lunney, F.; Greenway, T.; Thabeth, K.; Dean, G.

2005-06-01

A new 2000 m depth rated subsea sensor that can effectively, rapidly and remotely detect leaks of fluorescein dye, leak detection chemicals and hydraulic fluids from underwater structures is reported. The system utilizes ultra-bright LED technology to project a structured beam of light, at a wavelength suitable to excite the fluorescence of the target material, into the water column. The resultant fluorescence is collected and digital signal processing used to extract the intensity. The system is capable of detecting ppm concentrations of fluorescein at a range of 2.5 m in water in real time. The ability to stand-off from subsea structures, while rapidly detecting the chemicals makes the system highly suited to subsea leak inspections with remotely operated vehicles or autonomous underwater vehicles, as it allows the vehicles to be flown quickly and safely over the structure to be inspected. This increases both the speed and effectiveness of the inspection. The remote detection capability is also highly effective for probing complex underwater structures. The system has been successfully used in real subsea survey applications and has been found to be effective, user friendly and to dramatically reduce inspection times and hence costs.

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 7 2013-10-01 2013-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 7 2014-10-01 2014-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 7 2012-10-01 2012-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's underwater...

Network Computing for Distributed Underwater Acoustic Sensors

DTIC Science & Technology

2014-03-31

underwater sensor network with mobility. In preparation. [3] EvoLogics (2013), Underwater Acoustic Modems, (Product Information Guide... Wireless Communications, 9(9), 2934–2944. [21] Pompili, D. and Akyildiz, I. (2010), A multimedia cross-layer protocol for underwater acoustic sensor networks ... Network Computing for Distributed Underwater Acoustic Sensors M. Barbeau E. Kranakis

The usefulness of Wi-Fi based digital chest drainage system in the post-operative care of pneumothorax

PubMed Central

Cho, Hyun Min; Hong, Yoon Joo; Byun, Chun Sung

2016-01-01

Background Chest drainage systems are usually composed of chest tube and underwater-seal bottle. But this conventional system may restrict patients doing exercise and give clinicians obscure data about when to remove tubes because there is no objective indicator. Recently developed digital chest drainage systems may facilitate interpretation of the grade of air leak and make it easy for clinicians to decide when to remove chest tubes. In addition, with combination of wireless internet devices, monitoring and managing of drainage system distant from the patient is possible. Methods Sixty patients of primary pneumothorax were included in a prospective randomized study and divided into two groups. Group I (study) consisted of digital chest drainage system while in group II (control), conventional underwater-seal chest bottle system was used. Data was collected from January, 2012 to September, 2013 in Eulji University Hospital, Daejeon, Korea. Results There was no difference in age, sex, smoking history and postoperative pain between two groups. But the average length of drainage was 2.2 days in group I and 3.1 days in group II (P<0.006). And more, about 90% of the patients in group I was satisfied with using new device for convenience. Conclusions Digital system was beneficial on reducing the length of tube drainage by real time monitoring. It also had advantage in portability, loudness and gave more satisfaction than conventional system. Moreover, internet based digital drainage system will be a good method in thoracic telemedicine area in the near future. PMID:27076934

Integration of a laser doppler vibrometer and adaptive optics system for acoustic-optical detection in the presence of random water wave distortions

NASA Astrophysics Data System (ADS)

Land, Phillip; Robinson, Dennis; Roeder, James; Cook, Dean; Majumdar, Arun K.

2016-05-01

A new technique has been developed for improving the Signal-to-Noise Ratio (SNR) of underwater acoustic signals measured above the water's surface. This technique uses a Laser Doppler Vibrometer (LDV) and an Adaptive Optics (AO) system (consisting of a fast steering mirror, deformable mirror, and Shack-Hartmann Wavefront Sensor) for mitigating the effect of surface water distortions encountered while remotely recording underwater acoustic signals. The LDV is used to perform non-contact vibration measurements of a surface via a two beam laser interferometer. We have demonstrated the feasibility of this technique to overcome water distortions artificially generated on the surface of the water in a laboratory tank. In this setup, the LDV beam penetrates the surface of the water and travels down to be reflected off a submerged acoustic transducer. The reflected or returned beam is then recorded by the LDV as a vibration wave measurement. The LDV extracts the acoustic wave information while the AO mitigates the water surface distortions, increasing the overall SNR. The AO system records the Strehl ratio, which is a measure of the quality of optical image formation. In a perfect optical system the Strehl ratio is unity, however realistic systems with imperfections have Strehl ratios below one. The operation of the AO control system in open-loop and closed-loop configurations demonstrates the utility of the AO-based LDV for many applications.

Underwater robot society doing internal inspection and leak monitoring of water systems

NASA Astrophysics Data System (ADS)

Halme, Aarne; Vainio, Mika; Appelqvist, Pekka; Jakubik, Peter; Schonberg, Torsten; Visala, Arto

1997-09-01

In the field of civil engineering an effective internal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater robotic sensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Tests results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.

Underwater acoustic positioning system for the SMO and KM3NeT - Italia projects

DOE Office of Scientific and Technical Information (OSTI.GOV)

Viola, S.; Barbagallo, G.; Cacopardo, G.

In the underwater neutrino telescopes, the positions of the Cherenkov light sensors and their movements must be known with an accuracy of few tens of centimetres. In this work, the activities of the SMO and KM3NeT-Italia teams for the development of an acoustic positioning system for KM3NeT-Italia project are presented. The KM3NeT-Italia project foresees the construction, within two years, of 8 towers in the view of the several km{sup 3}-scale neutrino telescope KM3NeT.

Characteristics and Use of a Parametric End-Fired Array for Acoustics in Air

DTIC Science & Technology

2007-03-01

as a sonar application for underwater use. The vast majority of the research for parametric arrays was devoted to underwater applications until the...and also for the calibration of hydrophones and receivers for wide band sonar . All of the researchers mentioned above mainly focused their efforts on...features, which include very high directivity at low frequencies without unwanted side lobes. They are generally used as a wide band sonar system

Munitions in the Underwater Environment: State of the Science and Knowledge Gaps

DTIC Science & Technology

2010-06-01

the Munitions Items Disposition Action System ( MIDAS ). Munitions constituents (MCs) can be identified through the known munitions type. The MIDAS and...physical damage to the casing, adjacent or touching metals, and water or substrate qualities such as temperature, pH, or Redox potential. The...environments, little is known on modeling the fate of MCs in the underwater environment. One of the anticipated problems in predicting the fate and

VEVI: A Virtual Reality Tool For Robotic Planetary Explorations

NASA Technical Reports Server (NTRS)

Piguet, Laurent; Fong, Terry; Hine, Butler; Hontalas, Phil; Nygren, Erik

1994-01-01

The Virtual Environment Vehicle Interface (VEVI), developed by the NASA Ames Research Center's Intelligent Mechanisms Group, is a modular operator interface for direct teleoperation and supervisory control of robotic vehicles. Virtual environments enable the efficient display and visualization of complex data. This characteristic allows operators to perceive and control complex systems in a natural fashion, utilizing the highly-evolved human sensory system. VEVI utilizes real-time, interactive, 3D graphics and position / orientation sensors to produce a range of interface modalities from the flat panel (windowed or stereoscopic) screen displays to head mounted/head-tracking stereo displays. The interface provides generic video control capability and has been used to control wheeled, legged, air bearing, and underwater vehicles in a variety of different environments. VEVI was designed and implemented to be modular, distributed and easily operated through long-distance communication links, using a communication paradigm called SYNERGY.

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

NASA Astrophysics Data System (ADS)

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

2016-06-01

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

Beam-folding ultraviolet-visible Fourier transform spectrometry and underwater cytometry for in situ measurement of marine phytoplankton

NASA Astrophysics Data System (ADS)

Wang, Xuzhu

The system complexity and hence high cost needed for generating the high-resolution and precise position-sampling triggers over very long distances is one of main hindrances to the popularization of the UV-visible Fourier transform spectrometer (FTS). In part one of this thesis, the specially designed beam-folding and improved beam-folding methods to optically subdivide the laser fringes are presented. The Near-UV to Near-infrared FTSs based on 4-fold beam-folding systems were developed. The experimental results have demonstrated that these techniques are promising methods to produce the high-resolution and high-precision sampling triggers of scanning mechanism of UV-visible FTSs without the need for complicated optics, sophisticated detector electronics and high-stability motion control systems. The FTS based on the beam-folding technique can reach a spectral resolution of ˜4 cm-1 (0.1nm) in the visible wavelengths; The FTS based on the improved beam-folding technique can achieve a spectral resolution of ˜0.28 cm-1 (0.01nm) in the visible wavelengths. In the improved beam-folding FTS, The adoption of retroreflectors and the symmetrical arrangement of two back-to back interferometers produced much higher performance than that of the beam-folding FTS employing prism mirrors. The replacement of prism mirrors by retroreflectors and the symmetrical optical arrangement maintain the FTS in perfect optical alignment during scanning process by keeping all beams parallel with the incident beams. The vertex of the movable retroreflector in the measurement interferometer is arranged very close to the midpoint of the vertices of the movable retroreflectors in the tracking interferometer so that the optical symmetrical axes for both interferometers always keep in line with each other. That is, the change of the OPD of the tracking interferometer always remains synchronous to that of the OPD of the measurement interferometer even for any moving misalignments, making the FTS itself insensitive to these fluctuations. In addition, an attempt on fast-scanning visible IFTS based on the improved beam-folding technique was done. Preliminary experimental results demonstrated the feasibility of the fast-scanning visible IFTS based on the improved beam-folding technique. In part two, an underwater cytometer for in situ measurement of marine phytoplankton using a combining technique of laser-induced fluorescence (LIF) and laser differential Doppler velocimetry (LDDV) was developed. The advancement compared to the previous work done in the laboratory is to realize an in situ underwater measurement system by means of improving the optical design. The experimental results in June and August 2004 in the coastal area of Hong Kong demonstrated that the new cytometer can be used for in situ measurement of marine phytoplankton. The mean concentration detected by this instrument agreed closely with the experimental data measured by the traditional cell counting under a microscope. With an underwater optical sensing unit that does not rely on an electrical power source, the sensing unit can stay submerged underwater for long periods, making a long-term real-time monitoring system possible.

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

PubMed

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

2017-01-01

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

Acoustic characteristics of underwater tail slaps used by Norwegian and Icelandic killer whales (Orcinus orca) to debilitate herring (Clupea harengus).

PubMed

Simon, Malene; Wahlberg, Magnus; Ugarte, Fernando; Miller, Lee A

2005-06-01

Norwegian killer whales debilitate prey by slapping their tails into herring schools. These underwater tail slaps produce a thud-like sound. It is unclear whether this sound is caused by cavitation and/or physical contact between herring and whale tail. Also the forces causing debilitation of the fish are not understood. Here we present an acoustic analysis of underwater tail slaps using a multi-channel wide (150 kHz) band recording system. Underwater tail slaps produced by Norwegian killer whales generated sounds consisting of multiple pulses with source levels of 186+/-5.4 dB (pp) re.1 microPa at 1 m (+/-1 s.d., N = 4). The -3 dB and 97% energy bandwidths were 36.8+/-22.5 kHz and 130.5+/-17.5 kHz (+/-1 s.d., N = 13), respectively, with a centre frequency of 46.1+/-22.3 kHz. The similarities between the acoustic properties of underwater tail slaps recorded from killer whales in Norway, and thud-like sounds recorded from killer whales in Iceland suggest that Norwegian and Icelandic killer whales use similar hunting techniques. The acoustic characteristics of sounds produced by underwater tail slaps were similar to the ones from other cavitation sound sources described in the literature, both in term of temporal and frequency features as well as in source level. We suggest that multiple factors generated by the tail slaps like particle fluctuations, turbulence, pressure changes and physical impact cause debilitation of herring.

An IPMC-enabled bio-inspired bending/twisting fin for underwater applications

NASA Astrophysics Data System (ADS)

Palmre, Viljar; Hubbard, Joel J.; Fleming, Maxwell; Pugal, David; Kim, Sungjun; Kim, Kwang J.; Leang, Kam K.

2013-01-01

This paper discusses the design, fabrication, and characterization of an ionic polymer-metal composite (IPMC) actuator-based bio-inspired active fin capable of bending and twisting motion. It is pointed out that IPMC strip actuators are used in the simple cantilever configuration to create simple bending (flapping-like) motion for propulsion in underwater autonomous systems. However, the resulting motion is a simple 1D bending and performance is rather limited. To enable more complex deformation, such as the flapping (pitch and heaving) motion of real pectoral and caudal fish fins, a new approach which involves molding or integrating IPMC actuators into a soft boot material to create an active control surface (called a ‘fin’) is presented. The fin can be used to realize complex deformation depending on the orientation and placement of the actuators. In contrast to previously created IPMCs with patterned electrodes for the same purpose, the proposed design avoids (1) the more expensive process of electroless plating platinum all throughout the surface of the actuator and (2) the need for specially patterning the electrodes. Therefore, standard shaped IPMC actuators such as those with rectangular dimensions with varying thicknesses can be used. One unique advantage of the proposed structural design is that custom shaped fins and control surfaces can be easily created without special materials processing. The molding process is cost effective and does not require functionalizing or ‘activating’ the boot material similar to creating IPMCs. For a prototype fin (90 mm wide × 60 mm long × 1.5 mm thick), the measured maximum tip displacement was approximately 44 mm and the twist angle of the fin exceeded 10°. Lift and drag measurements in water where the prototype fin with an airfoil profile was dragged through water at a velocity of 21 cm s-1 showed that the lift and drag forces can be affected by controlling the IPMCs embedded into the fin structure. These results suggest that such IPMC-enabled fin designs can be used for developing active propeller blades or control surfaces on underwater vehicles.

Reactor Power for Large Displacement Autonomous Underwater Vehicles

DOE Office of Scientific and Technical Information (OSTI.GOV)

McClure, Patrick Ray; Reid, Robert Stowers; Poston, David Irvin

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

Experimental demonstration of MIMO-OFDM underwater wireless optical communication

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy.

PubMed

Masmitja, Ivan; Gonzalez, Julian; Galarza, Cesar; Gomariz, Spartacus; Aguzzi, Jacopo; Del Rio, Joaquin

2018-04-17

Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions.

Energy Consumption Research of Mobile Data Collection Protocol for Underwater Nodes Using an USV.

PubMed

Lv, Zhichao; Zhang, Jie; Jin, Jiucai; Li, Qi; Gao, Baoru

2018-04-16

The Unmanned Surface Vehicle (USV) integrated with an acoustic modem is a novel mobile vehicle for data collection, which has an advantage in terms of mobility, efficiency, and collection cost. In the scenario of data collection, the USV is controlled autonomously along the planning trajectory and the data of underwater nodes are dynamically collected. In order to improve the efficiency of data collection and extend the life of the underwater nodes, a mobile data collection protocol for underwater nodes using the USV was proposed. In the protocol, the stop-and-wait ARQ transmission mechanism is adopted, where the duty cycle is designed considering the ratio between the sleep mode and the detection mode, and the transmission ratio is defined by the duty cycle, wake-up signal cycles, and USV’s speed. According to protocol, the evaluation index for energy consumption is constructed based on the duty cycle and the transmission ratio. The energy consumption of the protocol is simulated and analyzed using the mobile communication experiment data of USV, taking into consideration USV’s speed, data sequence length, and duty cycle. Optimized protocol parameters are identified, which in turn denotes the proposed protocol’s feasibility and effectiveness.

Durable underwater superoleophobic PDDA/halloysite nanotubes decorated stainless steel mesh for efficient oil-water separation

NASA Astrophysics Data System (ADS)

Hou, Kun; Zeng, Yicheng; Zhou, Cailong; Chen, Jiahui; Wen, Xiufang; Xu, Shouping; Cheng, Jiang; Lin, Yingguang; Pi, Pihui

2017-09-01

A durable underwater superoleophobic mesh was conveniently prepared by layer-by-layer (LBL) assembly of poly (diallyldimethylammonium chloride) (PDDA) and halloysite nanotubes (HNTs) on a stainless steel mesh. The hierarchical structure and roughness of the PDDA/HNTs coating surface were controlled by adjusting the number of layer deposition cycles. When the PDDA/HNTs coating with 10 deposition cycles was decorated on the mesh with pore size of about 54 μm, the underwater superoleophobic mesh was obtained. The as-prepared underwater superoleophobic PDDA/HNTs decorated mesh exhibits outstanding oil-water separation performance with a separation efficiency of over 97% for various oil/water mixtures, which allowed water to pass through while repelled oil completely. In addition, the as-prepared decorated mesh still maintained high separation efficiency above 97% after repeated 20 separation times for hexane/water mixture or chloroform/water mixture. More importantly, the as-prepared decorated mesh is durable enough to resist chemical and mechanical challenges, such as strong alkaline, salt aqueous and sand abrasion. Therefore, the as-prepared decorated mesh has practical utility in oil-water separation due to its stable oil-water performance, remarkable chemical and mechanical durability and the facile and eco-friendly preparation process.

Underwater Wireless Sensor Networks: how do acoustic propagation models impact the performance of higher-level protocols?

PubMed

Llor, Jesús; Malumbres, Manuel P

2012-01-01

Several Medium Access Control (MAC) and routing protocols have been developed in the last years for Underwater Wireless Sensor Networks (UWSNs). One of the main difficulties to compare and validate the performance of different proposals is the lack of a common standard to model the acoustic propagation in the underwater environment. In this paper we analyze the evolution of underwater acoustic prediction models from a simple approach to more detailed and accurate models. Then, different high layer network protocols are tested with different acoustic propagation models in order to determine the influence of environmental parameters on the obtained results. After several experiments, we can conclude that higher-level protocols are sensitive to both: (a) physical layer parameters related to the network scenario and (b) the acoustic propagation model. Conditions like ocean surface activity, scenario location, bathymetry or floor sediment composition, may change the signal propagation behavior. So, when designing network architectures for UWSNs, the role of the physical layer should be seriously taken into account in order to assert that the obtained simulation results will be close to the ones obtained in real network scenarios.

Underwater Wireless Sensor Networks: How Do Acoustic Propagation Models Impact the Performance of Higher-Level Protocols?

PubMed Central

Llor, Jesús; Malumbres, Manuel P.

2012-01-01

Several Medium Access Control (MAC) and routing protocols have been developed in the last years for Underwater Wireless Sensor Networks (UWSNs). One of the main difficulties to compare and validate the performance of different proposals is the lack of a common standard to model the acoustic propagation in the underwater environment. In this paper we analyze the evolution of underwater acoustic prediction models from a simple approach to more detailed and accurate models. Then, different high layer network protocols are tested with different acoustic propagation models in order to determine the influence of environmental parameters on the obtained results. After several experiments, we can conclude that higher-level protocols are sensitive to both: (a) physical layer parameters related to the network scenario and (b) the acoustic propagation model. Conditions like ocean surface activity, scenario location, bathymetry or floor sediment composition, may change the signal propagation behavior. So, when designing network architectures for UWSNs, the role of the physical layer should be seriously taken into account in order to assert that the obtained simulation results will be close to the ones obtained in real network scenarios. PMID:22438712

Maximization of the Supportable Number of Sensors in QoS-Aware Cluster-Based Underwater Acoustic Sensor Networks

PubMed Central

Nguyen, Thi-Tham; Van Le, Duc; Yoon, Seokhoon

2014-01-01

This paper proposes a practical low-complexity MAC (medium access control) scheme for quality of service (QoS)-aware and cluster-based underwater acoustic sensor networks (UASN), in which the provision of differentiated QoS is required. In such a network, underwater sensors (U-sensor) in a cluster are divided into several classes, each of which has a different QoS requirement. The major problem considered in this paper is the maximization of the number of nodes that a cluster can accommodate while still providing the required QoS for each class in terms of the PDR (packet delivery ratio). In order to address the problem, we first estimate the packet delivery probability (PDP) and use it to formulate an optimization problem to determine the optimal value of the maximum packet retransmissions for each QoS class. The custom greedy and interior-point algorithms are used to find the optimal solutions, which are verified by extensive simulations. The simulation results show that, by solving the proposed optimization problem, the supportable number of underwater sensor nodes can be maximized while satisfying the QoS requirements for each class. PMID:24608009

Maximization of the supportable number of sensors in QoS-aware cluster-based underwater acoustic sensor networks.

PubMed

Nguyen, Thi-Tham; Le, Duc Van; Yoon, Seokhoon

2014-03-07

This paper proposes a practical low-complexity MAC (medium access control) scheme for quality of service (QoS)-aware and cluster-based underwater acoustic sensor networks (UASN), in which the provision of differentiated QoS is required. In such a network, underwater sensors (U-sensor) in a cluster are divided into several classes, each of which has a different QoS requirement. The major problem considered in this paper is the maximization of the number of nodes that a cluster can accommodate while still providing the required QoS for each class in terms of the PDR (packet delivery ratio). In order to address the problem, we first estimate the packet delivery probability (PDP) and use it to formulate an optimization problem to determine the optimal value of the maximum packet retransmissions for each QoS class. The custom greedy and interior-point algorithms are used to find the optimal solutions, which are verified by extensive simulations. The simulation results show that, by solving the proposed optimization problem, the supportable number of underwater sensor nodes can be maximized while satisfying the QoS requirements for each class.

An Adaptive OFDMA-Based MAC Protocol for Underwater Acoustic Wireless Sensor Networks

PubMed Central

Khalil, Issa M.; Gadallah, Yasser; Hayajneh, Mohammad; Khreishah, Abdallah

2012-01-01

Underwater acoustic wireless sensor networks (UAWSNs) have many applications across various civilian and military domains. However, they suffer from the limited available bandwidth of acoustic signals and harsh underwater conditions. In this work, we present an Orthogonal Frequency Division Multiple Access (OFDMA)-based Media Access Control (MAC) protocol that is configurable to suit the operating requirements of the underwater sensor network. The protocol has three modes of operation, namely random, equal opportunity and energy-conscious modes of operation. Our MAC design approach exploits the multi-path characteristics of a fading acoustic channel to convert it into parallel independent acoustic sub-channels that undergo flat fading. Communication between node pairs within the network is done using subsets of these sub-channels, depending on the configurations of the active mode of operation. Thus, the available limited bandwidth gets fully utilized while completely avoiding interference. We derive the mathematical model for optimal power loading and subcarrier selection, which is used as basis for all modes of operation of the protocol. We also conduct many simulation experiments to evaluate and compare our protocol with other Code Division Multiple Access (CDMA)-based MAC protocols. PMID:23012517

An adaptive OFDMA-based MAC protocol for underwater acoustic wireless sensor networks.

PubMed

Khalil, Issa M; Gadallah, Yasser; Hayajneh, Mohammad; Khreishah, Abdallah

2012-01-01

Underwater acoustic wireless sensor networks (UAWSNs) have many applications across various civilian and military domains. However, they suffer from the limited available bandwidth of acoustic signals and harsh underwater conditions. In this work, we present an Orthogonal Frequency Division Multiple Access (OFDMA)-based Media Access Control (MAC) protocol that is configurable to suit the operating requirements of the underwater sensor network. The protocol has three modes of operation, namely random, equal opportunity and energy-conscious modes of operation. Our MAC design approach exploits the multi-path characteristics of a fading acoustic channel to convert it into parallel independent acoustic sub-channels that undergo flat fading. Communication between node pairs within the network is done using subsets of these sub-channels, depending on the configurations of the active mode of operation. Thus, the available limited bandwidth gets fully utilized while completely avoiding interference. We derive the mathematical model for optimal power loading and subcarrier selection, which is used as basis for all modes of operation of the protocol. We also conduct many simulation experiments to evaluate and compare our protocol with other Code Division Multiple Access (CDMA)-based MAC protocols.

Research on control technology of hardware parallelism for marine controlled source electromagnetic transmitter

NASA Astrophysics Data System (ADS)

Wang, Meng; Deng, Ming; Luo, Xianhu; Zhao, Qingxian; Chen, Kai; Jing, Jianen

2018-02-01

The marine controlled source electromagnetic (CSEM) method has been recognized as an effective exploration method of shallow hydrocarbons around the world. We developed our own underwater marine CSEM transmitter that consisted of many functional modules with various response times. We previously adopted a centralized software-control technology to design the transmitter circuit topological structure. That structure probably generated a control disorder or malfunction. These undesirable conditions could lead to repeated recovery and deployment of the transmitter, which not only consumed time but also affected data continuity and establishment of stable and continuous CSEM field. We developed an instrument design concept named ‘control technology of hardware parallelism’. In this design, a noteworthy innovation of our new technology is to solve the above-mentioned problems at the physical and fundamental levels. We used several self-contained control-units to simultaneously accomplish the predetermined functions of the transmitter. The new solution relies on two technologies: multi-core embedded technology and multi-channel parallel optical-fiber data transmission technology. The first technology depends on many independent microcontrollers. Every microcontroller is only used to achieve a customized function. The second one relies on several multiple optical-fiber transmission channels realized by a complex programmable logic device and two optical-fiber conversion devices, which are used to establish a communication link between the shipboard monitoring and control-unit and underwater transmitter. We have conducted some marine experiments to verify the reliability and stability of the new method. In particular, the new technology used in the transmitter system could help us obtain more useful measured data in a limited time, improve real-time efficiency, and support the establishment of a stable CSEM field.

Inertial sensor self-calibration in a visually-aided navigation approach for a micro-AUV.

PubMed

Bonin-Font, Francisco; Massot-Campos, Miquel; Negre-Carrasco, Pep Lluis; Oliver-Codina, Gabriel; Beltran, Joan P

2015-01-16

This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo cameras and a pressure sensor. The data given by the sensors are fused, adjusted and corrected in a multiplicative error state Kalman filter (MESKF), which returns a single vector with the pose and twist of the vehicle and the biases of the inertial sensors (the accelerometer and the gyroscope). The inclusion of these biases in the state vector permits their self-calibration and stabilization, improving the estimates of the robot orientation. Experiments in controlled underwater scenarios and in the sea have demonstrated a satisfactory performance and the capacity of the vehicle to operate in real environments and in real time.

Inertial Sensor Self-Calibration in a Visually-Aided Navigation Approach for a Micro-AUV

PubMed Central

Bonin-Font, Francisco; Massot-Campos, Miquel; Negre-Carrasco, Pep Lluis; Oliver-Codina, Gabriel; Beltran, Joan P.

2015-01-01

This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo cameras and a pressure sensor. The data given by the sensors are fused, adjusted and corrected in a multiplicative error state Kalman filter (MESKF), which returns a single vector with the pose and twist of the vehicle and the biases of the inertial sensors (the accelerometer and the gyroscope). The inclusion of these biases in the state vector permits their self-calibration and stabilization, improving the estimates of the robot orientation. Experiments in controlled underwater scenarios and in the sea have demonstrated a satisfactory performance and the capacity of the vehicle to operate in real environments and in real time. PMID:25602263

Multi-dimensional water quality assessment of an urban drinking water source elucidated by high resolution underwater towed vehicle mapping.

PubMed

Lock, Alan; Spiers, Graeme; Hostetler, Blair; Ray, James; Wallschläger, Dirk

2016-04-15

Spatial surveys of Ramsey Lake, Sudbury, Ontario water quality were conducted using an innovative underwater towed vehicle (UTV) equipped with a multi-parameter probe providing real-time water quality data. The UTV revealed underwater vent sites through high resolution monitoring of different spatial chemical characteristics using common sensors (turbidity, chloride, dissolved oxygen, and oxidation/reduction sensors) that would not be feasible with traditional water sampling methods. Multi-parameter probe vent site identification is supported by elevated alkalinity and silica concentrations at these sites. The identified groundwater vent sites appear to be controlled by bedrock fractures that transport water from different sources with different contaminants of concern. Elevated contaminants, such as, arsenic and nickel and/or nutrient concentrations are evident at the vent sites, illustrating the potential of these sources to degrade water quality. Copyright © 2016 Elsevier Ltd. All rights reserved.

SOUNET: Self-Organized Underwater Wireless Sensor Network.

PubMed

Kim, Hee-Won; Cho, Ho-Shin

2017-02-02

In this paper, we propose an underwater wireless sensor network (UWSN) named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the timevarying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR), and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment.

SOUNET: Self-Organized Underwater Wireless Sensor Network

PubMed Central

Kim, Hee-won; Cho, Ho-Shin

2017-01-01

In this paper, we propose an underwater wireless sensor network (UWSN) named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the time-varying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR), and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment. PMID:28157164

Acoustic beam control in biomimetic projector via velocity gradient

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gao, Xiaowei; Dong, Erqian; Song, Zhongchang

A biomimetic projector (BioP) based on computerized tomography of pygmy sperm whale's biosonar system has been designed using gradient-index (GRIN) material. The directivity of this BioP device was investigated as function of frequency and the velocity gradient of the GRIN material. A strong beam control over a broad bandwidth at the subwavelength scale has been achieved. Compared with a bare subwavelength source, the main lobe pressure of the BioP is about five times as high and the angular resolution is one order of magnitude better. Our results indicate that this BioP has excellent application potential in miniaturized underwater sonars.

Acoustic beam control in biomimetic projector via velocity gradient

NASA Astrophysics Data System (ADS)

Gao, Xiaowei; Zhang, Yu; Cao, Wenwu; Dong, Erqian; Song, Zhongchang; Li, Songhai; Tang, Liguo; Zhang, Sai

2016-07-01

A biomimetic projector (BioP) based on computerized tomography of pygmy sperm whale's biosonar system has been designed using gradient-index (GRIN) material. The directivity of this BioP device was investigated as function of frequency and the velocity gradient of the GRIN material. A strong beam control over a broad bandwidth at the subwavelength scale has been achieved. Compared with a bare subwavelength source, the main lobe pressure of the BioP is about five times as high and the angular resolution is one order of magnitude better. Our results indicate that this BioP has excellent application potential in miniaturized underwater sonars.

Experimental Verification of AUV (Autonomous Underwater Vehicle) Performance.

DTIC Science & Technology

1988-03-01

7 3 First Order Plant Model 10 4 Closed Loop System Block Diagram 11 5 RLP[Kpz=l,U=0.5] 13 6 RLP[Kpz=I,U=I] 147 RLP[Kpz=0.5,U-0.5] 15 8 RLP[Kpz=0.5,U...circuit. The control circuit would then generate a radio control signal to maneuver the vehicle. 6 *’%4 MUMNT -. %Am -W’ This takes the man out of the loop ...angle, the constant Ky is 0.14i_" IN’ ft-lbf/rad. Estimated values of J and B were determined. The closed loop transfer function Go could then be

Additional deployment of ocean bottom gravity meter and ocean bottom electro-magnetic meter for the multidisciplinary cabled observation in Sagami Bay, Japan

NASA Astrophysics Data System (ADS)

Mitsuzawa, K.; Goto, T.; Araki, E.; Watanabe, T.; Sugioka, H.; Kasaya, T.; Sayanagi, K.; Mikada, H.; Fujimoto, H.; Nagao, T.; Koizumi, K.; Asakawa, K.

2005-12-01

Western part of the Sagami Bay central Pacific side of Japan, is known as one of the high active tectonic areas. In this area, Teishi Knoll, volcanic seamount, erupted in 1989 and the earthquake swarms occurs repeatedly every few years in the eastern coast of the Izu Peninsula. The real-time deep sea floor observatory was deployed about 7 km off Hatsushima Island, Sagami Bay, at a depth of 1174 m in 1993 to monitor seismic activities, underwater pressure, water temperature and deep currents. The video camera and lights were also mounted in the observatory to monitor the relations among biological activities associated with the tectonic activities. The observation system including submarine electro-optical cable with a length of 8 km was completely renewed in 2000. The several underwater-mateable connectors are installed in the new observatory for additional observation instruments. A precise pressure sensor, ocean bottom gravity meter and ocean bottom electro-magnetic meter were installed using ROV Hyper-Dolphin in the cruise of R/V Natsushima from January 9 to 14, 2005. We start to operate them at February 10, 2005 after checking those of data qualities. We also installed an underwater internet interface, which is called Linux Box, as a prototype of underwater network system which was operated by Linux operating system. The Linux Box is a key network system for multidisciplinary observation network. It will be able to connect much kind of observation instruments as using internet connection. We put the precise pressure sensor as a sensor of the Linux Box in this experiment.

Visual training improves underwater vision in children.

PubMed

Gislén, Anna; Warrant, Eric J; Dacke, Marie; Kröger, Ronald H H

2006-10-01

Children in a tribe of sea-gypsies from South-East Asia have been found to have superior underwater vision compared to European children. In this study, we show that the improved underwater vision of these Moken children is not due to better contrast sensitivity in general. We also show that European children can achieve the same underwater acuity as the Moken children. After 1 month of underwater training (11 sessions) followed by 4 months with no underwater activities, European children showed improved underwater vision and distinct bursts of pupil constriction. When tested 8 months after the last training session in an outdoor pool in bright sunlight-comparable to light environments in South-East Asia-the children had attained the same underwater acuity as the sea-gypsy children. The achieved performance can be explained by the combined effect of pupil constriction and strong accommodation.

An Underwater Color Image Quality Evaluation Metric.

PubMed

Yang, Miao; Sowmya, Arcot

2015-12-01

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

Performance of an underwater acoustic volume array using time-reversal focusing.

PubMed

Root, Joseph A; Rogers, Peter H

2002-11-01

Time reversal permits acoustic focusing and beam forming in inhomogeneous and/or high-scattering environments. A volumetric array geometry can suppress back lobes and can fit a large, powerful array of elements into small spaces, like the free-water spaces on submarines. This research investigates applying the time-reversal method to an underwater acoustic volume array. The experiments evaluate the focusing performance of a 27-element volume array when different scattering structures are present within the volume of the array. The array is arranged in a 3x3x3 cubic matrix configuration with 18.75-cm vertical and horizontal element spacing. The system utilizes second-derivative Gaussian pulses to focus on a point 30 cm from the array. Results include a comparison between time-reversal focusing and standard focusing, an evaluation of the volume array's ability to suppress back lobes, and an analysis of how different scattering environments affect focal region size. Potential underwater applications for a volume array using time reversal include acoustic imaging, naval mine hunting, sonar, and underwater communications.

Performance of an underwater acoustic volume array using time-reversal focusing

NASA Astrophysics Data System (ADS)

Root, Joseph A.; Rogers, Peter H.

2002-11-01

Time reversal permits acoustic focusing and beam forming in inhomogeneous and/or high-scattering environments. A volumetric array geometry can suppress back lobes and can fit a large, powerful array of elements into small spaces, like the free-water spaces on submarines. This research investigates applying the time-reversal method to an underwater acoustic volume array. The experiments evaluate the focusing performance of a 27-element volume array when different scattering structures are present within the volume of the array. The array is arranged in a 3 x3 x3 cubic matrix configuration with 18.75-cm vertical and horizontal element spacing. The system utilizes second-derivative Gaussian pulses to focus on a point 30 cm from the array. Results include a comparison between time-reversal focusing and standard focusing, an evaluation of the volume array's ability to suppress back lobes, and an analysis of how different scattering environments affect focal region size. Potential underwater applications for a volume array using time reversal include acoustic imaging, naval mine hunting, sonar, and underwater communications. copyright 2002 Acoustical Society of America.

Underwater sound radiation patterns of contemporary merchant ships

NASA Astrophysics Data System (ADS)

Gassmann, M.; Wiggins, S. M.; Hildebrand, J. A.

2016-12-01

Merchant ships radiate underwater sound as an unintended by-product of their operation and as consequence contribute significantly to low-frequency, man-made noise in the ocean. Current measurement standards for the description of underwater sound from ships (ISO 17208-1:2016 and ANSI S12.64-2009) require nominal hydrophone depths of 15°, 30° and 45° at the starboard and portside of the test vessel.To opportunistically study the underwater sound of contemporary merchant ships that were tracked by the Automatic Identification System (AIS), an array of seven high-frequency acoustic recording packages (HARPs) with a sampling frequency of 200 kHz was deployed in the Santa Barbara Channel in the primary outgoing shipping lane for the port of Los Angeles and Long Beach. The vertical and horizontal aperture of the array allowed for starboard and portside measurements at all standard-required nominal hydrophone depths in addition to measurements taken at the keel aspect. Based on these measurements, frequency-dependent radiation patterns of contemporary merchant ships were estimated and used to evaluate current standards for computing ship source levels.

Development of an artificial sensor for hydrodynamic detection inspired by a seal's whisker array.

PubMed

Eberhardt, William C; Wakefield, Brendan F; Murphy, Christin T; Casey, Caroline; Shakhsheer, Yousef; Calhoun, Benton H; Reichmuth, Colleen

2016-08-31

Nature has shaped effective biological sensory systems to receive complex stimuli generated by organisms moving through water. Similar abilities have not yet been fully developed in artificial systems for underwater detection and monitoring, but such technology would enable valuable applications for military, commercial, and scientific use. We set out to design a fluid motion sensor array inspired by the searching performance of seals, which use their whiskers to find and follow underwater wakes. This sensor prototype, called the Wake Information Detection and Tracking System (WIDTS), features multiple whisker-like elements that respond to hydrodynamic disturbances encountered while moving through water. To develop and test this system, we trained a captive harbor seal (Phoca vitulina) to wear a blindfold while tracking a remote-controlled, propeller-driven submarine. After mastering the tracking task, the seal learned to carry the WIDTS adjacent to its own vibrissal array during active pursuit of the target. Data from the WIDTS sensors describe changes in the deflection angles of the whisker elements as they pass through the hydrodynamic trail left by the submarine. Video performance data show that these detections coincide temporally with WIDTS-wake intersections. Deployment of the sensors on an actively searching seal allowed for the direct comparison of our instrument to the ability of the biological sensory system in a proof-of-concept demonstration. The creation of the WIDTS provides a foundation for instrument development in the field of biomimetic fluid sensor technology.

A Chemical Monitoring Program of the Explosion Products in Underwater Explosion Tests

DTIC Science & Technology

1975-04-04

CLASSIFICATION QF THIS PAGE- (When Date Entered) UNCLASSIFIED tL,URJTY CLASSIFICATION OF THIS PAGE(Then Data Entered) 20.and determination of various explosion...to institute a chemical monitoring program of the explosion products in underwater explosion tests, to determine monitoring parameters, and to...27 3.2.3 Samplers 28 3.2.4 Storage of Sediment Samples 32 IV. DETERMINATION OF EXPLOSION PRODUCTS 32 4.1 DESIGN OF MEASUREMENT SYSTEM 32 4.1.1

Analysis and Application of an Underwater Optical-Ranging System

DTIC Science & Technology

1992-09-01

sin 20 (3.2) 0 2 2 The direction in which this is maximized or minimized is found by differentiating with respect to 0 and setting to zero _ = 0 (3.3...H.O. Torsen , K. Thoresen, "Laser Imaging Technology for Subsea Inspection: Principles and Applications," IRMI/ROV90 Coiference, November 1990. [6...J.O. Klepsvik, H.O. Torsen , "Recent Advances in Accurate Underwater Mapping and Inspection Techniques," International Ocean Technology Congress, January

Underwater Simultaneous EMI and Magnetometer System (USEMS)

DTIC Science & Technology

2011-02-01

advantages over other marine metal detectors . The first is that, because the sensors are affixed via a rigid boom instead of towed with a cable...Island free of metallic clutter, emplaced a test plot with 14 pipes ranging from 1.5 to 4 inches in diameter, measured the locations of items in it with... metallic contamination. 2.3 REGULATORY DRIVERS The primary driver is the continued need to develop tools to detect underwater MEC. The documented use

The Shock and Vibration Bulletin. Part 4. Underwater Problems, Environments and Measurements

DTIC Science & Technology

1974-08-01

6585th Test Group, Holloman AFB, New Mexico FLOW-INDUCED VIBRATIONS OF A GLASS-REINFORCED PLASTIC SONAR DOME D.A. King, Rockwell International...Bolts plasticity 10 Fig 13b Fig. 13 - Underwater Explosion Experimental Results on 2.5 t Mass (Nun Linear Mount) y Energy transfer calculation...makes it possible to access the stress level which is reached in every part of the fixture system in- cluding the region of plasticity . VI

Comparison and validation of point spread models for imaging in natural waters.

PubMed

Hou, Weilin; Gray, Deric J; Weidemann, Alan D; Arnone, Robert A

2008-06-23

It is known that scattering by particulates within natural waters is the main cause of the blur in underwater images. Underwater images can be better restored or enhanced with knowledge of the point spread function (PSF) of the water. This will extend the performance range as well as the information retrieval from underwater electro-optical systems, which is critical in many civilian and military applications, including target and especially mine detection, search and rescue, and diver visibility. A better understanding of the physical process involved also helps to predict system performance and simulate it accurately on demand. The presented effort first reviews several PSF models, including the introduction of a semi-analytical PSF given optical properties of the medium, including scattering albedo, mean scattering angles and the optical range. The models under comparison include the empirical model of Duntley, a modified PSF model by Dolin et al, as well as the numerical integration of analytical forms from Wells, as a benchmark of theoretical results. For experimental results, in addition to that of Duntley, we validate the above models with measured point spread functions by applying field measured scattering properties with Monte Carlo simulations. Results from these comparisons suggest it is sufficient but necessary to have the three parameters listed above to model PSFs. The simplified approach introduced also provides adequate accuracy and flexibility for imaging applications, as shown by examples of restored underwater images.

Optimal Scheduling for Underwater Communications in Multiple-user Scenarios

DTIC Science & Technology

2014-09-30

underwater acoustic sensor networks . These techniques aim at consuming as less energy as... underwater acoustic networks disrupt the behavior of surrounding species of marine mammals. As a consequence of these two studies, we aim at developing...Markov models of incremental redundancy hybrid ARQ over underwater acoustic channels. Elsevier Journal on Ad-hoc Networks (Special Issue on Underwater Communications and Networks ), 2014. 4

Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and Navigation Support

DTIC Science & Technology

2014-09-30

underwater acoustic communication technologies for autonomous distributed underwater networks , through innovative signal processing, coding, and...4. TITLE AND SUBTITLE Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and...coding: 3) OFDM modulated dynamic coded cooperation in underwater acoustic channels; 3 Localization, Networking , and Testbed: 4) On-demand

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

PubMed

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

2017-04-01

The development of adhesives that can be applied and create strong bonds underwater is a significant challenge for materials engineering. When the adhesive is intended for biomedical applications, further criteria, such as biocompatibility, must be met. Current biomedical adhesive technologies do not meet these needs. In response, we designed a bioinspired protein system that shows promise to achieve biocompatible underwater adhesion coupled with environmentally responsive behavior that is "smart" - that is, it can be tuned to suit a specific application. The material, ELY 16 , is constructed from an elastin-like polypeptide (ELP) that can be produced in high yields from Escherichia coli and can coacervate in response to environmental factors such as temperature, pH, and salinity. To confer wet adhesion, we utilized design principles from marine organisms such as mussels and sandcastle worms. When expressed, ELY 16 is rich in tyrosine. Upon modification with the tyrosinase enzyme to form mELY 16 , the tyrosine residues are converted to 3,4-dihydroxyphenylalanine (DOPA). Both ELY 16 and mELY 16 exhibit cytocompatibility and significant dry adhesion strength (>2 MPa). Modification with DOPA increases protein adsorption to glass and provides moderate adhesion strength (∼240 kPa) in a highly humid environment. Furthermore, this ELP exhibits a tunable phase transition behavior that can be formulated to coacervate in physiological conditions and provides a convenient mechanism for application underwater. Finally, mELY 16 possesses significantly higher adhesion strength in dry, humid, and underwater environments compared with a commercially available fibrin sealant. To our knowledge, mELY 16 provides the strongest bonds of any rationally designed protein when used completely underwater, and its high yields make it more viable for commercial application compared to natural adhesive proteins. In conclusion, this ELP shows great potential to be a new "smart" underwater adhesive. Copyright © 2017 Elsevier Ltd. All rights reserved.

Software-Defined Architectures for Spectrally Efficient Cognitive Networking in Extreme Environments

NASA Astrophysics Data System (ADS)

Sklivanitis, Georgios

The objective of this dissertation is the design, development, and experimental evaluation of novel algorithms and reconfigurable radio architectures for spectrally efficient cognitive networking in terrestrial, airborne, and underwater environments. Next-generation wireless communication architectures and networking protocols that maximize spectrum utilization efficiency in congested/contested or low-spectral availability (extreme) communication environments can enable a rich body of applications with unprecedented societal impact. In recent years, underwater wireless networks have attracted significant attention for military and commercial applications including oceanographic data collection, disaster prevention, tactical surveillance, offshore exploration, and pollution monitoring. Unmanned aerial systems that are autonomously networked and fully mobile can assist humans in extreme or difficult-to-reach environments and provide cost-effective wireless connectivity for devices without infrastructure coverage. Cognitive radio (CR) has emerged as a promising technology to maximize spectral efficiency in dynamically changing communication environments by adaptively reconfiguring radio communication parameters. At the same time, the fast developing technology of software-defined radio (SDR) platforms has enabled hardware realization of cognitive radio algorithms for opportunistic spectrum access. However, existing algorithmic designs and protocols for shared spectrum access do not effectively capture the interdependencies between radio parameters at the physical (PHY), medium-access control (MAC), and network (NET) layers of the network protocol stack. In addition, existing off-the-shelf radio platforms and SDR programmable architectures are far from fulfilling runtime adaptation and reconfiguration across PHY, MAC, and NET layers. Spectrum allocation in cognitive networks with multi-hop communication requirements depends on the location, network traffic load, and interference profile at each network node. As a result, the development and implementation of algorithms and cross-layer reconfigurable radio platforms that can jointly treat space, time, and frequency as a unified resource to be dynamically optimized according to inter- and intra-network interference constraints is of fundamental importance. In the next chapters, we present novel algorithmic and software/hardware implementation developments toward the deployment of spectrally efficient terrestrial, airborne, and underwater wireless networks. In Chapter 1 we review the state-of-art in commercially available SDR platforms, describe their software and hardware capabilities, and classify them based on their ability to enable rapid prototyping and advance experimental research in wireless networks. Chapter 2 discusses system design and implementation details toward real-time evaluation of a software-radio platform for all-spectrum cognitive channelization in the presence of narrowband or wideband primary stations. All-spectrum channelization is achieved by designing maximum signal-to-interference-plus-noise ratio (SINR) waveforms that span the whole continuum of the device-accessible spectrum, while satisfying peak power and interference temperature (IT) constraints for the secondary and primary users, respectively. In Chapter 3, we introduce the concept of all-spectrum channelization based on max-SINR optimized sparse-binary waveforms, we propose optimal and suboptimal waveform design algorithms, and evaluate their SINR and bit-error-rate (BER) performance in an SDR testbed. Chapter 4 considers the problem of channel estimation with minimal pilot signaling in multi-cell multi-user multi-input multi-output (MIMO) systems with very large antenna arrays at the base station, and proposes a least-squares (LS)-type algorithm that iteratively extracts channel and data estimates from a short record of data measurements. Our algorithmic developments toward spectrally-efficient cognitive networking through joint optimization of channel access code-waveforms and routes in a multi-hop network are described in Chapter 5. Algorithmic designs are software optimized on heterogeneous multi-core general-purpose processor (GPP)-based SDR architectures by leveraging a novel software-radio framework that offers self-optimization and real-time adaptation capabilities at the PHY, MAC, and NET layers of the network protocol stack. Our system design approach is experimentally validated under realistic conditions in a large-scale hybrid ground-air testbed deployment. Chapter 6 reviews the state-of-art in software and hardware platforms for underwater wireless networking and proposes a software-defined acoustic modem prototype that enables (i) cognitive reconfiguration of PHY/MAC parameters, and (ii) cross-technology communication adaptation. The proposed modem design is evaluated in terms of effective communication data rate in both water tank and lake testbed setups. In Chapter 7, we present a novel receiver configuration for code-waveform-based multiple-access underwater communications. The proposed receiver is fully reconfigurable and executes (i) all-spectrum cognitive channelization, and (ii) combined synchronization, channel estimation, and demodulation. Experimental evaluation in terms of SINR and BER show that all-spectrum channelization is a powerful proposition for underwater communications. At the same time, the proposed receiver design can significantly enhance bandwidth utilization. Finally, in Chapter 8, we focus on challenging practical issues that arise in underwater acoustic sensor network setups where co-located multi-antenna sensor deployment is not feasible due to power, computation, and hardware limitations, and design, implement, and evaluate an underwater receiver structure that accounts for multiple carrier frequency and timing offsets in virtual (distributed) MIMO underwater systems.

From land to water: bringing dielectric elastomer sensing to the underwater realm

NASA Astrophysics Data System (ADS)

Walker, Christopher; Anderson, Iain

2016-04-01

Since the late 1990's dielectric elastomers (DEs) have been investigated for their use as sensors. To date, there have been some impressive developments: finger displacement controls for video games and integration with medical rehabilitation devices to aid patient recovery. It is clear DE sensing is well established for dry applications, the next frontier, however, is to adapt this technology for the other 71% of the Earth's surface. With proven and perhaps improved water resistance, many new applications could be developed in areas such as diver communication and control of underwater robotics; even wearable devices on land must withstand sweat, washing, and the rain. This study investigated the influence of fresh and salt water on DE sensing. In particular, sensors have been manufactured with waterproof connections and submersed in fresh and salt water baths. Temperature and resting capacitance were recorded. Issues with the basic DE sensor have been identified and compensated for with modifications to the sensor. The electrostatic field, prior and post modification, has been modeled with ANSYS Maxwell. The aim of this investigation was to identify issues, perform modifications and propose a new sensor design suited to wet and underwater applications.

RuCool Operational Oceanography: Using a Fleet of Autonomous Ocean Gliders

NASA Astrophysics Data System (ADS)

Graver, J.; Jones, C.; Glenn, S.; Kohut, J.; Schofield, O.; Roarty, H.; Aragon, D.; Kerfoot, J.; Haldeman, C.; Yan, A.

2007-05-01

At the Rutgers University Coastal Ocean Observation Lab (RU-COOL), we have constructed a shelf-wide ocean observatory to characterize the physical forcing of continental shelf primary productivity in the New York Bight (NYB). The system is anchored by four enabling technologies, which include the international constellation of ocean color satellites, multi-static high frequency long-range surface current radar, real-time telemetry moorings, and long duration autonomous underwater vehicles (AUVs). Operation of the observatory is through a centralized computer network dedicated to receiving, processing and visualizing the real-time data and then disseminating results to both field scientists and ocean forecasters over the World Wide Web. The system was designed to conduct cutting edge research requiring the addition of rapidly evolving technologies, and to serve society by providing sustained data delivered in real-time. Rutgers COOL continues to work closely with Webb Research Corporation (WRC) in testing and development of the Slocum underwater gliders and continues to apply Slocum gliders in field operations spanning the globe. The continued strong collaboration between WRC and Rutgers has led to advances in glider operations and applications. These include deployment/recovery techniques, improvements in durability and reliability, integrated sensors suites, salinity spike removal, and adaptive controls utilized to optimize mission goals and data return. The gliders have gathered numerous data sets including salt intrusions as seen off of New Jersey, plume tracking, biological water sample matching, and operation through Hurricane Ernesto in 2006. This talk will detail recent oceanographic experiments in which the fleet has been deployed and improvements in the operation of these novel robotic vehicles. These experiments, in locations around the world, have resulted in significant new work in operation of underwater gliders and have gathered new and unique data sets. Recent accomplishments include deployment of a glider in Antarctica for LTER, control of a fleet of gliders during the ONR sponsored Shallow Water 06, RIMPAC, LATTE, ASAP, and the continuation of long-term observation at the LEO-15 New Jersey site Endurance Line. To date Rutgers has flown close to 100 glider missions, with over 27,000 km flown over 760 calendar days and 1,350 glider days in the water. Operations around the world are orchestrated remotely from COOL at Rutgers. Computer networking allows for command and control of the glider fleet from the COOL Lab or remotely via the internet. This system has enabled new oceanographic experiments at significantly reduced cost, with increased reliability, and with extended continuous operational deployments in the global oceans since 2003.

Underwater glider observations of the ongoing El Niño

NASA Astrophysics Data System (ADS)

Rudnick, D. L.; Owens, B.; Johnston, S.; Karnauskas, K.

2016-02-01

We report on observations by underwater gliders in the equatorial current system along 93°W and 95°W between 2°S and 2°N starting in October 2013 and continuing through the present. The project Repeat Observations by Gliders in the Equatorial Region (ROGER) was conceived with the intention of using underwater gliders to make repeat sections across equatorial system to quantify the location and strength of the Equatorial Undercurrent (EUC) and the equatorial front. ROGER serendipitously started near the beginning of a series of events that have led to the El Niño currently ongoing. We use Spray underwater gliders equipped with CTDs and ADCPs to measure pressure, temperature, salinity, velocity and chlorophyll fluorescence in a series of deployments from the Galapagos Islands. At the time of writing of this abstract, we have completed 15 glider missions, with 3 currently underway. Gliders have completed 7300 dives to as deep as 1000 m, traveling 27,000 km in 1600 glider-days. To our knowledge, this is the most extensive glider data set ever collected in the equatorial current system. With 6-km horizontal spacing between profiles, these more than 30 sections across the equator allow a finely-resolved look at the passage of Kelvin waves that establish El Niño. The Kelvin waves are manifest as deepening of the thermocline, warming of the surface, strengthening of the EUC, and northward migration of the equatorial front. We will present an up-to-date account of the continuing glider observations of El Niño.

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

PubMed Central

Zazo, Javier; Valcarcel Macua, Sergio; Zazo, Santiago; Pérez, Marina; Pérez-Álvarez, Iván; Jiménez, Eugenio; Cardona, Laura; Brito, Joaquín Hernández; Quevedo, Eduardo

2016-01-01

In the first part of the paper, we modeled and characterized the underwater radio channel in shallow waters. In the second part, we analyze the application requirements for an underwater wireless sensor network (U-WSN) operating in the same environment and perform detailed simulations. We consider two localization applications, namely self-localization and navigation aid, and propose algorithms that work well under the specific constraints associated with U-WSN, namely low connectivity, low data rates and high packet loss probability. We propose an algorithm where the sensor nodes collaboratively estimate their unknown positions in the network using a low number of anchor nodes and distance measurements from the underwater channel. Once the network has been self-located, we consider a node estimating its position for underwater navigation communicating with neighboring nodes. We also propose a communication system and simulate the whole electromagnetic U-WSN in the Castalia simulator to evaluate the network performance, including propagation impairments (e.g., noise, interference), radio parameters (e.g., modulation scheme, bandwidth, transmit power), hardware limitations (e.g., clock drift, transmission buffer) and complete MAC and routing protocols. We also explain the changes that have to be done to Castalia in order to perform the simulations. In addition, we propose a parametric model of the communication channel that matches well with the results from the first part of this paper. Finally, we provide simulation results for some illustrative scenarios. PMID:27999309

a Comparison Between Active and Passive Techniques for Underwater 3d Applications

NASA Astrophysics Data System (ADS)

Bianco, G.; Gallo, A.; Bruno, F.; Muzzupappa, M.

2011-09-01

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 seafloor, we used various concentrations of clay. The performances of the two techniques are described and discussed. In particular, the point clouds obtained are compared in terms of number of acquired 3D points and geometrical deviation.

A Review of Artificial Lateral Line in Sensor Fabrication and Bionic Applications for Robot Fish

PubMed Central

Wang, Anyi; Wang, Xinbao; Liu, Peng

2016-01-01

Lateral line is a system of sense organs that can aid fishes to maneuver in a dark environment. Artificial lateral line (ALL) imitates the structure of lateral line in fishes and provides invaluable means for underwater-sensing technology and robot fish control. This paper reviews ALL, including sensor fabrication and applications to robot fish. The biophysics of lateral line are first introduced to enhance the understanding of lateral line structure and function. The design and fabrication of an ALL sensor on the basis of various sensing principles are then presented. ALL systems are collections of sensors that include carrier and control circuit. Their structure and hydrodynamic detection are reviewed. Finally, further research trends and existing problems of ALL are discussed. PMID:28115825

Station Keeping Results for Seabotix vLBV300 Underwater Vehicle near Newport, OR

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hollinger, Geoffrey

This data set presents results testing the station keeping abilities of a tethered Seabotix vLBV300 underwater vehicle equipped with an inertial navigation system. These results are from an offshore deployment on April 20, 2016 off the coast of Newport, OR (44.678 degrees N, 124.109 degrees W). During the mission period, the sea state varied between 3 and 4, with an average significant wave height of 1.6 m. The vehicle utilizes an inertial navigation system based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation.

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

NASA Astrophysics Data System (ADS)

Zaba, Katherine D.; Rudnick, Daniel L.

2016-02-01

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

Energy balance during underwater implosion of ductile metallic cylinders.

PubMed

Chamberlin, Ryan E; Guzas, Emily L; Ambrico, Joseph M

2014-11-01

Energy-based metrics are developed and applied to a numerical test case of implosion of an underwater pressure vessel. The energy metrics provide estimates of the initial energy in the system (potential energy), the energy released into the fluid as a pressure pulse, the energy absorbed by the imploding structure, and the energy absorbed by air trapped within the imploding structure. The primary test case considered is the implosion of an aluminum cylinder [diameter: 2.54 cm (1 in.), length: 27.46 cm (10.81 in.)] that collapses flat in a mode-2 shape with minimal fracture. The test case indicates that the structure absorbs the majority (92%) of the initial energy in the system. Consequently, the energy emitted as a pressure pulse into the fluid is a small fraction, approximately 5%, of the initial energy. The energy absorbed by the structure and the energy emitted into the fluid are calculated for additional simulations of underwater pressure vessel implosions. For all cases investigated, there is minimal fracture in the collapse, the structure absorbs more than 80% of the initial energy of the system, and the released pressure pulse carries away less than 6% of the initial energy.

Evaluation of lens distortion errors using an underwater camera system for video-based motion analysis

NASA Technical Reports Server (NTRS)

Poliner, Jeffrey; Fletcher, Lauren; Klute, Glenn K.

1994-01-01

Video-based motion analysis systems are widely employed to study human movement, using computers to capture, store, process, and analyze video data. This data can be collected in any environment where cameras can be located. One of the NASA facilities where human performance research is conducted is the Weightless Environment Training Facility (WETF), a pool of water which simulates zero-gravity with neutral buoyance. Underwater video collection in the WETF poses some unique problems. This project evaluates the error caused by the lens distortion of the WETF cameras. A grid of points of known dimensions was constructed and videotaped using a video vault underwater system. Recorded images were played back on a VCR and a personal computer grabbed and stored the images on disk. These images were then digitized to give calculated coordinates for the grid points. Errors were calculated as the distance from the known coordinates of the points to the calculated coordinates. It was demonstrated that errors from lens distortion could be as high as 8 percent. By avoiding the outermost regions of a wide-angle lens, the error can be kept smaller.

Tidally induced turbulence in the Bermuda underwater cave-system

NASA Astrophysics Data System (ADS)

Molodtsov, S.; Anis, A.; Iliffe, T. M.

2016-02-01

This study presents results from field measurements of turbulence made in Bermuda's underwater cave-system. To the best of our knowledge, this is the first time that turbulence velocity measurements have been taken in an underwater cave-system. Water currents in caves are unaffected by surface waves and thus provide a unique opportunity to obtain clear signals of tidally induced turbulence. An acoustic Doppler velocimeter and acoustic Doppler current profiler were deployed in several cave locations during a period of six days. Power spectral density (PSD) of velocity fluctuations was estimated using the multitaper power spectral method. Turbulence kinetic energy dissipation rates, ɛ, were calculated based on the PSD and were found to exhibit a clear -5/3 slope within the inertial subrange. Measurement periods covered full diurnal cycles and estimates of ɛ showed a strong correlation with the tide phase with values up to 10-3 W/kg during peak ebb and flood (horizontal velocities up to 0.35 m/s). Furthermore, ɛ was found to closely follow the wall boundary layer parametrization, ɛ = u*3/(ᴋz), where u* is the friction velocity, ᴋ is von Karman's constant, and z is the height above the bed.

Nekton Interaction Monitoring System

DOE Office of Scientific and Technical Information (OSTI.GOV)

2017-03-15

The software provides a real-time processing system for sonar to detect and track animals, and to extract water column biomass statistics in order to facilitate continuous monitoring of an underwater environment. The Nekton Interaction Monitoring System (NIMS) extracts and archives tracking and backscatter statistics data from a real-time stream of data from a sonar device. NIMS also sends real-time tracking messages over the network that can be used by other systems to generate other metrics or to trigger instruments such as an optical video camera. A web-based user interface provides remote monitoring and control. NIMS currently supports three popular sonarmore » devices: M3 multi-beam sonar (Kongsberg), EK60 split-beam echo-sounder (Simrad) and BlueView acoustic camera (Teledyne).« less

Distributed flow estimation and closed-loop control of an underwater vehicle with a multi-modal artificial lateral line.

PubMed

DeVries, Levi; Lagor, Francis D; Lei, Hong; Tan, Xiaobo; Paley, Derek A

2015-03-25

Bio-inspired sensing modalities enhance the ability of autonomous vehicles to characterize and respond to their environment. This paper concerns the lateral line of cartilaginous and bony fish, which is sensitive to fluid motion and allows fish to sense oncoming flow and the presence of walls or obstacles. The lateral line consists of two types of sensing modalities: canal neuromasts measure approximate pressure gradients, whereas superficial neuromasts measure local flow velocities. By employing an artificial lateral line, the performance of underwater sensing and navigation strategies is improved in dark, cluttered, or murky environments where traditional sensing modalities may be hindered. This paper presents estimation and control strategies enabling an airfoil-shaped unmanned underwater vehicle to assimilate measurements from a bio-inspired, multi-modal artificial lateral line and estimate flow properties for feedback control. We utilize potential flow theory to model the fluid flow past a foil in a uniform flow and in the presence of an upstream obstacle. We derive theoretically justified nonlinear estimation strategies to estimate the free stream flowspeed, angle of attack, and the relative position of an upstream obstacle. The feedback control strategy uses the estimated flow properties to execute bio-inspired behaviors including rheotaxis (the tendency of fish to orient upstream) and station-holding (the tendency of fish to position behind an upstream obstacle). A robotic prototype outfitted with a multi-modal artificial lateral line composed of ionic polymer metal composite and embedded pressure sensors experimentally demonstrates the distributed flow sensing and closed-loop control strategies.

An examination of two emergency breathing aids for use during helicopter underwater escape.

PubMed

Tipton, M J; Franks, C M; Sage, B A; Redman, P J

1997-10-01

There is a paucity of published work in which the performance of Emergency Underwater Breathing Aids (EUBA) has been examined in the wide range of scenarios in which helicopter underwater escape may be necessary. In the present investigation two EUBA were examined: the Air Pocket (AP) rebreather and the Short Term Air Supply System (STASS) mini SCUBA set. Young, healthy male subjects undertook simple simulated helicopter underwater escapes in water at 15 degrees C and/or 5 degrees C. During the immersions the subjects attempted to remain submerged for 60 s while traversing back and forth along a ladder secured at a depth of 1.25 m. At each temperature the subjects used AP and STASS twice. The subjects were dressed in the Royal Navy winter sea helicopter aircrew equipment assembly and an aircrew helmet. Both AP and STASS significantly extended the underwater survival time of individuals when compared to their maximum breath-hold time (BHT). It is clear from the measurements made of gas concentrations in AP; the volume of air used from STASS; and subjective responses, that the 60-s submersions were achieved more easily with STASS than AP. It is concluded that in conditions similar to those of the present experiment STASS will give a longer underwater duration than AP, but this benefit must be offset against the possible risk of pulmonary barotrauma associated with the use of STASS, as well as increased training and maintenance costs. Irrespective of the EUBA which is provided, in-water training, preferably including exposure to cold water, will significantly improve the ability of an individual to use it.

In-Situ Characterization of Underwater Radioactive Sludge

DOE Office of Scientific and Technical Information (OSTI.GOV)

Simpson, A.P.; Clapham, M.J.; Swinson, B.

2008-07-01

A fundamental requirement underpinning safe clean-up technologies for legacy spent nuclear fuel (SNF) ponds, pools and wet silos is the ability to characterize the radioactive waste form prior to retrieval. The corrosion products resulting from the long term underwater storage of spent nuclear fuel, reactor components and reprocessing debris present a major hazard to facility decontamination and decommissioning in terms of their radioactive content and physical / chemical reactivity. The ability to perform in-situ underwater non-destructive characterization of sludge and debris in a safe and cost-effective manner offers significant benefits over traditional destructive sampling methods. Several techniques are available formore » underwater measurements including (i) Gross gamma counting, (ii) Low-, Medium- and High- Resolution Gamma Spectroscopy, (iii) Passive neutron counting and (iv) Active Neutron Interrogation. The optimum technique depends on (i) the radioactive inventory (ii) mechanical access restrictions for deployment of the detection equipment, interrogation sources etc. (iii) the integrity of plant records and (iv) the extent to which Acceptable Knowledge which may be used for 'fingerprinting' the radioactive contents to a marker nuclide. Prior deployments of underwater SNF characterization equipment around the world have been reviewed with respect to recent developments in gamma and neutron detection technologies, digital electronics advancements, data transfer techniques, remote operation capabilities and improved field ruggedization. Modeling and experimental work has been performed to determine the capabilities, performance envelope and operational limitations of the future generation of non-destructive underwater sludge characterization techniques. Recommendations are given on the optimal design of systems and procedures to provide an acceptable level of confidence in the characterization of residual sludge content of legacy wet storage facilities such that retrieval and repackaging of SNF sludges may proceed safely and efficiently with support of the regulators and the public. (author)« less

Vehicle Based Vector Sensor

DTIC Science & Technology

2015-09-28

buoyant underwater vehicle with an interior space in which a length of said underwater vehicle is equal to one tenth of the acoustic wavelength...underwater vehicle with an interior space in which a length of said underwater vehicle is equal to one tenth of the acoustic wavelength; an...unmanned underwater vehicle that can function as an acoustic vector sensor. (2) Description of the Prior Art [0004] It is known that a propagating

System for effecting underwater coupling of optical fiber cables characterized by a novel lateral arm cable capture mechanism

NASA Astrophysics Data System (ADS)

Hillenbrand, Christopher F.

1995-03-01

A submarine trails one fiber optic cable and an undersea vehicle is controlled by this first cable. A missile/torpedo trails a second cable that is to be coupled to the first cable. The second cable has a segment suspended vertically underwater between a buoyant pod and a sea anchor type buoy. The undersea vehicle, or autonomous undersea vehicle, (AUV) hunts for the pod by conventional homing components, and cable capturing arms on the vehicle direct the cable's movement relative to the vehicle into a pod mating position that achieves optical coupling of the two cables. In one embodiment two arms are pivotably mounted to the vehicle's sides so one arm captures the suspended cable segment directing it into a slot so a male socket in the underside of the pod mates with a female socket in the slot. Another embodiment accomplishes the same result with a device in which the arms are formed as the off-shoots of a forked cable pickup device in the nose of the AUV.

Electric motor/controller design tradeoffs for noise, weight, and efficiency

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kopp, N.L.; Brown, G.W.

1994-12-31

It is common for an AUV [Autonomous Underwater Vehicle] designer to be put in the position of a subsystem hardware integrator. In the case of electric motors and controllers this may be more by necessity than choice because a suitable subsystems supplier cannot be found. As a result, motors and controllers are purchased from various manufacturers who may optimize the design of each part but hold system performance secondary in importance. Unlike hydraulics, an electric motor/controller system presents significant opportunities to improve noise, weight, and efficiency. But, these opportunities can best be recognized by a single source who not onlymore » understands the technology but has the ability to implement them in the development and manufacture of the product. An analysis is presented which explains the various design considerations of noise, weight and efficiency of electric motors and controllers for submersible AUV`s. In concert with the design considerations, their interrelationships are discussed as to how they affect each other in the overall optimization of the system. In conclusion, a matrix is created which shows how the resultant system parameters of noise, weight, and efficiency may be ``traded off`` to tailor the best overall system for the application. 1 ref.« less

Formal Methods for Automated Diagnosis of Autosub 6000

NASA Technical Reports Server (NTRS)

Ernits, Juhan; Dearden, Richard; Pebody, Miles

2009-01-01

This is a progress report on applying formal methods in the context of building an automated diagnosis and recovery system for Autosub 6000, an Autonomous Underwater Vehicle (AUV). The diagnosis task involves building abstract models of the control system of the AUV. The diagnosis engine is based on Livingstone 2, a model-based diagnoser originally built for aerospace applications. Large parts of the diagnosis model can be built without concrete knowledge about each mission, but actual mission scripts and configuration parameters that carry important information for diagnosis are changed for every mission. Thus we use formal methods for generating the mission control part of the diagnosis model automatically from the mission script and perform a number of invariant checks to validate the configuration. After the diagnosis model is augmented with the generated mission control component model, it needs to be validated using verification techniques.

Research on the strategy of underwater united detection fusion and communication using multi-sensor

NASA Astrophysics Data System (ADS)

Xu, Zhenhua; Huang, Jianguo; Huang, Hai; Zhang, Qunfei

2011-09-01

In order to solve the distributed detection fusion problem of underwater target detection, when the signal to noise ratio (SNR) of the acoustic channel is low, a new strategy for united detection fusion and communication using multiple sensors was proposed. The performance of detection fusion was studied and compared based on the Neyman-Pearson principle when the binary phase shift keying (BPSK) and on-off keying (OOK) modes were used by the local sensors. The comparative simulation and analysis between the optimal likelihood ratio test and the proposed strategy was completed, and both the theoretical analysis and simulation indicate that using the proposed new strategy could improve the detection performance effectively. In theory, the proposed strategy of united detection fusion and communication is of great significance to the establishment of an underwater target detection system.

RF Path and Absorption Loss Estimation for Underwater Wireless Sensor Networks in Different Water Environments

PubMed Central

Qureshi, Umair Mujtaba; Shaikh, Faisal Karim; Aziz, Zuneera; Shah, Syed M. Zafi S.; Sheikh, Adil A.; Felemban, Emad; Qaisar, Saad Bin

2016-01-01

Underwater Wireless Sensor Network (UWSN) communication at high frequencies is extremely challenging. The intricacies presented by the underwater environment are far more compared to the terrestrial environment. The prime reason for such intricacies are the physical characteristics of the underwater environment that have a big impact on electromagnetic (EM) signals. Acoustics signals are by far the most preferred choice for underwater wireless communication. Because high frequency signals have the luxury of large bandwidth (BW) at shorter distances, high frequency EM signals cannot penetrate and propagate deep in underwater environments. The EM properties of water tend to resist their propagation and cause severe attenuation. Accordingly, there are two questions that need to be addressed for underwater environment, first what happens when high frequency EM signals operating at 2.4 GHz are used for communication, and second which factors affect the most to high frequency EM signals. To answer these questions, we present real-time experiments conducted at 2.4 GHz in terrestrial and underwater (fresh water) environments. The obtained results helped in studying the physical characteristics (i.e., EM properties, propagation and absorption loss) of underwater environments. It is observed that high frequency EM signals can propagate in fresh water at a shallow depth only and can be considered for a specific class of applications such as water sports. Furthermore, path loss, velocity of propagation, absorption loss and the rate of signal loss in different underwater environments are also calculated and presented in order to understand why EM signals cannot propagate in sea water and oceanic water environments. An optimal solk6ution for underwater communication in terms of coverage distance, bandwidth and nature of communication is presented, along with possible underwater applications of UWSNs at 2.4 GHz. PMID:27322263

Determining spherical lens correction for astronaut training underwater.

PubMed

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

2011-09-01

To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration astronauts while training underwater. The replica space suit's helmet contains curved visors that induce refractive power when submersed in water. Anterior surface powers and thicknesses were measured for the helmet's protective and inside visors. The impact of each visor on the helmet's refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet's total induced spherical power underwater and the astronaut's manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. The helmet's visors induced a total power of -2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (r = 0.971) with 70% of eyes having a difference in magnitude of <0.25 D between values. We devised a model to calculate the spherical spectacle lens correction needed to be worn underwater by National Aeronautics and Space Administration astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater.

Determining spherical lens correction for astronaut training underwater

PubMed Central

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

2013-01-01

Purpose To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration (NASA) astronauts while training underwater. The replica space suit’s helmet contains curved visors that induce refractive power when submersed in water. Methods Anterior surface powers and thicknesses were measured for the helmet’s protective and inside visors. The impact of each visor on the helmet’s refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet’s total induced spherical power underwater and the astronaut’s manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. Results The helmet visors induced a total power of −2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (R = 0.971) with 70% of eyes having a difference in magnitude of < 0.25 D between values. Conclusions We devised a model to calculate the spherical spectacle lens correction needed to be worn underwater by National Aeronautics and Space Administration astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater. PMID:21623249

RF Path and Absorption Loss Estimation for Underwater Wireless Sensor Networks in Different Water Environments.

PubMed

Qureshi, Umair Mujtaba; Shaikh, Faisal Karim; Aziz, Zuneera; Shah, Syed M Zafi S; Sheikh, Adil A; Felemban, Emad; Qaisar, Saad Bin

2016-06-16

Underwater Wireless Sensor Network (UWSN) communication at high frequencies is extremely challenging. The intricacies presented by the underwater environment are far more compared to the terrestrial environment. The prime reason for such intricacies are the physical characteristics of the underwater environment that have a big impact on electromagnetic (EM) signals. Acoustics signals are by far the most preferred choice for underwater wireless communication. Because high frequency signals have the luxury of large bandwidth (BW) at shorter distances, high frequency EM signals cannot penetrate and propagate deep in underwater environments. The EM properties of water tend to resist their propagation and cause severe attenuation. Accordingly, there are two questions that need to be addressed for underwater environment, first what happens when high frequency EM signals operating at 2.4 GHz are used for communication, and second which factors affect the most to high frequency EM signals. To answer these questions, we present real-time experiments conducted at 2.4 GHz in terrestrial and underwater (fresh water) environments. The obtained results helped in studying the physical characteristics (i.e., EM properties, propagation and absorption loss) of underwater environments. It is observed that high frequency EM signals can propagate in fresh water at a shallow depth only and can be considered for a specific class of applications such as water sports. Furthermore, path loss, velocity of propagation, absorption loss and the rate of signal loss in different underwater environments are also calculated and presented in order to understand why EM signals cannot propagate in sea water and oceanic water environments. An optimal solk6ution for underwater communication in terms of coverage distance, bandwidth and nature of communication is presented, along with possible underwater applications of UWSNs at 2.4 GHz.

A rail system for circular synthetic aperture sonar imaging and acoustic target strength measurements: design/operation/preliminary results.

PubMed

Kennedy, J L; Marston, T M; Lee, K; Lopes, J L; Lim, R

2014-01-01

A 22 m diameter circular rail, outfitted with a mobile sonar tower trolley, was designed, fabricated, instrumented with underwater acoustic transducers, and assembled on a 1.5 m thick sand layer at the bottom of a large freshwater pool to carry out sonar design and target scattering response studies. The mobile sonar tower translates along the rail via a drive motor controlled by customized LabVIEW software. The rail system is modular and assembly consists of separately deploying eight circular arc sections, measuring a nominal center radius of 11 m and 8.64 m arc length each, and having divers connect them together in the underwater environment. The system enables full scale measurements on targets of interest with 0.1° angular resolution over a complete 360° aperture, without disrupting target setup, and affording a level of control over target environment conditions and noise sources unachievable in standard field measurements. In recent use, the mobile cart carrying an instrumented sonar tower was translated along the rail in 720 equal position increments and acoustic backscatter data were acquired at each position. In addition, this system can accommodate both broadband monostatic and bistatic scattering measurements on targets of interest, allowing capture of target signature phenomena under diverse configurations to address current scientific and technical issues encountered in mine countermeasure and unexploded ordnance applications. In the work discussed here, the circular rail apparatus is used for acoustic backscatter testing, but this system also has the capacity to facilitate the acquisition of magnetic and optical sensor data from targets of interest. A brief description of the system design and operation will be presented along with preliminary processed results for data acquired from acoustic measurements conducted at the Naval Surface Warfare Center, Panama City Division Test Pond Facility. [Work Supported by the U.S. Office of Naval Research and The Strategic Environmental Research and Development Program.].

A rail system for circular synthetic aperture sonar imaging and acoustic target strength measurements: Design/operation/preliminary results

NASA Astrophysics Data System (ADS)

Kennedy, J. L.; Marston, T. M.; Lee, K.; Lopes, J. L.; Lim, R.

2014-01-01

A 22 m diameter circular rail, outfitted with a mobile sonar tower trolley, was designed, fabricated, instrumented with underwater acoustic transducers, and assembled on a 1.5 m thick sand layer at the bottom of a large freshwater pool to carry out sonar design and target scattering response studies. The mobile sonar tower translates along the rail via a drive motor controlled by customized LabVIEW software. The rail system is modular and assembly consists of separately deploying eight circular arc sections, measuring a nominal center radius of 11 m and 8.64 m arc length each, and having divers connect them together in the underwater environment. The system enables full scale measurements on targets of interest with 0.1° angular resolution over a complete 360° aperture, without disrupting target setup, and affording a level of control over target environment conditions and noise sources unachievable in standard field measurements. In recent use, the mobile cart carrying an instrumented sonar tower was translated along the rail in 720 equal position increments and acoustic backscatter data were acquired at each position. In addition, this system can accommodate both broadband monostatic and bistatic scattering measurements on targets of interest, allowing capture of target signature phenomena under diverse configurations to address current scientific and technical issues encountered in mine countermeasure and unexploded ordnance applications. In the work discussed here, the circular rail apparatus is used for acoustic backscatter testing, but this system also has the capacity to facilitate the acquisition of magnetic and optical sensor data from targets of interest. A brief description of the system design and operation will be presented along with preliminary processed results for data acquired from acoustic measurements conducted at the Naval Surface Warfare Center, Panama City Division Test Pond Facility. [Work Supported by the U.S. Office of Naval Research and The Strategic Environmental Research and Development Program.

Operation and testing of Mark 10 Mod 3 underwater breathing apparatus

NASA Technical Reports Server (NTRS)

Milwee, W. I., Jr.

1972-01-01

Performance tests on a closed circuit, mixed gas underwater breathing apparatus are reported. The equipment is designed to provide a minimum diving duration of four hours at 1500 ft below sea surface; it senses oxygen partial pressure in the breathing gas mix and controls oxygen content of the breathing gas within narrow limits about a preset value. The breathing circuit subsystem provides respirable gas to the diver and removes carbon dioxide and moisture from the expired gas. Test results indicate undesirable variations in oxygen partial pressure with oxygen addition and insufficient carbon dioxide absorption.

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

PubMed

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

2017-01-25

Action sport cameras (ASC) have achieved a large consensus for recreational purposes due to ongoing cost decrease, image resolution and frame rate increase, along with plug-and-play usability. Consequently, they have been recently considered for sport gesture studies and quantitative athletic performance evaluation. In this paper, we evaluated the potential of two ASCs (GoPro Hero3+) for in-air (laboratory) and underwater (swimming pool) three-dimensional (3D) motion analysis as a function of different camera setups involving the acquisition frequency, image resolution and field of view. This is motivated by the fact that in swimming, movement cycles are characterized by underwater and in-air phases what imposes the technical challenge of having a split volume configuration: an underwater measurement volume observed by underwater cameras and an in-air measurement volume observed by in-air cameras. The reconstruction of whole swimming cycles requires thus merging of simultaneous measurements acquired in both volumes. Characterizing and optimizing the instrumental errors of such a configuration makes mandatory the assessment of the instrumental errors of both volumes. In order to calibrate the camera stereo pair, black spherical markers placed on two calibration tools, used both in-air and underwater, and a two-step nonlinear optimization were exploited. The 3D reconstruction accuracy of testing markers and the repeatability of the estimated camera parameters accounted for system performance. For both environments, statistical tests were focused on the comparison of the different camera configurations. Then, each camera configuration was compared across the two environments. In all assessed resolutions, and in both environments, the reconstruction error (true distance between the two testing markers) was less than 3mm and the error related to the working volume diagonal was in the range of 1:2000 (3×1.3×1.5m 3 ) to 1:7000 (4.5×2.2×1.5m 3 ) in agreement with the literature. Statistically, the 3D accuracy obtained in the in-air environment was poorer (p<10 -5 ) than the one in the underwater environment, across all the tested camera configurations. Related to the repeatability of the camera parameters, we found a very low variability in both environments (1.7% and 2.9%, in-air and underwater). This result encourage the use of ASC technology to perform quantitative reconstruction both in-air and underwater environments. Copyright © 2016 Elsevier Ltd. All rights reserved.

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

NASA Astrophysics Data System (ADS)

Secci, Massimiliano

2017-08-01

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

Single underwater image enhancement based on color cast removal and visibility restoration

NASA Astrophysics Data System (ADS)

Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian

2016-05-01

Images taken under underwater condition usually have color cast and serious loss of contrast and visibility. Degraded underwater images are inconvenient for observation and analysis. In order to address these problems, an underwater image-enhancement method is proposed. A simple yet effective underwater image color cast removal algorithm is first presented based on the optimization theory. Then, based on the minimum information loss principle and inherent relationship of medium transmission maps of three color channels in an underwater image, an effective visibility restoration algorithm is proposed to recover visibility, contrast, and natural appearance of degraded underwater images. To evaluate the performance of the proposed method, qualitative comparison, quantitative comparison, and color accuracy test are conducted. Experimental results demonstrate that the proposed method can effectively remove color cast, improve contrast and visibility, and recover natural appearance of degraded underwater images. Additionally, the proposed method is comparable to and even better than several state-of-the-art methods.

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

NASA Astrophysics Data System (ADS)

Sahu, Sanjay Kumar; Shanmugam, Palanisamy

2018-02-01

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

Enhancing swimming pool safety by the use of range-imaging cameras

NASA Astrophysics Data System (ADS)

Geerardyn, D.; Boulanger, S.; Kuijk, M.

2015-05-01

Drowning is the cause of death of 372.000 people, each year worldwide, according to the report of November 2014 of the World Health Organization.1 Currently, most swimming pools only use lifeguards to detect drowning people. In some modern swimming pools, camera-based detection systems are nowadays being integrated. However, these systems have to be mounted underwater, mostly as a replacement of the underwater lighting. In contrast, we are interested in range imaging cameras mounted on the ceiling of the swimming pool, allowing to distinguish swimmers at the surface from drowning people underwater, while keeping the large field-of-view and minimizing occlusions. However, we have to take into account that the water surface of a swimming pool is not a flat, but mostly rippled surface, and that the water is transparent for visible light, but less transparent for infrared or ultraviolet light. We investigated the use of different types of 3D cameras to detect objects underwater at different depths and with different amplitudes of surface perturbations. Specifically, we performed measurements with a commercial Time-of-Flight camera, a commercial structured-light depth camera and our own Time-of-Flight system. Our own system uses pulsed Time-of-Flight and emits light of 785 nm. The measured distances between the camera and the object are influenced through the perturbations on the water surface. Due to the timing of our Time-of-Flight camera, our system is theoretically able to minimize the influence of the reflections of a partially-reflecting surface. The combination of a post image-acquisition filter compensating for the perturbations and the use of a light source with shorter wavelengths to enlarge the depth range can improve the current commercial cameras. As a result, we can conclude that low-cost range imagers can increase swimming pool safety, by inserting a post-processing filter and the use of another light source.

A high-frequency warm shallow water acoustic communications channel model and measurements.

PubMed

Chitre, Mandar

2007-11-01

Underwater acoustic communication is a core enabling technology with applications in ocean monitoring using remote sensors and autonomous underwater vehicles. One of the more challenging underwater acoustic communication channels is the medium-range very shallow warm-water channel, common in tropical coastal regions. This channel exhibits two key features-extensive time-varying multipath and high levels of non-Gaussian ambient noise due to snapping shrimp-both of which limit the performance of traditional communication techniques. A good understanding of the communications channel is key to the design of communication systems. It aids in the development of signal processing techniques as well as in the testing of the techniques via simulation. In this article, a physics-based channel model for the very shallow warm-water acoustic channel at high frequencies is developed, which are of interest to medium-range communication system developers. The model is based on ray acoustics and includes time-varying statistical effects as well as non-Gaussian ambient noise statistics observed during channel studies. The model is calibrated and its accuracy validated using measurements made at sea.

Studying fish near ocean energy devices using underwater video

DOE Office of Scientific and Technical Information (OSTI.GOV)

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

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

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Low Cost Embedded Stereo System for Underwater Surveys

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Environmental effects on underwater optical transmission

NASA Astrophysics Data System (ADS)

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

2017-05-01

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

46 CFR 167.15-33 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2010 CFR

2010-10-01

... SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-33 Underwater Survey in Lieu of Drydocking (UWILD). (a) The Officer in Charge, Marine Inspection (OCMI), may approve an underwater survey instead of..., Marine Inspection submits a recommendation for future underwater surveys, the results of the hull gauging...

Resources for Underwater Robotics Education

ERIC Educational Resources Information Center

Wallace, Michael L.; Freitas, William M.

2016-01-01

4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

Underwater Multi-Node Radio Communication Solutions for Planetary Exploration

NASA Technical Reports Server (NTRS)

Kawar, Zaid Fares Yousef; Haddad, Sanad Atef Sari; Mestariheh, Feras R. M.; Jonsson, Lars Jonas

2015-01-01

The exploration of the presumably life harboring subsurface ocean of Europa will provide scientists with extensive new knowledge in the search for extraterrestrial life. A highly miniaturized payload is required to penetrate a narrow passage through the thick ice crust covering Europa's surface. Underwater wireless communications may be the most viable means of communication for such exploratory missions, accounting for size and weight restrictions. This presents a challenge to achieve satisfactory data rates and a range that permits autonomous underwater vehicles (AUVs) to communicate within their region of operation, as well as with a surface lander or orbiter. This work presents thorough prototype experimentation on an underwater communication system established between several nodes using RF signals. During an eight-week internship experience at NASA's Ames Research Center in September-October 2014, our team developed a Europa exploration mission concept, built representative hardware, and carried out tests to assess the feasibility of key aspects of the concept. Experiments demonstrating the viability of RF communication underwater comprised inspecting the effect of depth and horizontal distance on signal strength as well as the optimum positioning of antennas. To test the system's performance, two submersibles were designed and built. A commercially available remotely operated vehicle (ROV) was also modified and used as a main communication node. The two submersibles were wirelessly connected and accommodated sensors capable of characterizing water properties and equipped with 2.4 GHz, 1 mW transceivers to communicate the measured data. The communication procedure is that the main communication node requests the collected data from the two submersibles when in range and receives it instantly through RF. This work models what may take place during an actual mission to Europa. The developed mission concept involved a hybrid communication system consisting of acoustic and RF signals to enhance the capability of the nodes to communicate over greater distances. The AUVs will need to avoid obstacles and maneuver around to collect data based on predefined algorithms. Thus, they will be provided with two positioning systems; the inertial navigation system, backed with an acoustic positioning system to mitigate drift. The AUVs divide the ocean into planes and explore along circular paths increasing in diameter with depth. Moreover, they make use of miniaturized sensors to map the surrounding environment. In this paper, the ROV and the submersibles are described, along with sections explaining the mechanism of communication and the testing procedures conducted to yield results.

Field Experiments using Telepresence and Virtual Reality to Control Remote Vehicles: Application to Mars Rover Missions

NASA Technical Reports Server (NTRS)

Stoker, Carol

1994-01-01

This paper will describe a series of field experiments to develop and demonstrate file use of Telepresence and Virtual Reality systems for controlling rover vehicles on planetary surfaces. In 1993, NASA Ames deployed a Telepresence-Controlled Remotely Operated underwater Vehicle (TROV) into an ice-covered sea environment in Antarctica. The goal of the mission was to perform scientific exploration of an unknown environment using a remote vehicle with telepresence and virtual reality as a user interface. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research center, for over two months. Remote control used a bidirectional Internet link to the vehicle control computer. The operator viewed live stereo video from the TROV along with a computer-gene rated graphic representation of the underwater terrain showing file vehicle state and other related information. Tile actual vehicle could be driven either from within the virtual environment or through a telepresence interface. In March 1994, a second field experiment was performed in which [lie remote control system developed for the Antarctic TROV mission was used to control the Russian Marsokhod Rover, an advanced planetary surface rover intended for launch in 1998. Marsokhod consists of a 6-wheel chassis and is capable of traversing several kilometers of terrain each day, The rover can be controlled remotely, but is also capable of performing autonomous traverses. The rover was outfitted with a manipulator arm capable of deploying a small instrument, collecting soil samples, etc. The Marsokhod rover was deployed at Amboy Crater in the Mojave desert, a Mars analog site, and controlled remotely from Los Angeles. in two operating modes: (1) a Mars rover mission simulation with long time delay and (2) a Lunar rover mission simulation with live action video. A team of planetary geologists participated in the mission simulation. The scientific goal of the science mission was to determine what could be learned about the geologic context of the site using the capabilities of imaging and mobility provided by the Marsokhod system in these two modes of operation. I will discuss the lessons learned from these experiments in terms of the strategy for performing Mars surface exploration using rovers. This research is supported by the Solar System Exploration Exobiology, Geology, and Advanced Technology programs.

Injury rate in a helicopter underwater escape trainer (HUET) from 2005-2012.

PubMed

Brooks, Christopher J; MacDonald, Conor V; Gibbs, Peter N A

2014-08-01

Helicopter underwater escape training (HUET) carries a potential for injury and this paper identifies the injury rate. A marine survival training school registry of all students trained between 2005-2012 in HUET and the coinciding accident records were examined. There were 8902 students trained in a helicopter underwater escape simulator for a total of 59,245 underwater escapes. There were 40 cases where only first-aid was required and 3 serious injuries (a laceration requiring 5 sutures, 1 dislocated shoulder, and 1 water aspiration requiring hospitalization). There were no deaths and no problems reported with using the Emergency Breathing System (EBS) or Air Pocket. Of the injuries, 11 were due to the student using a poor escape technique. The overall probability of injury was 0.74 per 1000 ascents. In HUET training, there is a very low injury rate with almost no significant severity. Although not scientifically proven, this would suggest that the low incident rate is due to good medical screening and the attention given by instructors to anxious students. Compared to other training such as diving, parachute jumping, and submarine escape training, the rate of injury was considerably lower.

Biosensor UUV payload for underwater detection

NASA Astrophysics Data System (ADS)

Kusterbeck, Anne W.; Charles, Paul T.; Melde, Brian J.; Trammell, Scott A.; Adams, André A.; Deschamps, Jeffrey R.

2010-04-01

Increased emphasis on maritime domain awareness and port security has led to the development of unmanned underwater vehicles (UUVs) capable of extended missions. These systems rely most frequently on well-developed side scan sonar and acoustic methods to locate potential targets. The Naval Research Laboratory (NRL) is developing biosensors for underwater explosives detection that complement acoustic sensors and can be used as UUV payloads to monitor areas for port and harbor security or in detection of underwater unexploded ordnance (UXO) and biochemical threats. The prototype sensor has recently been demonstrated to detect explosives in seawater at trace levels when run in a continuous sampling mode. To overcome ongoing issues with sample preparation and facilitate rapid detection at trace levels in a marine environment, we have been developing new mesoporous materials for in-line preconcentration of explosives and other small molecules, engineering microfluidic components to improve the signal, and testing alternative signal transduction methods. Additional work is being done to optimize the optical components and sensor response time. Highlights of these current studies and our ongoing efforts to integrate the biosensor with existing detection technologies to reduce false positives are described. In addition, we present the results of field tests that demonstrate the prototype biosensor performance as a UUV payload.

Underwater Electromagnetic Sensor Networks—Part I: Link Characterization †

PubMed Central

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

2017-01-01

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

The hearing threshold of a harbor porpoise (Phocoena phocoena) for impulsive sounds (L).

PubMed

Kastelein, Ronald A; Gransier, Robin; Hoek, Lean; de Jong, Christ A F

2012-08-01

The distance at which harbor porpoises can hear underwater detonation sounds is unknown, but depends, among other factors, on the hearing threshold of the species for impulsive sounds. Therefore, the underwater hearing threshold of a young harbor porpoise for an impulsive sound, designed to mimic a detonation pulse, was quantified by using a psychophysical technique. The synthetic exponential pulse with a 5 ms time constant was produced and transmitted by an underwater projector in a pool. The resulting underwater sound, though modified by the response of the projection system and by the pool, exhibited the characteristic features of detonation sounds: A zero to peak sound pressure level of at least 30 dB (re 1 s(-1)) higher than the sound exposure level, and a short duration (34 ms). The animal's 50% detection threshold for this impulsive sound occurred at a received unweighted broadband sound exposure level of 60 dB re 1 μPa(2)s. It is shown that the porpoise's audiogram for short-duration tonal signals [Kastelein et al., J. Acoust. Soc. Am. 128, 3211-3222 (2010)] can be used to estimate its hearing threshold for impulsive sounds.

Underwater, low-frequency noise in a coastal sea turtle habitat.

PubMed

Samuel, Y; Morreale, S J; Clark, C W; Greene, C H; Richmond, M E

2005-03-01

Underwater sound was recorded in one of the major coastal foraging areas for juvenile sea turtles in the Peconic Bay Estuary system in Long Island, New York. The recording season of the underwater environment coincided with the sea turtle activity season in an inshore area where there is considerable boating and recreational activity, especially during the summer between Independence Day and Labor Day. Within the range of sea turtle hearing, average noise pressure reached 110 dB during periods of high human activity and diminished proportionally, down to 80 dB, with decreasing human presence. Therefore, during much of the season when sea turtles are actively foraging in New York waters, their coastal habitats are flooded with underwater noise. During the period of highest human activity, average noise pressures within the range of frequencies heard by sea turtles were greater by over two orders of magnitude (26 dB) than during the lowest period of human activity. Sea turtles undoubtedly are exposed to high levels of noise, most of which is anthropogenic. Results suggest that continued exposure to existing high levels of pervasive anthropogenic noise in vital sea turtle habitats and any increase in noise could affect sea turtle behavior and ecology.

Underwater Electromagnetic Sensor Networks-Part I: Link Characterization.

PubMed

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

2017-01-19

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

Channel analysis for single photon underwater free space quantum key distribution.

PubMed

Shi, Peng; Zhao, Shi-Cheng; Gu, Yong-Jian; Li, Wen-Dong

2015-03-01

We investigate the optical absorption and scattering properties of underwater media pertinent to our underwater free space quantum key distribution (QKD) channel model. With the vector radiative transfer theory and Monte Carlo method, we obtain the attenuation of photons, the fidelity of the scattered photons, the quantum bit error rate, and the sifted key generation rate of underwater quantum communication. It can be observed from our simulations that the most secure single photon underwater free space QKD is feasible in the clearest ocean water.

Fallout from the Shuttle Arm

NASA Technical Reports Server (NTRS)

1990-01-01

Vadeko International, Inc., Mississauga, Ontario developed for the Canadian National Railways (CN) the Robotic Paint Application System. The robotic paint shop has two parallel paint booths, allowing simultaneous painting of two hopper cars. Each booth has three robots, two that move along wall-mounted rails to spray-paint the exterior, a third that is lowered through a hatch in the railcar's top to paint the interior. A fully computerized system controls the movement of the robots and the painting process. The robots can do in four hours a job that formerly took 32 hours. The robotic system applies a more thorough coating and CN expects that will double the useful life of its hoppers and improve cost efficiency. Human painters no longer have to handle the difficult and hazardous job. CN paint shop employees have been retrained to operate the computer system that controls the robots. In addition to large scale robotic systems, Vadeko International is engaged in such other areas of technology as flexible automation, nuclear maintenance, underwater vehicles, thin film deposition and wide band monitoring.

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

NASA Astrophysics Data System (ADS)

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

2017-05-01

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

The Positioning Accuracy of BAUV Using Fusion of Data from USBL System and Movement Parameters Measurements

PubMed Central

Krzysztof, Naus; Aleksander, Nowak

2016-01-01

The article presents a study of the accuracy of estimating the position coordinates of BAUV (Biomimetic Autonomous Underwater Vehicle) by the extended Kalman filter (EKF) method. The fusion of movement parameters measurements and position coordinates fixes was applied. The movement parameters measurements are carried out by on-board navigation devices, while the position coordinates fixes are done by the USBL (Ultra Short Base Line) system. The problem of underwater positioning and the conceptual design of the BAUV navigation system constructed at the Naval Academy (Polish Naval Academy—PNA) are presented in the first part of the paper. The second part consists of description of the evaluation results of positioning accuracy, the genesis of the problem of selecting method for underwater positioning, and the mathematical description of the method of estimating the position coordinates using the EKF method by the fusion of measurements with on-board navigation and measurements obtained with the USBL system. The main part contains a description of experimental research. It consists of a simulation program of navigational parameter measurements carried out during the BAUV passage along the test section. Next, the article covers the determination of position coordinates on the basis of simulated parameters, using EKF and DR methods and the USBL system, which are then subjected to a comparative analysis of accuracy. The final part contains systemic conclusions justifying the desirability of applying the proposed fusion method of navigation parameters for the BAUV positioning. PMID:27537884

The Positioning Accuracy of BAUV Using Fusion of Data from USBL System and Movement Parameters Measurements.

PubMed

Krzysztof, Naus; Aleksander, Nowak

2016-08-15

The article presents a study of the accuracy of estimating the position coordinates of BAUV (Biomimetic Autonomous Underwater Vehicle) by the extended Kalman filter (EKF) method. The fusion of movement parameters measurements and position coordinates fixes was applied. The movement parameters measurements are carried out by on-board navigation devices, while the position coordinates fixes are done by the USBL (Ultra Short Base Line) system. The problem of underwater positioning and the conceptual design of the BAUV navigation system constructed at the Naval Academy (Polish Naval Academy-PNA) are presented in the first part of the paper. The second part consists of description of the evaluation results of positioning accuracy, the genesis of the problem of selecting method for underwater positioning, and the mathematical description of the method of estimating the position coordinates using the EKF method by the fusion of measurements with on-board navigation and measurements obtained with the USBL system. The main part contains a description of experimental research. It consists of a simulation program of navigational parameter measurements carried out during the BAUV passage along the test section. Next, the article covers the determination of position coordinates on the basis of simulated parameters, using EKF and DR methods and the USBL system, which are then subjected to a comparative analysis of accuracy. The final part contains systemic conclusions justifying the desirability of applying the proposed fusion method of navigation parameters for the BAUV positioning.

A Distributed Data-Gathering Protocol Using AUV in Underwater Sensor Networks.

PubMed

Khan, Jawaad Ullah; Cho, Ho-Shin

2015-08-06

In this paper, we propose a distributed data-gathering scheme using an autonomous underwater vehicle (AUV) working as a mobile sink to gather data from a randomly distributed underwater sensor network where sensor nodes are clustered around several cluster headers. Unlike conventional data-gathering schemes where the AUV visits either every node or every cluster header, the proposed scheme allows the AUV to visit some selected nodes named path-nodes in a way that reduces the overall transmission power of the sensor nodes. Monte Carlo simulations are performed to investigate the performance of the proposed scheme compared with several preexisting techniques employing the AUV in terms of total amount of energy consumption, standard deviation of each node's energy consumption, latency to gather data at a sink, and controlling overhead. Simulation results show that the proposed scheme not only reduces the total energy consumption but also distributes the energy consumption more uniformly over the network, thereby increasing the lifetime of the network.

A Distributed Data-Gathering Protocol Using AUV in Underwater Sensor Networks

PubMed Central

Khan, Jawaad Ullah; Cho, Ho-Shin

2015-01-01

In this paper, we propose a distributed data-gathering scheme using an autonomous underwater vehicle (AUV) working as a mobile sink to gather data from a randomly distributed underwater sensor network where sensor nodes are clustered around several cluster headers. Unlike conventional data-gathering schemes where the AUV visits either every node or every cluster header, the proposed scheme allows the AUV to visit some selected nodes named path-nodes in a way that reduces the overall transmission power of the sensor nodes. Monte Carlo simulations are performed to investigate the performance of the proposed scheme compared with several preexisting techniques employing the AUV in terms of total amount of energy consumption, standard deviation of each node’s energy consumption, latency to gather data at a sink, and controlling overhead. Simulation results show that the proposed scheme not only reduces the total energy consumption but also distributes the energy consumption more uniformly over the network, thereby increasing the lifetime of the network. PMID:26287189

Insertion and confinement of hydrophobic metallic powder in water: the bubble-marble effect.

PubMed

Meir, Yehuda; Jerby, Eli

2014-09-01

Metallic powders such as thermite are known as efficient fuels also applicable in oxygen-free environments. However, due to their hydrophobicity, they hardly penetrate into water. This paper presents an effect that enables the insertion and confinement of hydrophobic metallic powders in water, based on encapsulating an air bubble surrounded by a hydrophobic metallic shell. This effect, regarded as an inverse of the known liquid-marble effect, is named here "bubble marble" (BM). The sole BM is demonstrated experimentally as a stable, maneuverable, and controllable soft-solid-like structure, in a slightly deformed hollow spherical shape of ∼1-cm diameter. In addition to experimental and theoretical BM aspects, this paper also demonstrates its potential for underwater applications, such as transportation of solid objects within BM and underwater combustion of thermite BM by localized microwaves. Hence, the BM phenomena may open new possibilities for heat and thrust generation, as well as material processing and mass transfer underwater.

Insertion and confinement of hydrophobic metallic powder in water: The bubble-marble effect

NASA Astrophysics Data System (ADS)

Meir, Yehuda; Jerby, Eli

2014-09-01

Metallic powders such as thermite are known as efficient fuels also applicable in oxygen-free environments. However, due to their hydrophobicity, they hardly penetrate into water. This paper presents an effect that enables the insertion and confinement of hydrophobic metallic powders in water, based on encapsulating an air bubble surrounded by a hydrophobic metallic shell. This effect, regarded as an inverse of the known liquid-marble effect, is named here "bubble marble" (BM). The sole BM is demonstrated experimentally as a stable, maneuverable, and controllable soft-solid-like structure, in a slightly deformed hollow spherical shape of ˜1-cm diameter. In addition to experimental and theoretical BM aspects, this paper also demonstrates its potential for underwater applications, such as transportation of solid objects within BM and underwater combustion of thermite BM by localized microwaves. Hence, the BM phenomena may open new possibilities for heat and thrust generation, as well as material processing and mass transfer underwater.

One-step assembly of Fe(III)-CMC chelate hydrogel onto nanoneedle-like CuO@Cu membrane with superhydrophilicity for oil-water separation

NASA Astrophysics Data System (ADS)

Dai, Jiangdong; Chang, Zhongshuai; Xie, Atian; Zhang, Ruilong; Tian, Sujun; Ge, Wenna; Yan, Yongsheng; Li, Chunxiang; Xu, Wei; Shao, Rong

2018-05-01

The research of superhydrophilic interface is developing rapidly, but the preparations of superhydrophilic surfaces through simple methods are still challenging. Herein, we reported a facile, rapid and environmentally-friendly approach for preparing a novel superhydrophilic and underwater superoleophobic membrane via the thermal oxidation of Cu mesh and one-step coordinated assembly of Fe(III)-CMC chelate hydrogel. Superhydrophilicity was attributed to the hydrophilicity of Fe(III)-CMC chelate hydrogel and nanoneedle-like rough structure of CuO@Cu membrane. The membrane was used to separate a variety of oil/water mixtures and exhibited excellent separation performance. Moreover, the membrane exhibited the excellent durability and superior stability against corrosion conditions. We envision that the Fe(III)-CMC@CuO@Cu membrane with good underwater superoleophobicity could provide a candidate not only for oil/water separation but also many other potential applications such as underwater oil manipulation, self-clean, and bio-adhesion control.

Diel patterns in underwater sounds produced by beluga whales and Pacific white-sided dolphins at John G. Shedd Aquarium

NASA Astrophysics Data System (ADS)

Brickman, Jon; Tanchez, Erin; Thomas, Jeanette

2005-09-01

Diel patterns in underwater sounds from five beluga whales (Delphinapterus leucas) and five Pacific white-sided dolphins (Lagenorhynchus obliquidens) housed at John G. Shedd Aquarium in Chicago, IL were studied. Underwater sounds were sampled systematically over 24-h periods by using a battery-operated cassette recorder and an Ithaco 605C hydrophone controlled by a digital timer, which activated every hour and then shut off after 2.5 min. Belugas had 14 sounds and Pacific white-sided dolphins produced 5 sounds. For each species, the use of some sounds was correlated with other sounds. The diel pattern for both species was similar and mostly affected by the presence of humans. Sounds gradually increased after the staff and visitors arrived, peaked during the midday, gradually decreased as closing of the aquarium approached, and was minimal overnight. These data can help identify the best time of day to make recordings and perhaps could be used to examine social, reproductive, or health changes in these captive cetaceans.

New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy

PubMed Central

Gonzalez, Julian; Galarza, Cesar; Aguzzi, Jacopo; del Rio, Joaquin

2018-01-01

Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions. PMID:29673224

Optimized decoy state QKD for underwater free space communication

NASA Astrophysics Data System (ADS)

Lopes, Minal; Sarwade, Nisha

Quantum cryptography (QC) is envisioned as a solution for global key distribution through fiber optic, free space and underwater optical communication due to its unconditional security. In view of this, this paper investigates underwater free space quantum key distribution (QKD) model for enhanced transmission distance, secret key rates and security. It is reported that secure underwater free space QKD is feasible in the clearest ocean water with the sifted key rates up to 207kbps. This paper extends this work by testing performance of optimized decoy state QKD protocol with underwater free space communication model. The attenuation of photons, quantum bit error rate and the sifted key generation rate of underwater quantum communication is obtained with vector radiative transfer theory and Monte Carlo method. It is observed from the simulations that optimized decoy state QKD evidently enhances the underwater secret key transmission distance as well as secret key rates.

Tribological properties of fish scale inspired underwater superoleophobic hierarchical structure in aqueous environment

NASA Astrophysics Data System (ADS)

Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Li, Yiquan; Yu, Zhanjiang; Liu, Qimeng; Yu, Huadong

2017-10-01

Underwater superoleophobic surfaces are becoming increasingly important in regard to self-cleaning, anti-fouling, oil droplet transportation and water/oil separation. Although a great number of underwater superoleophobic surfaces have been demonstrated, their tribological properties remain impractical for the purposes of real-life applications. Herein, a two-step method of high speed wire electrical discharge machining and boiling water treatment was adopted to fabricate fish scale inspired underwater oil repellent hierarchical structure on an aluminum (Al) alloy 5083 surface. The hierarchical roughness and hydroxyl groups were obtained on the surface, and the surface exhibited the ability to prevent contact with organic fluids when submerged in water. Moreover, the tribological properties of underwater superoleophobic Al surfaces in aqueous environments were analyzed. The average friction coefficient of underwater superoleophobic surfaces was decreased compared with the polished Al surface. We believe that this research will contribute to the engineering application of underwater superoleophobic surfaces in the future.

Vehicle Guidance and Control Along Circular Trajectories

DTIC Science & Technology

1992-09-01

the line of sight, while Chism [2] studied a cross track error based control law. Hawkinson [3] extended the results to the multiple input case when...Thesis, Naval Postgraduate School, Monterey, California, June. 2. Chism , S., (1990) "Robust path tracking of autonomous underwater vehicles using sliding

46 CFR 169.229 - Drydock examination, internal structural examination, and underwater survey intervals.

Code of Federal Regulations, 2010 CFR

2010-10-01

..., and underwater survey intervals. 169.229 Section 169.229 Shipping COAST GUARD, DEPARTMENT OF HOMELAND... Hauling Out § 169.229 Drydock examination, internal structural examination, and underwater survey... period unless it has been approved to undergo an underwater survey (UWILD) under § 169.230 of this part...

Implantable acoustic-beacon automatic fish-tracking system

NASA Technical Reports Server (NTRS)

Mayhue, R. J.; Lovelady, R. W.; Ferguson, R. L.; Richards, C. E.

1977-01-01

A portable automatic fish tracking system was developed for monitoring the two dimensional movements of small fish within fixed areas of estuarine waters and lakes. By using the miniature pinger previously developed for this application, prototype tests of the system were conducted in the York River near the Virginia Institute of Marine Science with two underwater listening stations. Results from these tests showed that the tracking system could position the miniature pinger signals to within + or - 2.5 deg and + or - 135 m at ranges up to 2.5 km. The pingers were implanted in small fish and were successfully tracked at comparable ranges. No changes in either fish behavior or pinger performance were observed as a result of the implantation. Based on results from these prototype tests, it is concluded that the now commercially available system provides an effective approach to underwater tracking of small fish within a fixed area of interest.

Underwater probing with laser radar

NASA Technical Reports Server (NTRS)

Carswell, A. I.; Sizgoric, S.

1975-01-01

Recent advances in laser and electro optics technology have greatly enhanced the feasibility of active optical probing techniques aimed at the remote sensing of water parameters. This paper describes a LIDAR (laser radar) that has been designed and constructed for underwater probing. The influence of the optical properties of water on the general design parameters of a LIDAR system is considered. Discussion of the specific details in the choice of the constructed LIDAR is given. This system utilizes a cavity dumped argon ion laser transmitter capable of 50 watt peak powers, 10 nanosecond pulses and megahertz pulse repetition rates at 10 different wavelengths in the blue green region of the spectrum. The performance of the system, in proving various types of water, is demonstrated by summarizing the results of initial laboratory and field experiments.

The design, fabrication and delivery of a spacelab neutral buoyancy Instrument Pointing System (IPS) mockup. [underwater training simulator

NASA Technical Reports Server (NTRS)

Vanvalkenburgh, C. N.

1984-01-01

Underwater simulations of EVA contingency operations such as manual jettison, payload disconnect, and payload clamp actuation were used to define crew aid needs and mockup pecularities and characteristics to verify the validity of simulation using the trainer. A set of mockup instrument pointing system tests was conducted and minor modifications and refinements were made. Flight configuration struts were tested and verified to be operable by the flight crew. Tasks involved in developing the following end items are described: IPS gimbal system, payload, and payload clamp assembly; the igloos (volumetric); spacelab pallets, experiments, and hardware; experiment, and hardware; experiment 7; and EVA hand tools, support hardware (handrails and foot restraints). The test plan preparation and test support are also covered.

A continuous operating protection system called COPS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chaperon, G.

1987-01-01

The continuous operating protection system called COPS is a diverless solution to achieve the stabilization and protection of subsea pipelines and cables: the system is based on the use of a continuous fabric form work mattress which is spread on the sea bed over the pipeline or cable to be protected by a remotely controlled underwater crawler and simultaneously filled with cement grout. The method has been successfully used in the GULLFAKS field where about 3.6 km of grout mattresses having a cross section of 2 meters by 0.2 meters have been laid. The performances of the system are presentedmore » as well as a trade off comparison with the other stabilization and protection methods currently used: burying, rock dumping or placement of covers.« less

Attitude coordination of multi-HUG formation based on multibody system theory

NASA Astrophysics Data System (ADS)

Xue, Dong-yang; Wu, Zhi-liang; Qi, Er-mai; Wang, Yan-hui; Wang, Shu-xin

2017-04-01

Application of multiple hybrid underwater gliders (HUGs) is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field (APF) approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.

The Sentry Autonomous Underwater Vehicle: Field Trial Results and Future Capabilities

NASA Astrophysics Data System (ADS)

Yoerger, D. R.; Bradley, A. M.; Martin, S. C.; Whitcomb, L. L.

2006-12-01

The Sentry autonomous underwater vehicle combines an efficient long range survey capability with the ability to maneuver at low speeds. These attributes will permit Sentry to perform a variety of conventional and unconventional surveys including long range sonar surveys, hydrothermal plume surveys and near-bottom photo surveys. Sentry's streamlined body and fore and aft tilting planes, each possessing an independently controlled thruster, enable efficient operation in both near-bottom and cruising operations. Sentry is capable of being configured in two modes: hover mode, which commands Sentry's control surfaces to be aligned vertically, and forward flight mode, which allows Sentry's control surfaces to actuate between plus or minus 45 degrees. Sentry is equipped for full 6-Degrees of freedom position measurement. Vehicle heading, roll, and pitch are instrumented with a TCM2 PNI heading and attitude sensor. A Systron Donner yaw rate sensor instrumented heading rate. Depth is instrumented by a Paroscientific depth sensor. A 300kHz RD Instruments Doppler Sonar provides altitude and XYZ velocity measurements. In April 2006, we conducted our first deep water field trials of Sentry in Bermuda. These trials enabled us to examine a variety of issues, including the control software, vehicle safety systems, launch and recovery procedures, operation at depth, heading and depth controllers over a range of speeds, and power consumption. Sentry employ's a control system based upon the Jason 2 control system for low-level control, which has proven effective and reliable over several hundred deep-water dives. The Jason 2 control system, developed jointly at Johns Hopkins University and Woods Hole Oceanographic Institution, was augmented to manage Sentry-specific devices (sensors, actuators, and power storage) and to employ a high-level mission controller that supported autonomous mission scripting and error detection and response. This control suite will also support the Nereus Hybrid ROV, also in development at Woods Hole. Both systems performed well during these engineering trials. Sentry's heading and depth controller was tested in a series of trials at different speeds. The heading set point was maintained within approximately ½ degree and appeared to be limited by the precision of the heading sensor. The depth set point, during level flight, was maintained within about 2 centimeters. Based on these tests, we can project Sentry's range as a function of speed. Vehicle speed was measured by a 300 khz bottom-lock Doppler sonar while energy consumption was measured using a coulometer and voltage measurement. The vehicle flew complementary courses at the same levels of forward thrust, which allowed the effects of ambient currents to be eliminated. Assuming a sensor power level consistent with plume survey and bathymetric survey and a 10 kilowatt-hour battery, Sentry will be able to survey 100 km at 2.5 knots and over 150 km at 1.5 knots. Upgrades to Sentry that are presently funded and underway include the addition of an inertial navigation system, improved batteries, a camera system, and a multibeam sonar.

An integrated optical/acoustic communication system for seafloor observatories: A field test of high data rate communications at CORK 857D

NASA Astrophysics Data System (ADS)

Tivey, M.; Farr, N.; Ware, J.; Pontbriand, C.

2010-12-01

We report the successful deployment and testing of an underwater optical communication system that provides high data rate communications over a range of 100 meters from a deep sea borehole observatory located in the northeast Pacific. Optical underwater communications offers many advantages over acoustic or underwater wet mateable connections (UWMC). UMWCs requires periodic visits from a submersible or ROV to plug in and download data. Typically, these vehicles cannot perform any other tasks during these download periods - their time on station is limited, restricting the amount of data that can be downloaded. To eliminate the need for UWMCs requires the use of remote communication techniques such as acoustics or optical communications. Optical communications is capable of high data rates up to 10 mega bits per sec (Mbps) compared to acoustic data rates of 57 Kbps. We have developed an integrated optical/acoustic telemetry system (OTS) that uses an acoustic command system to control a high bandwidth, low latency optical communication system. In July 2010, we used the deep submersible ALVIN to install the Optical Telemetry System (OTS) at CORK 857D. The CORK is instrumented with a thermistor string and pressure sensors that record downhole formation pressures and temperatures within oceanic basement that is pressure sealed from the overlying water column. The seafloor OTS was plugged into the CORK’s existing UWMC to provide an optical and acoustic communication interface and additional data storage and battery power for the CORK to sample at 1 Hz data-rate, an increase over the normal 15 sec data sample rate. Using a CTD-mounted OTS lowered by wire from a surface ship, we established an optical communication link at 100 meters range at rates of 1, 5 and 10 Mbps with no bit errors. Tests were also done to establish the optical range of various data rates and the optical power of the system. After a week, we repeated the CTD-OTS experiment and downloaded 20 Mbytes of data over a 5 Mbps link at a range of 80 m. The OTS will remain installed at CORK 857D for a year. Our OTS enables faster data rates to be employed for in situ measurements that were previously limited by data download times from a submersible. The OTS also permits non submersible-equipped vessels to interrogate the CORK borehole observatory on a more frequent basis using a receiver lowered by wire from a ship of opportunity. In the future, autonomous vehicles could interrogate such seafloor observatories in a “data-mule” configuration and then dock at a seafloor cabled node to download data. While borehole observatories may ultimately be linked into undersea cables relaying real-time data back to shore they represent a superb opportunity to test free water optical communication methods. The lessons learned from our CORK development efforts will go a long way towards establishing the viability of underwater optical communications for a host of autonomous seafloor sensor systems in the future.

Development of An Autonomous Underwater Glider for Observing Physical Ocean Parameters in Indonesian Seas

NASA Astrophysics Data System (ADS)

Ajie Linarka, Utoyo; Riyanto Trilaksono, Bambang; Sagala, M. Faisal; Hidayat, Egi; Sopaheluwakan, Ardhasena; Rizal, Jose; Heriyanto, Eko; Amsal Harapan, Ferdika; Eka Syahputra Makmur, Erwin

2017-04-01

Conducting a sustained monitoring and surveying of physical ocean parameters for research or operational purposes using moorings and ships would require high cost. Development of an inexpensive instrument capable to perform such tasks not only could reduce cost and risks but also increase cruising range and depth. For that reason, a prototype of underwater glider was developed, named "GaneshBlue". GaneshBlue works based on gliding principles which utilizes pitch angle and buoyancy control for moving. For one gliding movement, GaneshBlue passed through 5 phases of surface, descent, transition, ascent and back to surface. The glider is equipped with basic navigation system and remote control, programmable survey planning, temperature and salinity sampling instruments, lithium batteries for power supply, and information processing software. A field test at the shallow water showed that GaneshBule has successfully demonstrated gliding and surfacing movements with surge motion speed reaching 20 cm s-1and 20 m in depths. During the field test the glider was also equipped with three instruments, i.e. Inertial Measurement Unit (IMU) to estimate glider's speed and orientation; MiniCT to acquire temperature and conductivity data; and Altisounder to determine its distance to sea surface and to seabed. In general, all the instruments performed well but filter algorithm needs to be implemented on data collection procedure to remove data outliers.

Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints

PubMed Central

Campos, Ricard; Gracias, Nuno; Ridao, Pere

2016-01-01

Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project. PMID:26999144

Path Planning Method in Multi-obstacle Marine Environment

NASA Astrophysics Data System (ADS)

Zhang, Jinpeng; Sun, Hanxv

2017-12-01

In this paper, an improved algorithm for particle swarm optimization is proposed for the application of underwater robot in the complex marine environment. Not only did consider to avoid obstacles when path planning, but also considered the current direction and the size effect on the performance of the robot dynamics. The algorithm uses the trunk binary tree structure to construct the path search space and A * heuristic search method is used in the search space to find a evaluation standard path. Then the particle swarm algorithm to optimize the path by adjusting evaluation function, which makes the underwater robot in the current navigation easier to control, and consume less energy.

Terminal Homing for Autonomous Underwater Vehicle Docking

DTIC Science & Technology

2016-06-01

underwater domain, accurate navigation. Above the water, light and electromagnetic signals travel well through air and space, mediums that allow for a...DISTRIBUTION CODE 13. ABSTRACT The use of docking stations for autonomous underwater vehicles (AUV) provides the ability to keep a vehicle on...Mechanical and Aerospace Engineering iv THIS PAGE INTENTIONALLY LEFT BLANK v ABSTRACT The use of docking stations for autonomous underwater

Non-Data Aided Doppler Shift Estimation for Underwater Acoustic Communication

DTIC Science & Technology

2014-05-01

in underwater acoustic wireless sensor networks . We analyzed the data collected from our experiments using non-data aided (blind) techniques such as...investigated different methods for blind Doppler shift estimation and compensation for a single carrier in underwater acoustic wireless sensor ...distributed underwater sensor networks . Detailed experimental and simulated results based on second order cyclostationary features of the received signals

Global Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks

DTIC Science & Technology

2014-03-31

Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks M.M. Asadi H. Mahboubi A...2014 Global Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks Contract Report # AMBUSH.1.1 Contract...pi j /= 0. The sensor network considered in this work is composed of underwater sensors , which use acoustic waves for

Underwater psychophysical audiogram of a young male California sea lion (Zalophus californianus).

PubMed

Mulsow, Jason; Houser, Dorian S; Finneran, James J

2012-05-01

Auditory evoked potential (AEP) data are commonly obtained in air while sea lions are under gas anesthesia; a procedure that precludes the measurement of underwater hearing sensitivity. This is a substantial limitation considering the importance of underwater hearing data in designing criteria aimed at mitigating the effects of anthropogenic noise exposure. To determine if some aspects of underwater hearing sensitivity can be predicted using rapid aerial AEP methods, this study measured underwater psychophysical thresholds for a young male California sea lion (Zalophus californianus) for which previously published aerial AEP thresholds exist. Underwater thresholds were measured in an aboveground pool at frequencies between 1 and 38 kHz. The underwater audiogram was very similar to those previously published for California sea lions, suggesting that the current and previously obtained psychophysical data are representative for this species. The psychophysical and previously measured AEP audiograms were most similar in terms of high-frequency hearing limit (HFHL), although the underwater HFHL was sharper and occurred at a higher frequency. Aerial AEP methods are useful for predicting reductions in the HFHL that are potentially independent of the testing medium, such as those due to age-related sensorineural hearing loss.

Underwater 3D Surface Measurement Using Fringe Projection Based Scanning Devices

PubMed Central

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

2015-01-01

In this work we show the principle of optical 3D surface measurements based on the fringe projection technique for underwater applications. The challenges of underwater use of this technique are shown and discussed in comparison with the classical application. We describe an extended camera model which takes refraction effects into account as well as a proposal of an effective, low-effort calibration procedure for underwater optical stereo scanners. This calibration technique combines a classical air calibration based on the pinhole model with ray-based modeling and requires only a few underwater recordings of an object of known length and a planar surface. We demonstrate a new underwater 3D scanning device based on the fringe projection technique. It has a weight of about 10 kg and the maximal water depth for application of the scanner is 40 m. It covers an underwater measurement volume of 250 mm × 200 mm × 120 mm. The surface of the measurement objects is captured with a lateral resolution of 150 μm in a third of a second. Calibration evaluation results are presented and examples of first underwater measurements are given. PMID:26703624