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

Remote environmental sensor array system

NASA Astrophysics Data System (ADS)

Hall, Geoffrey G.

This thesis examines the creation of an environmental monitoring system for inhospitable environments. It has been named The Remote Environmental Sensor Array System or RESA System for short. This thesis covers the development of RESA from its inception, to the design and modeling of the hardware and software required to make it functional. Finally, the actual manufacture, and laboratory testing of the finished RESA product is discussed and documented. The RESA System is designed as a cost-effective way to bring sensors and video systems to the underwater environment. It contains as water quality probe with sensors such as dissolved oxygen, pH, temperature, specific conductivity, oxidation-reduction potential and chlorophyll a. In addition, an omni-directional hydrophone is included to detect underwater acoustic signals. It has a colour, high-definition and a low-light, black and white camera system, which it turn are coupled to a laser scaling system. Both high-intensity discharge and halogen lighting system are included to illuminate the video images. The video and laser scaling systems are manoeuvred using pan and tilt units controlled from an underwater computer box. Finally, a sediment profile imager is included to enable profile images of sediment layers to be acquired. A control and manipulation system to control the instruments and move the data across networks is integrated into the underwater system while a power distribution node provides the correct voltages to power the instruments. Laboratory testing was completed to ensure that the different instruments associated with the RESA performed as designed. This included physical testing of the motorized instruments, calibration of the instruments, benchmark performance testing and system failure exercises.

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

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.

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.

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.

Emerging From Water: Underwater Image Color Correction Based on Weakly Supervised Color Transfer

NASA Astrophysics Data System (ADS)

Li, Chongyi; Guo, Jichang; Guo, Chunle

2018-03-01

Underwater vision suffers from severe effects due to selective attenuation and scattering when light propagates through water. Such degradation not only affects the quality of underwater images but limits the ability of vision tasks. Different from existing methods which either ignore the wavelength dependency of the attenuation or assume a specific spectral profile, we tackle color distortion problem of underwater image from a new view. In this letter, we propose a weakly supervised color transfer method to correct color distortion, which relaxes the need of paired underwater images for training and allows for the underwater images unknown where were taken. Inspired by Cycle-Consistent Adversarial Networks, we design a multi-term loss function including adversarial loss, cycle consistency loss, and SSIM (Structural Similarity Index Measure) loss, which allows the content and structure of the corrected result the same as the input, but the color as if the image was taken without the water. Experiments on underwater images captured under diverse scenes show that our method produces visually pleasing results, even outperforms the art-of-the-state methods. Besides, our method can improve the performance of vision tasks.

A novel underwater dam crack detection and classification approach based on sonar images

PubMed Central

Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min

2017-01-01

Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments. PMID:28640925

A novel underwater dam crack detection and classification approach based on sonar images.

PubMed

Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min

2017-01-01

Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

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

Looking into the water with oblique head tilting: revision of the aerial binocular imaging of underwater objects.

PubMed

Horváth, Gábor; Buchta, Krisztián; Varjú, Dezsö

2003-06-01

It is a well-known phenomenon that when we look into the water with two aerial eyes, both the apparent position and the apparent shape of underwater objects are different from the real ones because of refraction at the water surface. Earlier studies of the refraction-distorted structure of the underwater binocular visual field of aerial observers were restricted to either vertically or horizontally oriented eyes. We investigate a generalized version of this problem: We calculate the position of the binocular image point of an underwater object point viewed by two arbitrarily positioned aerial eyes, including oblique orientations of the eyes relative to the flat water surface. Assuming that binocular image fusion is performed by appropriate vergent eye movements to bring the object's image onto the foveas, the structure of the underwater binocular visual field is computed and visualized in different ways as a function of the relative positions of the eyes. We show that a revision of certain earlier treatments of the aerial imaging of underwater objects is necessary. We analyze and correct some widespread erroneous or incomplete representations of this classical geometric optical problem that occur in different textbooks. Improving the theory of aerial binocular imaging of underwater objects, we demonstrate that the structure of the underwater binocular visual field of aerial observers distorted by refraction is more complex than has been thought previously.

Instant Grainification: Real-Time Grain-Size Analysis from Digital Images in the Field

NASA Astrophysics Data System (ADS)

Rubin, D. M.; Chezar, H.

2007-12-01

Over the past few years, digital cameras and underwater microscopes have been developed to collect in-situ images of sand-sized bed sediment, and software has been developed to measure grain size from those digital images (Chezar and Rubin, 2004; Rubin, 2004; Rubin et al., 2006). Until now, all image processing and grain- size analysis was done back in the office where images were uploaded from cameras and processed on desktop computers. Computer hardware has become small and rugged enough to process images in the field, which for the first time allows real-time grain-size analysis of sand-sized bed sediment. We present such a system consisting of weatherproof tablet computer, open source image-processing software (autocorrelation code of Rubin, 2004, running under Octave and Cygwin), and digital camera with macro lens. Chezar, H., and Rubin, D., 2004, Underwater microscope system: U.S. Patent and Trademark Office, patent number 6,680,795, January 20, 2004. Rubin, D.M., 2004, A simple autocorrelation algorithm for determining grain size from digital images of sediment: Journal of Sedimentary Research, v. 74, p. 160-165. Rubin, D.M., Chezar, H., Harney, J.N., Topping, D.J., Melis, T.S., and Sherwood, C.R., 2006, Underwater microscope for measuring spatial and temporal changes in bed-sediment grain size: USGS Open-File Report 2006-1360.

A group filter algorithm for sea mine detection

NASA Astrophysics Data System (ADS)

Cobb, J. Tory; An, Myoung; Tolimieri, Richard

2005-06-01

Automatic detection of sea mines in coastal regions is a difficult task due to the highly variable sea bottom conditions present in the underwater environment. Detection systems must be able to discriminate objects which vary in size, shape, and orientation from naturally occurring and man-made clutter. Additionally, these automated systems must be computationally efficient to be incorporated into unmanned underwater vehicle (UUV) sensor systems characterized by high sensor data rates and limited processing abilities. Using noncommutative group harmonic analysis, a fast, robust sea mine detection system is created. A family of unitary image transforms associated to noncommutative groups is generated and applied to side scan sonar image files supplied by Naval Surface Warfare Center Panama City (NSWC PC). These transforms project key image features, geometrically defined structures with orientations, and localized spectral information into distinct orthogonal components or feature subspaces of the image. The performance of the detection system is compared against the performance of an independent detection system in terms of probability of detection (Pd) and probability of false alarm (Pfa).

Underwater image enhancement through depth estimation based on random forest

NASA Astrophysics Data System (ADS)

Tai, Shen-Chuan; Tsai, Ting-Chou; Huang, Jyun-Han

2017-11-01

Light absorption and scattering in underwater environments can result in low-contrast images with a distinct color cast. This paper proposes a systematic framework for the enhancement of underwater images. Light transmission is estimated using the random forest algorithm. RGB values, luminance, color difference, blurriness, and the dark channel are treated as features in training and estimation. Transmission is calculated using an ensemble machine learning algorithm to deal with a variety of conditions encountered in underwater environments. A color compensation and contrast enhancement algorithm based on depth information was also developed with the aim of improving the visual quality of underwater images. Experimental results demonstrate that the proposed scheme outperforms existing methods with regard to subjective visual quality as well as objective measurements.

A simple underwater imaging model.

PubMed

Hou, Weilin

2009-09-01

It is commonly known that underwater imaging is hindered by both absorption and scattering by particles of various origins. However, evidence also indicates that the turbulence in natural underwater environments can cause severe image-quality degradation. A model is presented to include the effects of both particle and turbulence on underwater optical imaging through optical transfer functions to help quantify the limiting factors under different circumstances. The model utilizes Kolmogorov-type index of refraction power spectra found in the ocean, along with field examples, to demonstrate that optical turbulence can limit imaging resolution by affecting high spatial frequencies. The effects of the path radiance are also discussed.

Study on Underwater Image Denoising Algorithm Based on Wavelet Transform

NASA Astrophysics Data System (ADS)

Jian, Sun; Wen, Wang

2017-02-01

This paper analyzes the application of MATLAB in underwater image processing, the transmission characteristics of the underwater laser light signal and the kinds of underwater noise has been described, the common noise suppression algorithm: Wiener filter, median filter, average filter algorithm is brought out. Then the advantages and disadvantages of each algorithm in image sharpness and edge protection areas have been compared. A hybrid filter algorithm based on wavelet transform has been proposed which can be used for Color Image Denoising. At last the PSNR and NMSE of each algorithm has been given out, which compares the ability to de-noising

Object detection from images obtained through underwater turbulence medium

NASA Astrophysics Data System (ADS)

Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew

2017-09-01

Imaging through underwater experiences severe distortions due to random fluctuations of temperature and salinity in water, which produces underwater turbulence through diffraction limited blur. Lights reflecting from objects perturb and attenuate contrast, making the recognition of objects of interest difficult. Thus, the information available for detecting underwater objects of interest becomes a challenging task as they have inherent confusion among the background, foreground and other image properties. In this paper, a saliency-based approach is proposed to detect the objects acquired through an underwater turbulent medium. This approach has drawn attention among a wide range of computer vision applications, such as image retrieval, artificial intelligence, neuro-imaging and object detection. The image is first processed through a deblurring filter. Next, a saliency technique is used on the image for object detection. In this step, a saliency map that highlights the target regions is generated and then a graph-based model is proposed to extract these target regions for object detection.

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.

Real-time inspection by submarine images

NASA Astrophysics Data System (ADS)

Tascini, Guido; Zingaretti, Primo; Conte, Giuseppe

1996-10-01

A real-time application of computer vision concerning tracking and inspection of a submarine pipeline is described. The objective is to develop automatic procedures for supporting human operators in the real-time analysis of images acquired by means of cameras mounted on underwater remotely operated vehicles (ROV) Implementation of such procedures gives rise to a human-machine system for underwater pipeline inspection that can automatically detect and signal the presence of the pipe, of its structural or accessory elements, and of dangerous or alien objects in its neighborhood. The possibility of modifying the image acquisition rate in the simulations performed on video- recorded images is used to prove that the system performs all necessary processing with an acceptable robustness working in real-time up to a speed of about 2.5 kn, widely greater than that the actual ROVs and the security features allow.

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 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.

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.

Underwater binocular imaging of aerial objects versus the position of eyes relative to the flat water surface.

PubMed

Barta, András; Horváth, Gábor

2003-12-01

The apparent position, size, and shape of aerial objects viewed binocularly from water change as a result of the refraction of light at the water surface. Earlier studies of the refraction-distorted structure of the aerial binocular visual field of underwater observers were restricted to either vertically or horizontally oriented eyes. Here we calculate the position of the binocular image point of an aerial object point viewed by two arbitrarily positioned underwater eyes when the water surface is flat. Assuming that binocular image fusion is performed by appropriate vergent eye movements to bring the object's image onto the foveae, the structure of the aerial binocular visual field is computed and visualized as a function of the relative positions of the eyes. We also analyze two erroneous representations of the underwater imaging of aerial objects that have occurred in the literature. It is demonstrated that the structure of the aerial binocular visual field of underwater observers distorted by refraction is more complex than has been thought previously.

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.

Image processing of underwater multispectral imagery

USGS Publications Warehouse

Zawada, D. G.

2003-01-01

Capturing in situ fluorescence images of marine organisms presents many technical challenges. The effects of the medium, as well as the particles and organisms within it, are intermixed with the desired signal. Methods for extracting and preparing the imagery for analysis are discussed in reference to a novel underwater imaging system called the low-light-level underwater multispectral imaging system (LUMIS). The instrument supports both uni- and multispectral collections, each of which is discussed in the context of an experimental application. In unispectral mode, LUMIS was used to investigate the spatial distribution of phytoplankton. A thin sheet of laser light (532 nm) induced chlorophyll fluorescence in the phytoplankton, which was recorded by LUMIS. Inhomogeneities in the light sheet led to the development of a beam-pattern-correction algorithm. Separating individual phytoplankton cells from a weak background fluorescence field required a two-step procedure consisting of edge detection followed by a series of binary morphological operations. In multispectral mode, LUMIS was used to investigate the bio-assay potential of fluorescent pigments in corals. Problems with the commercial optical-splitting device produced nonlinear distortions in the imagery. A tessellation algorithm, including an automated tie-point-selection procedure, was developed to correct the distortions. Only pixels corresponding to coral polyps were of interest for further analysis. Extraction of these pixels was performed by a dynamic global-thresholding algorithm.

Imaging fall Chinook salmon redds in the Columbia River with a dual-frequency identification sonar

USGS Publications Warehouse

Tiffan, K.F.; Rondorf, D.W.; Skalicky, J.J.

2004-01-01

We tested the efficacy of a dual-frequency identification sonar (DIDSON) for imaging and enumeration of fall Chinook salmon Oncorhynchus tshawytscha redds in a spawning area below Bonneville Dam on the Columbia River. The DIDSON uses sound to form near-video-quality images and has the advantages of imaging in zero-visibility water and possessing a greater detection range and field of view than underwater video cameras. We suspected that the large size and distinct morphology of a fall Chinook salmon redd would facilitate acoustic imaging if the DIDSON was towed near the river bottom so as to cast an acoustic shadow from the tailspill over the redd pocket. We tested this idea by observing 22 different redds with an underwater video camera, spatially referencing their locations, and then navigating to them while imaging them with the DIDSON. All 22 redds were successfully imaged with the DIDSON. We subsequently conducted redd searches along transects to compare the number of redds imaged by the DIDSON with the number observed using an underwater video camera. We counted 117 redds with the DIDSON and 81 redds with the underwater video camera. Only one of the redds observed with the underwater video camera was not also documented by the DIDSON. In spite of the DIDSON's high cost, it may serve as a useful tool for enumerating fall Chinook salmon redds in conditions that are not conducive to underwater videography.

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.

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

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.

A Evaluation of Optical Aberrations in Underwater Hologrammetry

NASA Astrophysics Data System (ADS)

Kilpatrick, J. M.

Available from UMI in association with The British Library. An iterative ray-trace procedure is developed in conjunction with semi-analytic expressions for spherical aberration, coma, and astigmatism in the reconstructed holographic images of underwater objects. An exact expression for the astigmatic difference is obtained, based on the geometry of the caustic for refraction. The geometrical characteristics of the aberrated images associated with axial and non-axial field positions are represented by ray intersection diagrams. A third order expression for the wavefront aberration introduced at a planar air/water boundary is given. The associated third order aberration coefficients are used to obtain analytic expressions for the aberrations observed in underwater hologrammetry. The results of the third order treatment are shown to give good agreement with the results obtained by geometrical ray tracing and by direct measurement on the reconstructed real image. The third order aberration coefficients are employed to estimate the limit of resolution in the presence of the aberrations associated with reconstruction in air. In concurrence with practical observations it is found that the estimated resolution is primarily limited by astigmatism. The limitations of the planar window in underwater imaging applications are outlined and various schemes are considered to effect a reduction in the extent of aberration. The analogous problems encountered in underwater photography are examined in order to establish the grounds for a common solution based on a conventional optical corrector. The performance of one such system, the Ivanoff Corrector, is investigated. The spherical aberration associated with axial image formation is evaluated. The equivalence of the third order wavefront aberration introduced at a planar air/water boundary to that introduced upon reconstruction by an appropriate wavelength change is shown to provide a basis for the compensation of aberrations in underwater hologrammetry. The results of experimental trials which demonstrate the correction of astigmatism and field curvature are presented. Exact expressions are obtained for the aberrations in wavelength compensated holograms and are employed to determine the conditions for optimum compensation and the degree of residual aberration. (Abstract shortened by UMI.).

Low-contrast underwater living fish recognition using PCANet

NASA Astrophysics Data System (ADS)

Sun, Xin; Yang, Jianping; Wang, Changgang; Dong, Junyu; Wang, Xinhua

2018-04-01

Quantitative and statistical analysis of ocean creatures is critical to ecological and environmental studies. And living fish recognition is one of the most essential requirements for fishery industry. However, light attenuation and scattering phenomenon are present in the underwater environment, which makes underwater images low-contrast and blurry. This paper tries to design a robust framework for accurate fish recognition. The framework introduces a two stage PCA Network to extract abstract features from fish images. On a real-world fish recognition dataset, we use a linear SVM classifier and set penalty coefficients to conquer data unbalanced issue. Feature visualization results show that our method can avoid the feature distortion in boundary regions of underwater image. Experiments results show that the PCA Network can extract discriminate features and achieve promising recognition accuracy. The framework improves the recognition accuracy of underwater living fishes and can be easily applied to marine fishery industry.

Testing of a Composite Wavelet Filter to Enhance Automated Target Recognition in SONAR

NASA Technical Reports Server (NTRS)

Chiang, Jeffrey N.

2011-01-01

Automated Target Recognition (ATR) systems aim to automate target detection, recognition, and tracking. The current project applies a JPL ATR system to low resolution SONAR and camera videos taken from Unmanned Underwater Vehicles (UUVs). These SONAR images are inherently noisy and difficult to interpret, and pictures taken underwater are unreliable due to murkiness and inconsistent lighting. The ATR system breaks target recognition into three stages: 1) Videos of both SONAR and camera footage are broken into frames and preprocessed to enhance images and detect Regions of Interest (ROIs). 2) Features are extracted from these ROIs in preparation for classification. 3) ROIs are classified as true or false positives using a standard Neural Network based on the extracted features. Several preprocessing, feature extraction, and training methods are tested and discussed in this report.

Underwater image enhancement based on the dark channel prior and attenuation compensation

NASA Astrophysics Data System (ADS)

Guo, Qingwen; Xue, Lulu; Tang, Ruichun; Guo, Lingrui

2017-10-01

Aimed at the two problems of underwater imaging, fog effect and color cast, an Improved Segmentation Dark Channel Prior (ISDCP) defogging method is proposed to solve the fog effects caused by physical properties of water. Due to mass refraction of light in the process of underwater imaging, fog effects would lead to image blurring. And color cast is closely related to different degree of attenuation while light with different wavelengths is traveling in water. The proposed method here integrates the ISDCP and quantitative histogram stretching techniques into the image enhancement procedure. Firstly, the threshold value is set during the refinement process of the transmission maps to identify the original mismatching, and to conduct the differentiated defogging process further. Secondly, a method of judging the propagating distance of light is adopted to get the attenuation degree of energy during the propagation underwater. Finally, the image histogram is stretched quantitatively in Red-Green-Blue channel respectively according to the degree of attenuation in each color channel. The proposed method ISDCP can reduce the computational complexity and improve the efficiency in terms of defogging effect to meet the real-time requirements. Qualitative and quantitative comparison for several different underwater scenes reveals that the proposed method can significantly improve the visibility compared with previous methods.

Underwater image mosaicking and visual odometry

NASA Astrophysics Data System (ADS)

Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

2017-05-01

This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

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

Lower-upper-threshold correlation for underwater range-gated imaging self-adaptive enhancement.

PubMed

Sun, Liang; Wang, Xinwei; Liu, Xiaoquan; Ren, Pengdao; Lei, Pingshun; He, Jun; Fan, Songtao; Zhou, Yan; Liu, Yuliang

2016-10-10

In underwater range-gated imaging (URGI), enhancement of low-brightness and low-contrast images is critical for human observation. Traditional histogram equalizations over-enhance images, with the result of details being lost. To compress over-enhancement, a lower-upper-threshold correlation method is proposed for underwater range-gated imaging self-adaptive enhancement based on double-plateau histogram equalization. The lower threshold determines image details and compresses over-enhancement. It is correlated with the upper threshold. First, the upper threshold is updated by searching for the local maximum in real time, and then the lower threshold is calculated by the upper threshold and the number of nonzero units selected from a filtered histogram. With this method, the backgrounds of underwater images are constrained with enhanced details. Finally, the proof experiments are performed. Peak signal-to-noise-ratio, variance, contrast, and human visual properties are used to evaluate the objective quality of the global and regions of interest images. The evaluation results demonstrate that the proposed method adaptively selects the proper upper and lower thresholds under different conditions. The proposed method contributes to URGI with effective image enhancement for human eyes.

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

Interpreting Underwater Acoustic Images of the Upper Ocean Boundary Layer

ERIC Educational Resources Information Center

Ulloa, Marco J.

2007-01-01

A challenging task in physical studies of the upper ocean using underwater sound is the interpretation of high-resolution acoustic images. This paper covers a number of basic concepts necessary for undergraduate and postgraduate students to identify the most distinctive features of the images, providing a link with the acoustic signatures of…

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.

Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network.

PubMed

Yu, Zhibin; Wang, Yubo; Zheng, Bing; Zheng, Haiyong; Wang, Nan; Gu, Zhaorui

2017-01-01

Underwater inherent optical properties (IOPs) are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA) deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.

Defining the uncertainty of electro-optical identification system performance estimates using a 3D optical environment derived from satellite

NASA Astrophysics Data System (ADS)

Ladner, S. D.; Arnone, R.; Casey, B.; Weidemann, A.; Gray, D.; Shulman, I.; Mahoney, K.; Giddings, T.; Shirron, J.

2009-05-01

Current United States Navy Mine-Counter-Measure (MCM) operations primarily use electro-optical identification (EOID) sensors to identify underwater targets after detection via acoustic sensors. These EOID sensors which are based on laser underwater imaging by design work best in "clear" waters and are limited in coastal waters especially with strong optical layers. Optical properties and in particular scattering and absorption play an important role on systems performance. Surface optical properties alone from satellite are not adequate to determine how well a system will perform at depth due to the existence of optical layers. The spatial and temporal characteristics of the 3d optical variability of the coastal waters along with strength and location of subsurface optical layers maximize chances of identifying underwater targets by exploiting optimum sensor deployment. Advanced methods have been developed to fuse the optical measurements from gliders, optical properties from "surface" satellite snapshot and 3-D ocean circulation models to extend the two-dimensional (2-D) surface satellite optical image into a three-dimensional (3-D) optical volume with subsurface optical layers. Modifications were made to an EOID performance model to integrate a 3-D optical volume covering an entire region of interest as input and derive system performance field. These enhancements extend present capability based on glider optics and EOID sensor models to estimate the system's "image quality". This only yields system performance information for a single glider profile location in a very large operational region. Finally, we define the uncertainty of the system performance by coupling the EOID performance model with the 3-D optical volume uncertainties. Knowing the ensemble spread of EOID performance field provides a new and unique capability for tactical decision makers and Navy Operations.

Diagnostics of underwater electrical wire explosion through a time- and space-resolved hard x-ray source

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

Sheftman, D.; Shafer, D.; Efimov, S.

2012-10-15

A time- and space-resolved hard x-ray source was developed as a diagnostic tool for imaging underwater exploding wires. A {approx}4 ns width pulse of hard x-rays with energies of up to 100 keV was obtained from the discharge in a vacuum diode consisting of point-shaped tungsten electrodes. To improve contrast and image quality, an external pulsed magnetic field produced by Helmholtz coils was used. High resolution x-ray images of an underwater exploding wire were obtained using a sensitive x-ray CCD detector, and were compared to optical fast framing images. Future developments and application of this diagnostic technique are discussed.

Diagnostics of underwater electrical wire explosion through a time- and space-resolved hard x-ray source.

PubMed

Sheftman, D; Shafer, D; Efimov, S; Gruzinsky, K; Gleizer, S; Krasik, Ya E

2012-10-01

A time- and space-resolved hard x-ray source was developed as a diagnostic tool for imaging underwater exploding wires. A ~4 ns width pulse of hard x-rays with energies of up to 100 keV was obtained from the discharge in a vacuum diode consisting of point-shaped tungsten electrodes. To improve contrast and image quality, an external pulsed magnetic field produced by Helmholtz coils was used. High resolution x-ray images of an underwater exploding wire were obtained using a sensitive x-ray CCD detector, and were compared to optical fast framing images. Future developments and application of this diagnostic technique are discussed.

Computational polarization difference underwater imaging based on image fusion

NASA Astrophysics Data System (ADS)

Han, Hongwei; Zhang, Xiaohui; Guan, Feng

2016-01-01

Polarization difference imaging can improve the quality of images acquired underwater, whether the background and veiling light are unpolarized or partial polarized. Computational polarization difference imaging technique which replaces the mechanical rotation of polarization analyzer and shortens the time spent to select the optimum orthogonal ǁ and ⊥axes is the improvement of the conventional PDI. But it originally gets the output image by setting the weight coefficient manually to an identical constant for all pixels. In this paper, a kind of algorithm is proposed to combine the Q and U parameters of the Stokes vector through pixel-level image fusion theory based on non-subsample contourlet transform. The experimental system built by the green LED array with polarizer to illuminate a piece of flat target merged in water and the CCD with polarization analyzer to obtain target image under different angle is used to verify the effect of the proposed algorithm. The results showed that the output processed by our algorithm could show more details of the flat target and had higher contrast compared to original computational polarization difference imaging.

Simulation of an active underwater imaging through a wavy sea surface

NASA Astrophysics Data System (ADS)

Gholami, Ali; Saghafifar, Hossein

2018-06-01

A numerical simulation for underwater imaging through a wavy sea surface has been done. We have used a common approach to model the sea surface elevation and its slopes as an important source of image disturbance. The simulation algorithm is based on a combination of ray tracing and optical propagation, which has taken to different approaches for downwelling and upwelling beams. The nature of randomly focusing and defocusing property of surface waves causes a fluctuated irradiance distribution as an illuminating source of immersed object, while it gives rise to a great disturbance on the image through a coordinate change of image pixels. We have also used a modulation transfer function based on Well's small angle approximations to consider the underwater optical properties effect on the transferring of the image. As expected, the absorption effect reduces the light intensity and scattering decreases image contrast by blurring the image.

Deep Lake Explorer: Using citizen science to analyze underwater video from the Great Lakes

EPA Science Inventory

While underwater video collection technology continues to improve, advancements in underwater video analysis techniques have lagged. Crowdsourcing image interpretation using the Zooniverse platform has proven successful for many projects, but few projects to date have included vi...

Objectively Assessing Underwater Image Quality for the Purpose of Automated Restoration

DTIC Science & Technology

2007-10-01

are accounted for and treated accordingly in the current approach. Initial results show that the metric defined provides a consistent measure to both...Image Communication 19, 163-172 (2004). 8. S. J. Erasmus, and K. C. A. Smith, "An automatic focusing and astigmatism correction system for the SEM

Underwater electro-optical system for mine identification

NASA Astrophysics Data System (ADS)

Strand, Michael P.

1995-06-01

The Electro-Optic Identification (EOID) Sensors project is developing a Laser Visual Iidentification Sensor (LVIS) for identification of proud, partially buried, and moored mines in shallow water/very shallow water. LVIS will be deployed in small diameter underwater vehicles, including unmanned underwater vehicles (UUVs). Since the mission is mine identification, LVIS must: a) deliver high quality images in turbid coastal waters, while b) being compatible with the size and power constraints imposed by the intended deployment platforms. This project is sponsored by the Office of Naval Research, as a part of the AOA Mine Reconnaissance/Hunter program. High quality images which retain target detail and contrast are required for mine identification. LVIS will be designed to produce images of minelike contacts (MLC) of sufficient quality to allow identification while operating in turbid coastal waters from a small diameter UUV. Technology goals for the first generation LVIS are a) identification range up to 40 feet for proud, partially buried, and moored MLCs under coastal water conditions; b) day/night operation from a UUV operating at speeds up to 4 knots; c) power consumption less than 500 watts, with 275 watts being typical; and d) packaged within a 32-inch long portion of a 21-inch diameter vehicle section.

Underwater video enhancement using multi-camera super-resolution

NASA Astrophysics Data System (ADS)

Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.

2017-12-01

Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.

Time-of-flight range imaging for underwater applications

NASA Astrophysics Data System (ADS)

Merbold, Hannes; Catregn, Gion-Pol; Leutenegger, Tobias

2018-02-01

Precise and low-cost range imaging in underwater settings with object distances on the meter level is demonstrated. This is addressed through silicon-based time-of-flight (TOF) cameras operated with light emitting diodes (LEDs) at visible, rather than near-IR wavelengths. We find that the attainable performance depends on a variety of parameters, such as the wavelength dependent absorption of water, the emitted optical power and response times of the LEDs, or the spectral sensitivity of the TOF chip. An in-depth analysis of the interplay between the different parameters is given and the performance of underwater TOF imaging using different visible illumination wavelengths is analyzed.

Underwater partial polarization signatures from the shallow water real-time imaging polarimeter (SHRIMP)

NASA Astrophysics Data System (ADS)

Taylor, James S., Jr.; Davis, P. S.; Wolff, Lawrence B.

2003-09-01

Research has shown that naturally occurring light outdoors and underwater is partially linearly polarized. The polarized components can be combined to form an image that describes the polarization of the light in the scene. This image is known as the degree of linear polarization (DOLP) image or partial polarization image. These naturally occurring polarization signatures can provide a diver or an unmanned underwater vehicle (UUV) with more information to detect, classify, and identify threats such as obstacles and/or mines in the shallow water environment. The SHallow water Real-time IMaging Polarimeter (SHRIMP), recently developed under sponsorship of Dr. Tom Swean at the Office of Naval Research (Code 321OE), can measure underwater partial polarization imagery. This sensor is a passive, three-channel device that simultaneously measures the three components of the Stokes vector needed to determine the partial linear polarization of the scene. The testing of this sensor has been completed and the data has been analyzed. This paper presents performance results from the field-testing and quantifies the gain provided by the partial polarization signature of targets in the Very Shallow Water (VSW) and Surf Zone (SZ) regions.

Seafloor video footage and still-frame grabs from U.S. Geological Survey cruises in Hawaiian nearshore waters

USGS Publications Warehouse

Gibbs, Ann E.; Cochran, Susan A.; Tierney, Peter W.

2013-01-01

Underwater video footage was collected in nearshore waters (<60-meter depth) off the Hawaiian Islands from 2002 to 2011 as part of the U.S. Geological Survey (USGS) Coastal and Marine Geology Program's Pacific Coral Reef Project, to improve seafloor characterization and for the development and ground-truthing of benthic-habitat maps. This report includes nearly 53 hours of digital underwater video footage collected during four USGS cruises and more than 10,200 still images extracted from the videos, including still frames from every 10 seconds along transect lines, and still frames showing both an overview and a near-bottom view from fixed stations. Environmental Systems Research Institute (ESRI) shapefiles of individual video and still-image locations, and Google Earth kml files with explanatory text and links to the video and still images, are included. This report documents the various camera systems and methods used to collect the videos, and the techniques and software used to convert the analog video tapes into digital data in order to process the images for optimum viewing and to extract the still images, along with a brief summary of each survey cruise.

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.

Correction methods for underwater turbulence degraded imaging

NASA Astrophysics Data System (ADS)

Kanaev, A. V.; Hou, W.; Restaino, S. R.; Matt, S.; Gładysz, S.

2014-10-01

The use of remote sensing techniques such as adaptive optics and image restoration post processing to correct for aberrations in a wavefront of light propagating through turbulent environment has become customary for many areas including astronomy, medical imaging, and industrial applications. EO imaging underwater has been mainly concentrated on overcoming scattering effects rather than dealing with underwater turbulence. However, the effects of turbulence have crucial impact over long image-transmission ranges and under extreme turbulence conditions become important over path length of a few feet. Our group has developed a program that attempts to define under which circumstances application of atmospheric remote sensing techniques could be envisioned. In our experiments we employ the NRL Rayleigh-Bénard convection tank for simulated turbulence environment at Stennis Space Center, MS. A 5m long water tank is equipped with heating and cooling plates that generate a well measured thermal gradient that in turn produces various degrees of turbulence. The image or laser beam spot can be propagated along the tank's length where it is distorted by induced turbulence. In this work we report on the experimental and theoretical findings of the ongoing program. The paper will introduce the experimental setup, the techniques used, and the measurements made as well as describe novel methods for postprocessing and correction of images degraded by underwater turbulence.

Underwater laser weld bowing distortion behavior and mechanism of thin 304 stainless steel plates

NASA Astrophysics Data System (ADS)

Huang, ZunYue; Luo, Zhen; Ao, Sansan; Cai, YangChuan

2018-10-01

Underwater laser weld bowing distortion behavior and mechanism of thin 304 stainless steel plates are studied in the paper. The influence of underwater laser welding parameters (such as laser power, welding speed, defocusing distance and gas flow rate) on weld bowing distortion was investigated through central composite rotatable design and an orthogonal test. A quadratic response model was established to evaluate the underwater laser weld bowing distortion by central composite rotatable design and the order of the impacts of the welding parameters on weld bowing distortion was studied by an orthogonal test. The weld bowing distortion after welding was determined by the digital image correlation technique. The weld bowing distortion of in-air laser welding and underwater laser welding were compared and it revealed that the shape of the in-air and underwater laser welded specimens are the same, but the weld bowing distortion amount of in-air welding is larger than that of underwater welding. Weld bowing distortion mechanism was studied by the digital image correlation technique, and it was demonstrated that weld bowing distortion is associated with the welding plate temperature gradient during laser welding. The wider weld width also resulted in larger weld bowing distortion.

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.

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

Fusion of Local Statistical Parameters for Buried Underwater Mine Detection in Sonar Imaging

NASA Astrophysics Data System (ADS)

Maussang, F.; Rombaut, M.; Chanussot, J.; Hétet, A.; Amate, M.

2008-12-01

Detection of buried underwater objects, and especially mines, is a current crucial strategic task. Images provided by sonar systems allowing to penetrate in the sea floor, such as the synthetic aperture sonars (SASs), are of great interest for the detection and classification of such objects. However, the signal-to-noise ratio is fairly low and advanced information processing is required for a correct and reliable detection of the echoes generated by the objects. The detection method proposed in this paper is based on a data-fusion architecture using the belief theory. The input data of this architecture are local statistical characteristics extracted from SAS data corresponding to the first-, second-, third-, and fourth-order statistical properties of the sonar images, respectively. The interest of these parameters is derived from a statistical model of the sonar data. Numerical criteria are also proposed to estimate the detection performances and to validate the method.

Optical aberrations in underwater photogrammetry with flat and hemispherical dome ports

NASA Astrophysics Data System (ADS)

Menna, Fabio; Nocerino, Erica; Remondino, Fabio

2017-06-01

The paper analyses differences between dome and flat port housings used for underwater photogrammetry. The underwater environment negatively affects image quality and 3D reconstructions, but this influence on photogrammetric measurements, so far, has not been addressed properly in the literature. In this work, motivations behind the need for systematic underwater calibrations are provided, then experimental tests using a specifically designed photogrammetric modular test object in laboratory and at sea are reported. The experiments are carried out using a Nikon D750 24 Mpx DSLR camera with a 24 mm f2.8 AF/D lens coupled with a NIMAR NI3D750ZM housing, equipped first with a dome and, successively, with a flat port. To quantify the degradation of image quality, MTF measurements are carried out, then the outcomes of self-calibrating bundle adjustment calibrations are shown and commented. Optical phenomena like field curvature as well as chromatic aberration and astigmatism are analysed and their implications on the degradation of image quality is factored in the bundle adjustment through a different weighting of 2D image observations.

Instrument for underwater high-angular resolution volume scattering function measurements

NASA Astrophysics Data System (ADS)

Dueweke, Paul W.; Bolstad, Jay; Leonard, Donald A.; Sweeney, Harold E.; Boyer, Philip A.; Winkler, Erik M.

1997-02-01

A prototype instrument for in situ measurements of the volume scattering function (VSF) and the beam attenuation of water has been built and tested in the EOO laboratory. The intended application of the instrument is the enhancement of Navy operational optical systems for finding and imaging underwater objects such as mines. A description of the apparatus that was built and preliminary laboratory data will be presented. The instrument measures the VSF, (beta) ((theta) ), near the optical axis in both the forward and back directions from approximately 0.2 degrees off axis to approximately 5 degrees in 0.1 degree steps and at side angles of 45 degrees, 90 degrees, and 135 degrees. A diode- pumped, frequency-doubled, Nd:YAG laser provides the 532 nm light. This is the most used wavelength for underwater optical systems. The forward and back scattered light is collected and focused to a plane where scattering angles in the water are mapped onto concentric rings. At this focal plane, a conical reflector compresses the annular optical data onto a line along the cone axis where it is read by a MOS linear image array providing over 500 separate angular measurements. The beam attenuation coefficient, c, is also measured by means of a unique dual path configuration.

Integrating dynamic and distributed compressive sensing techniques to enhance image quality of the compressive line sensing system for unmanned aerial vehicles application

NASA Astrophysics Data System (ADS)

Ouyang, Bing; Hou, Weilin; Caimi, Frank M.; Dalgleish, Fraser R.; Vuorenkoski, Anni K.; Gong, Cuiling

2017-07-01

The compressive line sensing imaging system adopts distributed compressive sensing (CS) to acquire data and reconstruct images. Dynamic CS uses Bayesian inference to capture the correlated nature of the adjacent lines. An image reconstruction technique that incorporates dynamic CS in the distributed CS framework was developed to improve the quality of reconstructed images. The effectiveness of the technique was validated using experimental data acquired in an underwater imaging test facility. Results that demonstrate contrast and resolution improvements will be presented. The improved efficiency is desirable for unmanned aerial vehicles conducting long-duration missions.

Underwater Photogrammetry and 3d Reconstruction of Marble Cargos Shipwreck

NASA Astrophysics Data System (ADS)

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

2015-04-01

Nowadays archaeological and architectural surveys are based on the acquisition and processing of point clouds, allowing a high metric precision, essential prerequisite for a good documentation. Digital image processing and laser scanner have changed the archaeological survey campaign, from manual and direct survey to a digital one and, actually, multi-image photogrammetry is a good solution for the underwater archaeology. This technical documentation cannot operate alone, but it has to be supported by a topographical survey to georeference all the finds in the same reference system. In the last years the Ca' Foscari and IUAV University of Venice are conducting a research on integrated survey techniques to support underwater metric documentation. The paper will explain all the phases regarding the survey's design, images acquisition, topographic measure and the data processing of two Roman shipwrecks in south Sicily. The cargos of the shipwrecks are composed by huge marble blocks, but they are different for morphological characteristic of the sites, for the depth and for their distribution on the seabed. Photogrammetrical and topographical surveys were organized in two distinct methods, especially for the second one, due to the depth that have allowed an experimentation of GPS RTK's measurements on one shipwreck. Moreover, this kind of three-dimensional documentation is useful for educational and dissemination aspect, for the ease of understanding by wide public.

Method and apparatus for acoustic imaging of objects in water

DOEpatents

Deason, Vance A.; Telschow, Kenneth L.

2005-01-25

A method, system and underwater camera for acoustic imaging of objects in water or other liquids includes an acoustic source for generating an acoustic wavefront for reflecting from a target object as a reflected wavefront. The reflected acoustic wavefront deforms a screen on an acoustic side and correspondingly deforms the opposing optical side of the screen. An optical processing system is optically coupled to the optical side of the screen and converts the deformations on the optical side of the screen into an optical intensity image of the target object.

Towards Guided Underwater Survey Using Light Visual Odometry

NASA Astrophysics Data System (ADS)

Nawaf, M. M.; Drap, P.; Royer, J. P.; Merad, D.; Saccone, M.

2017-02-01

A light distributed visual odometry method adapted to embedded hardware platform is proposed. The aim is to guide underwater surveys in real time. We rely on image stream captured using portable stereo rig attached to the embedded system. Taken images are analyzed on the fly to assess image quality in terms of sharpness and lightness, so that immediate actions can be taken accordingly. Images are then transferred over the network to another processing unit to compute the odometry. Relying on a standard ego-motion estimation approach, we speed up points matching between image quadruplets using a low level points matching scheme relying on fast Harris operator and template matching that is invariant to illumination changes. We benefit from having the light source attached to the hardware platform to estimate a priori rough depth belief following light divergence over distance low. The rough depth is used to limit points correspondence search zone as it linearly depends on disparity. A stochastic relative bundle adjustment is applied to minimize re-projection errors. The evaluation of the proposed method demonstrates the gain in terms of computation time w.r.t. other approaches that use more sophisticated feature descriptors. The built system opens promising areas for further development and integration of embedded computer vision techniques.

NRL Fact Book

DTIC Science & Technology

1988-05-01

interests are centered on signal processing and the physics of underwater acoustic propagation, ambient noise, and reverberation. Mr. Rojas is a member...Airborne underwater acoustics Bottom-limited acoustics Arctic underwater acoustics Propagation Noise Ambient noise measurements and modeling Spectral...Multispectral image correlation Space sensor and mission analysis CROWN" STALK Time, ms (100 ms after impactO Time-history of the . radar backscatter from a

Optical cell monitoring system for underwater targets

NASA Astrophysics Data System (ADS)

Moon, SangJun; Manzur, Fahim; Manzur, Tariq; Demirci, Utkan

2008-10-01

We demonstrate a cell based detection system that could be used for monitoring an underwater target volume and environment using a microfluidic chip and charge-coupled-device (CCD). This technique allows us to capture specific cells and enumerate these cells on a large area on a microchip. The microfluidic chip and a lens-less imaging platform were then merged to monitor cell populations and morphologies as a system that may find use in distributed sensor networks. The chip, featuring surface chemistry and automatic cell imaging, was fabricated from a cover glass slide, double sided adhesive film and a transparent Polymethlymetacrylate (PMMA) slab. The optically clear chip allows detecting cells with a CCD sensor. These chips were fabricated with a laser cutter without the use of photolithography. We utilized CD4+ cells that are captured on the floor of a microfluidic chip due to the ability to address specific target cells using antibody-antigen binding. Captured CD4+ cells were imaged with a fluorescence microscope to verify the chip specificity and efficiency. We achieved 70.2 +/- 6.5% capturing efficiency and 88.8 +/- 5.4% specificity for CD4+ T lymphocytes (n = 9 devices). Bright field images of the captured cells in the 24 mm × 4 mm × 50 μm microfluidic chip were obtained with the CCD sensor in one second. We achieved an inexpensive system that rapidly captures cells and images them using a lens-less CCD system. This microfluidic device can be modified for use in single cell detection utilizing a cheap light-emitting diode (LED) chip instead of a wide range CCD system.

Effects of light refraction on the accuracy of camera calibration and reconstruction in underwater motion analysis.

PubMed

Kwon, Young-Hoo; Casebolt, Jeffrey B

2006-01-01

One of the most serious obstacles to accurate quantification of the underwater motion of a swimmer's body is image deformation caused by refraction. Refraction occurs at the water-air interface plane (glass) owing to the density difference. Camera calibration-reconstruction algorithms commonly used in aquatic research do not have the capability to correct this refraction-induced nonlinear image deformation and produce large reconstruction errors. The aim of this paper is to provide a through review of: the nature of the refraction-induced image deformation and its behaviour in underwater object-space plane reconstruction; the intrinsic shortcomings of the Direct Linear Transformation (DLT) method in underwater motion analysis; experimental conditions that interact with refraction; and alternative algorithms and strategies that can be used to improve the calibration-reconstruction accuracy. Although it is impossible to remove the refraction error completely in conventional camera calibration-reconstruction methods, it is possible to improve the accuracy to some extent by manipulating experimental conditions or calibration frame characteristics. Alternative algorithms, such as the localized DLT and the double-plane method are also available for error reduction. The ultimate solution for the refraction problem is to develop underwater camera calibration and reconstruction algorithms that have the capability to correct refraction.

Effects of light refraction on the accuracy of camera calibration and reconstruction in underwater motion analysis.

PubMed

Kwon, Young-Hoo; Casebolt, Jeffrey B

2006-07-01

One of the most serious obstacles to accurate quantification of the underwater motion of a swimmer's body is image deformation caused by refraction. Refraction occurs at the water-air interface plane (glass) owing to the density difference. Camera calibration-reconstruction algorithms commonly used in aquatic research do not have the capability to correct this refraction-induced nonlinear image deformation and produce large reconstruction errors. The aim of this paper is to provide a thorough review of: the nature of the refraction-induced image deformation and its behaviour in underwater object-space plane reconstruction; the intrinsic shortcomings of the Direct Linear Transformation (DLT) method in underwater motion analysis; experimental conditions that interact with refraction; and alternative algorithms and strategies that can be used to improve the calibration-reconstruction accuracy. Although it is impossible to remove the refraction error completely in conventional camera calibration-reconstruction methods, it is possible to improve the accuracy to some extent by manipulating experimental conditions or calibration frame characteristics. Alternative algorithms, such as the localized DLT and the double-plane method are also available for error reduction. The ultimate solution for the refraction problem is to develop underwater camera calibration and reconstruction algorithms that have the capability to correct refraction.

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.

EOID System Model Validation, Metrics, and Synthetic Clutter Generation

DTIC Science & Technology

2003-09-30

Our long-term goal is to accurately predict the capability of the current generation of laser-based underwater imaging sensors to perform Electro ... Optic Identification (EOID) against relevant targets in a variety of realistic environmental conditions. The models will predict the impact of

a New Color Correction Method for Underwater Imaging

NASA Astrophysics Data System (ADS)

Bianco, G.; Muzzupappa, M.; Bruno, F.; Garcia, R.; Neumann, L.

2015-04-01

Recovering correct or at least realistic colors of underwater scenes is a very challenging issue for imaging techniques, since illumination conditions in a refractive and turbid medium as the sea are seriously altered. The need to correct colors of underwater images or videos is an important task required in all image-based applications like 3D imaging, navigation, documentation, etc. Many imaging enhancement methods have been proposed in literature for these purposes. The advantage of these methods is that they do not require the knowledge of the medium physical parameters while some image adjustments can be performed manually (as histogram stretching) or automatically by algorithms based on some criteria as suggested from computational color constancy methods. One of the most popular criterion is based on gray-world hypothesis, which assumes that the average of the captured image should be gray. An interesting application of this assumption is performed in the Ruderman opponent color space lαβ, used in a previous work for hue correction of images captured under colored light sources, which allows to separate the luminance component of the scene from its chromatic components. In this work, we present the first proposal for color correction of underwater images by using lαβ color space. In particular, the chromatic components are changed moving their distributions around the white point (white balancing) and histogram cutoff and stretching of the luminance component is performed to improve image contrast. The experimental results demonstrate the effectiveness of this method under gray-world assumption and supposing uniform illumination of the scene. Moreover, due to its low computational cost it is suitable for real-time implementation.

Experimentally determining the locations of two astigmatic images for an underwater light source

NASA Astrophysics Data System (ADS)

Yang, Pao-Keng; Liu, Jian-You; Ying, Shang-Ping

2015-05-01

Images formed by an underwater object from light rays refracted in the sagittal and tangential planes are located at different positions for an oblique viewing position. The overlapping of these two images from the observer's perspective will thus prevent the image-splitting astigmatism from being directly observable. In this work, we present a heuristic method to experimentally visualize the astigmatism. A point light source is used as an underwater object and the emerging wave front is recorded using a Shack-Hartmann wave-front sensor. The wave front is found to deform from a circular paraboloid to an elliptic paraboloid as the viewing position changes from normal to oblique. Using geometric optics, we derive an analytical expression for the image position as a function of the rotating angle of an arm used to carry the wave-front sensor in our experimental setup. The measured results are seen to be in good agreement with the theoretical predictions.

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

System and method for underwater radiography

DOEpatents

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

2015-01-20

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

Optical Turbulence on Underwater Image Degradation in Natural Environments

DTIC Science & Technology

2013-05-31

A. Laux, B. M. Concannon, E. P . Zege, I. L. Katsev, and A. S. Prikhach, "Amplitude-modulated Laser Imager," Appl. Opt. 43, 3874- 3892 (2004). 6. G...Security Symposium, R. A. W. Hou, ed. (SPIE, Orlando, FL, 2011), p . 8. 17 24 . A. Kanaev, W. Hou, and S. Woods, "Multi-frame Underwater Image...report ) Journal article (not refereed) Route Sheet No. !~3_!)!_ Job Order No. __ 73_:§~§.~~ 0_1- 5 Classification X u c Sponsor ONR ( ) Oral

Forecasting the ocean optical environment in support of Navy mine warfare operations

NASA Astrophysics Data System (ADS)

Ladner, S. D.; Arnone, R.; Jolliff, J.; Casey, B.; Matulewski, K.

2012-06-01

A 3D ocean optical forecast system called TODS (Tactical Ocean Data System) has been developed to determine the performance of underwater LIDAR detection/identification systems. TODS fuses optical measurements from gliders, surface satellite optical properties, and 3D ocean forecast circulation models to extend the 2-dimensional surface satellite optics into a 3-dimensional optical volume including subsurface optical layers of beam attenuation coefficient (c) and diver visibility. Optical 3D nowcast and forecasts are combined with electro-optical identification (EOID) models to determine the underwater LIDAR imaging performance field used to identify subsurface mine threats in rapidly changing coastal regions. TODS was validated during a recent mine warfare exercise with Helicopter Mine Countermeasures Squadron (HM-14). Results include the uncertainties in the optical forecast and lidar performance and sensor tow height predictions that are based on visual detection and identification metrics using actual mine target images from the EOID system. TODS is a new capability of coupling the 3D optical environment and EOID system performance and is proving important for the MIW community as both a tactical decision aid and for use in operational planning, improving timeliness and efficiency in clearance operations.

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.

Methods and Systems for Configuring Sensor Acquisition Based on Pressure Steps

NASA Technical Reports Server (NTRS)

DeDonato, Mathew (Inventor)

2015-01-01

Technologies are provided for underwater measurements. A system includes an underwater vessels including: a plurality of sensors disposed thereon for measuring underwater properties; and a programmable controller configured to selectively activate the plurality of sensors based at least in part on underwater pressure. A user may program at what pressure ranges certain sensors are activated to measure selected properties, and may also program the ascent/descent rate of the underwater vessel, which is correlated with the underwater pressure.

A man-made object detection for underwater TV

NASA Astrophysics Data System (ADS)

Cheng, Binbin; Wang, Wenwu; Chen, Yao

2018-03-01

It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.

Monocular Vision-Based Underwater Object Detection

PubMed Central

Zhang, Zhen; Dai, Fengzhao; Bu, Yang; Wang, Huibin

2017-01-01

In this paper, we propose an underwater object detection method using monocular vision sensors. In addition to commonly used visual features such as color and intensity, we investigate the potential of underwater object detection using light transmission information. The global contrast of various features is used to initially identify the region of interest (ROI), which is then filtered by the image segmentation method, producing the final underwater object detection results. We test the performance of our method with diverse underwater datasets. Samples of the datasets are acquired by a monocular camera with different qualities (such as resolution and focal length) and setups (viewing distance, viewing angle, and optical environment). It is demonstrated that our ROI detection method is necessary and can largely remove the background noise and significantly increase the accuracy of our underwater object detection method. PMID:28771194

Automatic content-based analysis of georeferenced image data: Detection of Beggiatoa mats in seafloor video mosaics from the HÅkon Mosby Mud Volcano

NASA Astrophysics Data System (ADS)

Jerosch, K.; Lüdtke, A.; Schlüter, M.; Ioannidis, G. T.

2007-02-01

The combination of new underwater technology as remotely operating vehicles (ROVs), high-resolution video imagery, and software to compute georeferenced mosaics of the seafloor provides new opportunities for marine geological or biological studies and applications in offshore industry. Even during single surveys by ROVs or towed systems large amounts of images are compiled. While these underwater techniques are now well-engineered, there is still a lack of methods for the automatic analysis of the acquired image data. During ROV dives more than 4200 georeferenced video mosaics were compiled for the HÅkon Mosby Mud Volcano (HMMV). Mud volcanoes as HMMV are considered as significant source locations for methane characterised by unique chemoautotrophic communities as Beggiatoa mats. For the detection and quantification of the spatial distribution of Beggiatoa mats an automated image analysis technique was developed, which applies watershed transformation and relaxation-based labelling of pre-segmented regions. Comparison of the data derived by visual inspection of 2840 video images with the automated image analysis revealed similarities with a precision better than 90%. We consider this as a step towards a time-efficient and accurate analysis of seafloor images for computation of geochemical budgets and identification of habitats at the seafloor.

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.

A Fully Automated Method to Detect and Segment a Manufactured Object in an Underwater Color Image

NASA Astrophysics Data System (ADS)

Barat, Christian; Phlypo, Ronald

2010-12-01

We propose a fully automated active contours-based method for the detection and the segmentation of a moored manufactured object in an underwater image. Detection of objects in underwater images is difficult due to the variable lighting conditions and shadows on the object. The proposed technique is based on the information contained in the color maps and uses the visual attention method, combined with a statistical approach for the detection and an active contour for the segmentation of the object to overcome the above problems. In the classical active contour method the region descriptor is fixed and the convergence of the method depends on the initialization. With our approach, this dependence is overcome with an initialization using the visual attention results and a criterion to select the best region descriptor. This approach improves the convergence and the processing time while providing the advantages of a fully automated method.

Remote high-definition rotating video enables fast spatial survey of marine underwater macrofauna and habitats.

PubMed

Pelletier, Dominique; Leleu, Kévin; Mallet, Delphine; Mou-Tham, Gérard; Hervé, Gilles; Boureau, Matthieu; Guilpart, Nicolas

2012-01-01

Observing spatial and temporal variations of marine biodiversity from non-destructive techniques is central for understanding ecosystem resilience, and for monitoring and assessing conservation strategies, e.g. Marine Protected Areas. Observations are generally obtained through Underwater Visual Censuses (UVC) conducted by divers. The problems inherent to the presence of divers have been discussed in several papers. Video techniques are increasingly used for observing underwater macrofauna and habitat. Most video techniques that do not need the presence of a diver use baited remote systems. In this paper, we present an original video technique which relies on a remote unbaited rotating remote system including a high definition camera. The system is set on the sea floor to record images. These are then analysed at the office to quantify biotic and abiotic sea bottom cover, and to identify and count fish species and other species like marine turtles. The technique was extensively tested in a highly diversified coral reef ecosystem in the South Lagoon of New Caledonia, based on a protocol covering both protected and unprotected areas in major lagoon habitats. The technique enabled to detect and identify a large number of species, and in particular fished species, which were not disturbed by the system. Habitat could easily be investigated through the images. A large number of observations could be carried out per day at sea. This study showed the strong potential of this non obtrusive technique for observing both macrofauna and habitat. It offers a unique spatial coverage and can be implemented at sea at a reasonable cost by non-expert staff. As such, this technique is particularly interesting for investigating and monitoring coastal biodiversity in the light of current conservation challenges and increasing monitoring needs.

The Modular Optical Underwater Survey System

PubMed Central

Amin, Ruhul; Richards, Benjamin L.; Misa, William F. X. E.; Taylor, Jeremy C.; Miller, Dianna R.; Rollo, Audrey K.; Demarke, Christopher; Ossolinski, Justin E.; Reardon, Russell T.; Koyanagi, Kyle H.

2017-01-01

The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS) to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism. PMID:29019962

A highly sensitive underwater video system for use in turbid aquaculture ponds.

PubMed

Hung, Chin-Chang; Tsao, Shih-Chieh; Huang, Kuo-Hao; Jang, Jia-Pu; Chang, Hsu-Kuang; Dobbs, Fred C

2016-08-24

The turbid, low-light waters characteristic of aquaculture ponds have made it difficult or impossible for previous video cameras to provide clear imagery of the ponds' benthic habitat. We developed a highly sensitive, underwater video system (UVS) for this particular application and tested it in shrimp ponds having turbidities typical of those in southern Taiwan. The system's high-quality video stream and images, together with its camera capacity (up to nine cameras), permit in situ observations of shrimp feeding behavior, shrimp size and internal anatomy, and organic matter residues on pond sediments. The UVS can operate continuously and be focused remotely, a convenience to shrimp farmers. The observations possible with the UVS provide aquaculturists with information critical to provision of feed with minimal waste; determining whether the accumulation of organic-matter residues dictates exchange of pond water; and management decisions concerning shrimp health.

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.

Deep Lake Explorer: Bringing citizen scientists to the underwater world of the Great Lakes

EPA Science Inventory

Deep Lake Explorer is a web application hosted on the Zooniverse platform that allows the public to interpret underwater video collected in the Great Lakes. Crowdsourcing image interpretation using the Zooniverse platform has proven successful for many projects, but few projects ...

Object Classification in Semi Structured Enviroment Using Forward-Looking Sonar

PubMed Central

dos Santos, Matheus; Ribeiro, Pedro Otávio; Núñez, Pedro; Botelho, Silvia

2017-01-01

The submarine exploration using robots has been increasing in recent years. The automation of tasks such as monitoring, inspection, and underwater maintenance requires the understanding of the robot’s environment. The object recognition in the scene is becoming a critical issue for these systems. On this work, an underwater object classification pipeline applied in acoustic images acquired by Forward-Looking Sonar (FLS) are studied. The object segmentation combines thresholding, connected pixels searching and peak of intensity analyzing techniques. The object descriptor extract intensity and geometric features of the detected objects. A comparison between the Support Vector Machine, K-Nearest Neighbors, and Random Trees classifiers are presented. An open-source tool was developed to annotate and classify the objects and evaluate their classification performance. The proposed method efficiently segments and classifies the structures in the scene using a real dataset acquired by an underwater vehicle in a harbor area. Experimental results demonstrate the robustness and accuracy of the method described in this paper. PMID:28961163

Stability analysis of hybrid-driven underwater glider

NASA Astrophysics Data System (ADS)

Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang

2017-10-01

Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.

Automated Point Cloud Correspondence Detection for Underwater Mapping Using AUVs

NASA Technical Reports Server (NTRS)

Hammond, Marcus; Clark, Ashley; Mahajan, Aditya; Sharma, Sumant; Rock, Stephen

2015-01-01

An algorithm for automating correspondence detection between point clouds composed of multibeam sonar data is presented. This allows accurate initialization for point cloud alignment techniques even in cases where accurate inertial navigation is not available, such as iceberg profiling or vehicles with low-grade inertial navigation systems. Techniques from computer vision literature are used to extract, label, and match keypoints between "pseudo-images" generated from these point clouds. Image matches are refined using RANSAC and information about the vehicle trajectory. The resulting correspondences can be used to initialize an iterative closest point (ICP) registration algorithm to estimate accumulated navigation error and aid in the creation of accurate, self-consistent maps. The results presented use multibeam sonar data obtained from multiple overlapping passes of an underwater canyon in Monterey Bay, California. Using strict matching criteria, the method detects 23 between-swath correspondence events in a set of 155 pseudo-images with zero false positives. Using less conservative matching criteria doubles the number of matches but introduces several false positive matches as well. Heuristics based on known vehicle trajectory information are used to eliminate these.

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

Introduction to the local enhancement of underwater imagery

NASA Astrophysics Data System (ADS)

Schmalz, Mark S.

1995-06-01

Image-based detection of submerged objects is frequently confounded by optical distortions in the aqueous medium. For example, scattering can severly degrade contrast and resolution in underwater (UW) images when illumination systems and cameras are not range-gated. Prior to the development of range-gated imaging, much research emphasis was placed upon the analysis of greyscale imagery acquired under incoherent illumination. Primarily as a result of current emphasis on coherent optical technologies, the progress of image processing (IP) research that pertains to UW imagery has lagged IP hardware and software development. In this paper, we summarize methods for the digital clarification of images that portray actively illuminated UW scenes, i.e., images of floodlit objects. We model the primary UW image components as: a) contrast degradation resulting from illuminant backscattering from the water column, b) a return signal that results from backscattering of the illuminant from the object of regard, and c) resolution loss, due to forward scattering of the return signal. Letting items a) and c) consititute error sources, one can locally apply the appropriate filters to reduce the contribution of such errors. Our technique emphasized local enhancement, as opposed to the global methods used in previous imaging practice. Our enhancement filters are based upon image-algebraic templates that are designed to compensate for the effects of single and multiple scattering as well as absorption within the water column. Discussion is based upon image clarity, algorithmic complexity, and computational efficiency.

Patterns and properties of polarized light in air and water

PubMed Central

Cronin, Thomas W.; Marshall, Justin

2011-01-01

Natural sources of light are at best weakly polarized, but polarization of light is common in natural scenes in the atmosphere, on the surface of the Earth, and underwater. We review the current state of knowledge concerning how polarization and polarization patterns are formed in nature, emphasizing linearly polarized light. Scattering of sunlight or moonlight in the sky often forms a strongly polarized, stable and predictable pattern used by many animals for orientation and navigation throughout the day, at twilight, and on moonlit nights. By contrast, polarization of light in water, while visible in most directions of view, is generally much weaker. In air, the surfaces of natural objects often reflect partially polarized light, but such reflections are rarer underwater, and multiple-path scattering degrades such polarization within metres. Because polarization in both air and water is produced by scattering, visibility through such media can be enhanced using straightforward polarization-based methods of image recovery, and some living visual systems may use similar methods to improve vision in haze or underwater. Although circularly polarized light is rare in nature, it is produced by the surfaces of some animals, where it may be used in specialized systems of communication. PMID:21282165

Methods and measurement variance for field estimations of coral colony planar area using underwater photographs and semi-automated image segmentation.

PubMed

Neal, Benjamin P; Lin, Tsung-Han; Winter, Rivah N; Treibitz, Tali; Beijbom, Oscar; Kriegman, David; Kline, David I; Greg Mitchell, B

2015-08-01

Size and growth rates for individual colonies are some of the most essential descriptive parameters for understanding coral communities, which are currently experiencing worldwide declines in health and extent. Accurately measuring coral colony size and changes over multiple years can reveal demographic, growth, or mortality patterns often not apparent from short-term observations and can expose environmental stress responses that may take years to manifest. Describing community size structure can reveal population dynamics patterns, such as periods of failed recruitment or patterns of colony fission, which have implications for the future sustainability of these ecosystems. However, rapidly and non-invasively measuring coral colony sizes in situ remains a difficult task, as three-dimensional underwater digital reconstruction methods are currently not practical for large numbers of colonies. Two-dimensional (2D) planar area measurements from projection of underwater photographs are a practical size proxy, although this method presents operational difficulties in obtaining well-controlled photographs in the highly rugose environment of the coral reef, and requires extensive time for image processing. Here, we present and test the measurement variance for a method of making rapid planar area estimates of small to medium-sized coral colonies using a lightweight monopod image-framing system and a custom semi-automated image segmentation analysis program. This method demonstrated a coefficient of variation of 2.26% for repeated measurements in realistic ocean conditions, a level of error appropriate for rapid, inexpensive field studies of coral size structure, inferring change in colony size over time, or measuring bleaching or disease extent of large numbers of individual colonies.

Remote sensing of deep hermatypic coral reefs in Puerto Rico and the U.S. Virgin Islands using the Seabed autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Armstrong, Roy A.; Singh, Hanumant

2006-09-01

Optical imaging of coral reefs and other benthic communities present below one attenuation depth, the limit of effective airborne and satellite remote sensing, requires the use of in situ platforms such as autonomous underwater vehicles (AUVs). The Seabed AUV, which was designed for high-resolution underwater optical and acoustic imaging, was used to characterize several deep insular shelf reefs of Puerto Rico and the US Virgin Islands using digital imagery. The digital photo transects obtained by the Seabed AUV provided quantitative data on living coral, sponge, gorgonian, and macroalgal cover as well as coral species richness and diversity. Rugosity, an index of structural complexity, was derived from the pencil-beam acoustic data. The AUV benthic assessments could provide the required information for selecting unique areas of high coral cover, biodiversity and structural complexity for habitat protection and ecosystem-based management. Data from Seabed sensors and related imaging technologies are being used to conduct multi-beam sonar surveys, 3-D image reconstruction from a single camera, photo mosaicking, image based navigation, and multi-sensor fusion of acoustic and optical data.

Image enhancement software for underwater recovery operations: User's manual

NASA Astrophysics Data System (ADS)

Partridge, William J.; Therrien, Charles W.

1989-06-01

This report describes software for performing image enhancement on live or recorded video images. The software was developed for operational use during underwater recovery operations at the Naval Undersea Warfare Engineering Station. The image processing is performed on an IBM-PC/AT compatible computer equipped with hardware to digitize and display video images. The software provides the capability to provide contrast enhancement and other similar functions in real time through hardware lookup tables, to automatically perform histogram equalization, to capture one or more frames and average them or apply one of several different processing algorithms to a captured frame. The report is in the form of a user manual for the software and includes guided tutorial and reference sections. A Digital Image Processing Primer in the appendix serves to explain the principle concepts that are used in the image processing.

Optical turbulence on underwater image degradation in natural environments.

PubMed

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

2012-05-10

It is a well-known fact that the major degradation source on electro-optical imaging underwater is from scattering by particles of various origins and sizes. Recent research indicates that, under certain conditions, the apparent degradation could also be caused by the variations of index of refraction associated with temperature and salinity microstructures in the ocean and lakes. The combined impact has been modeled previously through the simple underwater imaging model. The current study presents the first attempts in quantifying the level of image degradation due to optical turbulence in natural waters in terms of modulation transfer functions using measured turbulence dissipation rates. Image data collected from natural environments during the Skaneateles Optical Turbulence Exercise are presented. Accurate assessments of the turbulence conditions are critical to the model validation and were measured by two instruments to ensure consistency and accuracy. Optical properties of the water column in the field were also measured in coordination with temperature, conductivity, and depth. The results show that optical turbulence degrades the image quality as predicted and on a level comparable to that caused by the particle scattering just above the thermocline. Other contributing elements involving model closure, including temporal and spatial measurement scale differences among sensors and mitigation efforts, are discussed.

Reduced-order model for underwater target identification using proper orthogonal decomposition

NASA Astrophysics Data System (ADS)

Ramesh, Sai Sudha; Lim, Kian Meng

2017-03-01

Research on underwater acoustics has seen major development over the past decade due to its widespread applications in domains such as underwater communication/navigation (SONAR), seismic exploration and oceanography. In particular, acoustic signatures from partially or fully buried targets can be used in the identification of buried mines for mine counter measures (MCM). Although there exist several techniques to identify target properties based on SONAR images and acoustic signatures, these methods first employ a feature extraction method to represent the dominant characteristics of a data set, followed by the use of an appropriate classifier based on neural networks or the relevance vector machine. The aim of the present study is to demonstrate the applications of proper orthogonal decomposition (POD) technique in capturing dominant features of a set of scattered pressure signals, and subsequent use of the POD modes and coefficients in the identification of partially buried underwater target parameters such as its location, size and material density. Several numerical examples are presented to demonstrate the performance of the system identification method based on POD. Although the present study is based on 2D acoustic model, the method can be easily extended to 3D models and thereby enables cost-effective representations of large-scale data.

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

A highly sensitive underwater video system for use in turbid aquaculture ponds

NASA Astrophysics Data System (ADS)

Hung, Chin-Chang; Tsao, Shih-Chieh; Huang, Kuo-Hao; Jang, Jia-Pu; Chang, Hsu-Kuang; Dobbs, Fred C.

2016-08-01

The turbid, low-light waters characteristic of aquaculture ponds have made it difficult or impossible for previous video cameras to provide clear imagery of the ponds’ benthic habitat. We developed a highly sensitive, underwater video system (UVS) for this particular application and tested it in shrimp ponds having turbidities typical of those in southern Taiwan. The system’s high-quality video stream and images, together with its camera capacity (up to nine cameras), permit in situ observations of shrimp feeding behavior, shrimp size and internal anatomy, and organic matter residues on pond sediments. The UVS can operate continuously and be focused remotely, a convenience to shrimp farmers. The observations possible with the UVS provide aquaculturists with information critical to provision of feed with minimal waste; determining whether the accumulation of organic-matter residues dictates exchange of pond water; and management decisions concerning shrimp health.

A highly sensitive underwater video system for use in turbid aquaculture ponds

PubMed Central

Hung, Chin-Chang; Tsao, Shih-Chieh; Huang, Kuo-Hao; Jang, Jia-Pu; Chang, Hsu-Kuang; Dobbs, Fred C.

2016-01-01

The turbid, low-light waters characteristic of aquaculture ponds have made it difficult or impossible for previous video cameras to provide clear imagery of the ponds’ benthic habitat. We developed a highly sensitive, underwater video system (UVS) for this particular application and tested it in shrimp ponds having turbidities typical of those in southern Taiwan. The system’s high-quality video stream and images, together with its camera capacity (up to nine cameras), permit in situ observations of shrimp feeding behavior, shrimp size and internal anatomy, and organic matter residues on pond sediments. The UVS can operate continuously and be focused remotely, a convenience to shrimp farmers. The observations possible with the UVS provide aquaculturists with information critical to provision of feed with minimal waste; determining whether the accumulation of organic-matter residues dictates exchange of pond water; and management decisions concerning shrimp health. PMID:27554201

Dynamic 3d Modeling of a Canal-Tunnel Using Photogrammetric and Bathymetric Data

NASA Astrophysics Data System (ADS)

Moisan, E.; Heinkele, C.; Charbonnier, P.; Foucher, P.; Grussenmeyer, P.; Guillemin, S.; Koehl, M.

2017-02-01

This contribution introduces an original method for dynamically surveying the vault and underwater parts of a canal-tunnel for 3D modeling. The recording system, embedded on a barge, is composed of cameras that provide images of the above-water part of the tunnel, and a sonar that acquires underwater 3D profiles. In this contribution we propose to fully exploit the capacities of photogrammetry to deal with the issue of geo-referencing data in the absence of global positioning system (GPS) data. More specifically, we use it both for reconstructing the vault and side walls of the tunnel in 3D and for estimating the trajectory of the boat, which is necessary to rearrange sonar profiles to form the 3D model of the canal. We report on a first experimentation carried out inside a canal-tunnel and show promising preliminary results that illustrate the potentialities of the proposed approach.

Underwater sky image as remote sensing instrument of sea roughness parameters and its variability

NASA Astrophysics Data System (ADS)

Molkov, Alexander A.; Dolin, Lev S.; Kapustin, Ivan A.; Sergievskaya, Irina A.; Shomina, Olga V.

2016-10-01

At present a sufficient amount of methods is offered for determining the characteristics of sea roughness in accordance with optical images of wavy water surface obtained from different near-shore constructions, sea platforms, vessels, aircraft and satellites. The most informative elements in this case are solar path and peripheral areas of the image free from sun glitters. However, underwater images of the surface obtained with the help of optical receiver located at a certain depth contain apart from the mentioned elements one more informative element- Snell's window. It is an underwater sky image which distortions of border contain information on roughness characteristics and serve as the indicator of its variability. The research offers the method for determining energy spectra of wind waves in accordance with the second statistical moment of Snell's window image. The results of testing of the offered method are provided based on natural images registered in the course of trip to the Black Sea under conditions of different wind and wave environment for clear surface and surface covered by surfactant films. For both cases frequency spectra of surface slopes are recovered and their good coincidence to the spectra received by processing of signals from a string wave recorder is established. Efficiency of application of the offered method for tasks of remote monitoring and environmental control of natural reservoirs is shown.

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.

A biological hierarchical model based underwater moving object detection.

PubMed

Shen, Jie; Fan, Tanghuai; Tang, Min; Zhang, Qian; Sun, Zhen; Huang, Fengchen

2014-01-01

Underwater moving object detection is the key for many underwater computer vision tasks, such as object recognizing, locating, and tracking. Considering the super ability in visual sensing of the underwater habitats, the visual mechanism of aquatic animals is generally regarded as the cue for establishing bionic models which are more adaptive to the underwater environments. However, the low accuracy rate and the absence of the prior knowledge learning limit their adaptation in underwater applications. Aiming to solve the problems originated from the inhomogeneous lumination and the unstable background, the mechanism of the visual information sensing and processing pattern from the eye of frogs are imitated to produce a hierarchical background model for detecting underwater objects. Firstly, the image is segmented into several subblocks. The intensity information is extracted for establishing background model which could roughly identify the object and the background regions. The texture feature of each pixel in the rough object region is further analyzed to generate the object contour precisely. Experimental results demonstrate that the proposed method gives a better performance. Compared to the traditional Gaussian background model, the completeness of the object detection is 97.92% with only 0.94% of the background region that is included in the detection results.

A Biological Hierarchical Model Based Underwater Moving Object Detection

PubMed Central

Shen, Jie; Fan, Tanghuai; Tang, Min; Zhang, Qian; Sun, Zhen; Huang, Fengchen

2014-01-01

Underwater moving object detection is the key for many underwater computer vision tasks, such as object recognizing, locating, and tracking. Considering the super ability in visual sensing of the underwater habitats, the visual mechanism of aquatic animals is generally regarded as the cue for establishing bionic models which are more adaptive to the underwater environments. However, the low accuracy rate and the absence of the prior knowledge learning limit their adaptation in underwater applications. Aiming to solve the problems originated from the inhomogeneous lumination and the unstable background, the mechanism of the visual information sensing and processing pattern from the eye of frogs are imitated to produce a hierarchical background model for detecting underwater objects. Firstly, the image is segmented into several subblocks. The intensity information is extracted for establishing background model which could roughly identify the object and the background regions. The texture feature of each pixel in the rough object region is further analyzed to generate the object contour precisely. Experimental results demonstrate that the proposed method gives a better performance. Compared to the traditional Gaussian background model, the completeness of the object detection is 97.92% with only 0.94% of the background region that is included in the detection results. PMID:25140194

Experimental study of a DMD based compressive line sensing imaging system in the turbulence environment

NASA Astrophysics Data System (ADS)

Ouyang, Bing; Hou, Weilin; Gong, Cuiling; Caimi, Frank M.; Dalgleish, Fraser R.; Vuorenkoski, Anni K.

2016-05-01

The Compressive Line Sensing (CLS) active imaging system has been demonstrated to be effective in scattering mediums, such as turbid coastal water through simulations and test tank experiments. Since turbulence is encountered in many atmospheric and underwater surveillance applications, a new CLS imaging prototype was developed to investigate the effectiveness of the CLS concept in a turbulence environment. Compared with earlier optical bench top prototype, the new system is significantly more robust and compact. A series of experiments were conducted at the Naval Research Lab's optical turbulence test facility with the imaging path subjected to various turbulence intensities. In addition to validating the system design, we obtained some unexpected exciting results - in the strong turbulence environment, the time-averaged measurements using the new CLS imaging prototype improved both SNR and resolution of the reconstructed images. We will discuss the implications of the new findings, the challenges of acquiring data through strong turbulence environment, and future enhancements.

Stone Aerospace Testing of an Autonomous Underwater Vehicle

NASA Image and Video Library

2008-06-21

View of the Autonomous Underwater Vehicle (AUV) known as Endurance designed by Stone Aerospace being lowered into the Neutral Buoyancy Laboratory (NBL) pool at the Sonny Carter Training Facility (SCTF) for testing. The AUV is being tested for potential exploration of Jupiter's moon Europa. This image was featured in the August 2008 JSC Roundup, Volume 47, Number 8.

Can a rapid underwater video approach enhance the benthic assessment capability of the National Coastal Condition Assessmentin the Great Lakes?

EPA Science Inventory

In the U.S. National Coastal Condition Assessment (NCCA) field survey in summer 2010, over 400 sites in the nearshore zone of the U.S. Great Lakes were sampled. As a supplement to core NCCA benthic taxonomy and sediment chemistry, underwater video images of the bottom condition ...

Automated benthic counting of living and non-living components in Ngedarrak Reef, Palau via subsurface underwater video.

PubMed

Marcos, Ma Shiela Angeli; David, Laura; Peñaflor, Eileen; Ticzon, Victor; Soriano, Maricor

2008-10-01

We introduce an automated benthic counting system in application for rapid reef assessment that utilizes computer vision on subsurface underwater reef video. Video acquisition was executed by lowering a submersible bullet-type camera from a motor boat while moving across the reef area. A GPS and echo sounder were linked to the video recorder to record bathymetry and location points. Analysis of living and non-living components was implemented through image color and texture feature extraction from the reef video frames and classification via Linear Discriminant Analysis. Compared to common rapid reef assessment protocols, our system can perform fine scale data acquisition and processing in one day. Reef video was acquired in Ngedarrak Reef, Koror, Republic of Palau. Overall success performance ranges from 60% to 77% for depths of 1 to 3 m. The development of an automated rapid reef classification system is most promising for reef studies that need fast and frequent data acquisition of percent cover of living and nonliving components.

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.

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.

Use of baited remote underwater video (BRUV) and motion analysis for studying the impacts of underwater noise upon free ranging fish and implications for marine energy management.

PubMed

Roberts, Louise; Pérez-Domínguez, Rafael; Elliott, Michael

2016-11-15

Free-ranging individual fish were observed using a baited remote underwater video (BRUV) system during sound playback experiments. This paper reports on test trials exploring BRUV design parameters, image analysis and practical experimental designs. Three marine species were exposed to playback noise, provided as examples of behavioural responses to impulsive sound at 163-171dB re 1μPa (peak-to-peak SPL) and continuous sound of 142.7dB re 1μPa (RMS, SPL), exhibiting directional changes and accelerations. The methods described here indicate the efficacy of BRUV to examine behaviour of free-ranging species to noise playback, rather than using confinement. Given the increasing concern about the effects of water-borne noise, for example its inclusion within the EU Marine Strategy Framework Directive, and the lack of empirical evidence in setting thresholds, this paper discusses the use of BRUV, and short term behavioural changes, in supporting population level marine noise management. Copyright © 2016 Elsevier Ltd. All rights reserved.

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.

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.

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

Imaging of polarized target in underwater environment

NASA Astrophysics Data System (ADS)

Carrizo, Carlos; Foster, Robert; El-Habashi, Ahmed; Gray, Deric; Gilerson, Alex

2017-10-01

Imaging of underwater targets is challenging because of the significant attenuation of the propagating light field due to the absorption and scattering by water and suspended/dissolved matter. Some living and manmade objects in water have surfaces which partially polarize the light, whose properties can be used to camouflage or, conversely, to detect such objects. The attenuation of light by the intervening water (so-called veiling light) changes both the intensity and polarization characteristics at each pixel of the image, but does not contain any information about the target and contributes to image degradation and blurring. Its properties need to be understood in order to isolate the true optical signature of the target. The main goal of this study is to retrieve the polarization characteristics of the target from the image in different water environmental and illumination conditions by taking into account coincidentally measured inherent water optical properties (IOPs) during recent field campaigns outside the Chesapeake Bay and in New York Bight. Data, in the form of images and videos, were acquired using a green-band full-Stokes polarimetric video camera. Analysis of the acquired images show reasonable agreement in Stokes vector components with the measurements by the underwater polarimeter and modeled polarized signals. In addition, Stokes vector components of the veiling light were also estimated and compared with the models. Finally, retrieval of the attenuation coefficient for the light from the target is attempted from the measurements and compared with the results of the independent measurements of IOPs.

An underwater turbulence degraded image restoration algorithm

NASA Astrophysics Data System (ADS)

Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew

2017-09-01

Underwater turbulence occurs due to random fluctuations of temperature and salinity in the water. These fluctuations are responsible for variations in water density, refractive index and attenuation. These impose random geometric distortions, spatio-temporal varying blur, limited range visibility and limited contrast on the acquired images. There are some restoration techniques developed to address this problem, such as image registration based, lucky region based and centroid-based image restoration algorithms. Although these methods demonstrate better results in terms of removing turbulence, they require computationally intensive image registration, higher CPU load and memory allocations. Thus, in this paper, a simple patch based dictionary learning algorithm is proposed to restore the image by alleviating the costly image registration step. Dictionary learning is a machine learning technique which builds a dictionary of non-zero atoms derived from the sparse representation of an image or signal. The image is divided into several patches and the sharp patches are detected from them. Next, dictionary learning is performed on these patches to estimate the restored image. Finally, an image deconvolution algorithm is employed on the estimated restored image to remove noise that still exists.

Opti-acoustic stereo imaging: on system calibration and 3-D target reconstruction.

PubMed

Negahdaripour, Shahriar; Sekkati, Hicham; Pirsiavash, Hamed

2009-06-01

Utilization of an acoustic camera for range measurements is a key advantage for 3-D shape recovery of underwater targets by opti-acoustic stereo imaging, where the associated epipolar geometry of optical and acoustic image correspondences can be described in terms of conic sections. In this paper, we propose methods for system calibration and 3-D scene reconstruction by maximum likelihood estimation from noisy image measurements. The recursive 3-D reconstruction method utilized as initial condition a closed-form solution that integrates the advantages of two other closed-form solutions, referred to as the range and azimuth solutions. Synthetic data tests are given to provide insight into the merits of the new target imaging and 3-D reconstruction paradigm, while experiments with real data confirm the findings based on computer simulations, and demonstrate the merits of this novel 3-D reconstruction paradigm.

Design and research on the two-joint mating system of underwater vehicle

NASA Astrophysics Data System (ADS)

Zhang, Zhong-lin; Wang, Li-quan

2013-03-01

In the 21st century, people have come to the era of ocean science and ocean economy. With the development of ocean science and technology and the thorough research on the ocean, underwater mating technique has been widely used in such fields as sunk ship salvage, deep ocean workstation, submarine lifesaving aid and military affairs. In this paper, researches are made home and abroad on mating technology. Two-joint mating system of underwater vehicle is designed including plane system, three-dimensional assembly system and control system in order to increase the capacity of adapting platform obliquity and adopting rotational skirt scheme. It is clear that the system fits the working space of underwater vehicle passageway and there is no interference phenomenon in assembly design. The finite element model of the system shell and the pressurization of the joint are established. The results of the finite element computing and the pressing test are accordant, and thus it can testify that the shell material meet the need of intension and joint pressurization is reliable. Modeling of the control system is accomplished, and simulation and analysis are made, which can provide directions for the controller design of mating system of underwater vehicles.

Biological Response to the Dynamic Spectral-Polarized Underwater Light Field

DTIC Science & Technology

2012-09-30

deployment of a comprehensive optical suite including underwater video- polarimetry (full Stokes vector video-imaging camera custom-built Cummings; and...During field operations, we couple polarimetry measurements of live, free-swimming animals in their environments with a full suite of optical...Seibel, Ahmed). We also restrain live, awake animals to take polarimetry measurements (in the field and laboratory) under a complete set of

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 .

Detection of Underwater UXOs in Mud

DTIC Science & Technology

2013-04-01

the system can operate in a water depth up to 30 m. 4 1.3 Outline of Report The report is structured as follows: Section 2 provides an...and tilt angle can be modified, such that the system can operate in a water depth up to 30 m. Figure 2 – Data flow diagram for the MUD processing...ground-truth location. The water depth is in the range between 8 and 15 m. Figure 4 – SAS image snippets of the CMRE EVA cylinder using (a) regular

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

3D photo mosaicing of Tagiri shallow vent field by an autonomous underwater vehicle (3rd report) - Mosaicing method based on navigation data and visual features -

NASA Astrophysics Data System (ADS)

Maki, Toshihiro; Ura, Tamaki; Singh, Hanumant; Sakamaki, Takashi

Large-area seafloor imaging will bring significant benefits to various fields such as academics, resource survey, marine development, security, and search-and-rescue. The authors have proposed a navigation method of an autonomous underwater vehicle for seafloor imaging, and verified its performance through mapping tubeworm colonies with the area of 3,000 square meters using the AUV Tri-Dog 1 at Tagiri vent field, Kagoshima bay in Japan (Maki et al., 2008, 2009). This paper proposes a post-processing method to build a natural photo mosaic from a number of pictures taken by an underwater platform. The method firstly removes lens distortion, invariances of color and lighting from each image, and then ortho-rectification is performed based on camera pose and seafloor estimated by navigation data. The image alignment is based on both navigation data and visual characteristics, implemented as an expansion of the image based method (Pizarro et al., 2003). Using the two types of information realizes an image alignment that is consistent both globally and locally, as well as making the method applicable to data sets with little visual keys. The method was evaluated using a data set obtained by the AUV Tri-Dog 1 at the vent field in Sep. 2009. A seamless, uniformly illuminated photo mosaic covering the area of around 500 square meters was created from 391 pictures, which covers unique features of the field such as bacteria mats and tubeworm colonies.

A Fisheries Application of a Dual-Frequency Identification Sonar Acoustic Camera

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

Moursund, Russell A.; Carlson, Thomas J.; Peters, Rock D.

2003-06-01

The uses of an acoustic camera in fish passage research at hydropower facilities are being explored by the U.S. Army Corps of Engineers. The Dual-Frequency Identification Sonar (DIDSON) is a high-resolution imaging sonar that obtains near video-quality images for the identification of objects underwater. Developed originally for the Navy by the University of Washington?s Applied Physics Laboratory, it bridges the gap between existing fisheries assessment sonar and optical systems. Traditional fisheries assessment sonars detect targets at long ranges but cannot record the shape of targets. The images within 12 m of this acoustic camera are so clear that one canmore » see fish undulating as they swim and can tell the head from the tail in otherwise zero-visibility water. In the 1.8 MHz high-frequency mode, this system is composed of 96 beams over a 29-degree field of view. This high resolution and a fast frame rate allow the acoustic camera to produce near video-quality images of objects through time. This technology redefines many of the traditional limitations of sonar for fisheries and aquatic ecology. Images can be taken of fish in confined spaces, close to structural or surface boundaries, and in the presence of entrained air. The targets themselves can be visualized in real time. The DIDSON can be used where conventional underwater cameras would be limited in sampling range to < 1 m by low light levels and high turbidity, and where traditional sonar would be limited by the confined sample volume. Results of recent testing at The Dalles Dam, on the lower Columbia River in Oregon, USA, are shown.« less

Robust automatic control system of vessel descent-rise device for plant with distributed parameters “cable – towed underwater vehicle”

NASA Astrophysics Data System (ADS)

Chupina, K. V.; Kataev, E. V.; Khannanov, A. M.; Korshunov, V. N.; Sennikov, I. A.

2018-05-01

The paper is devoted to a problem of synthesis of the robust control system for a distributed parameters plant. The vessel descent-rise device has a heave compensation function for stabilization of the towed underwater vehicle on a set depth. A sea state code, parameters of the underwater vehicle and cable vary during underwater operations, the vessel heave is a stochastic process. It means that the plant and external disturbances have uncertainty. That is why it is necessary to use the robust theory for synthesis of an automatic control system, but without use of traditional methods of optimization, because this cable has distributed parameters. The offered technique has allowed one to design an effective control system for stabilization of immersion depth of the towed underwater vehicle for various degrees of sea roughness and to provide its robustness to deviations of parameters of the vehicle and cable’s length.

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.

Feasibility Study of Compressive Sensing Underwater Imaging Lidar

DTIC Science & Technology

2014-03-28

Texas Instruments Digital Micromirror Devices development system. In addition, through these studies, the deficiencies and/or areas of lack...device, such as the Digital Micromirror Device (DMD), to spatially modulate the laser source that illuminates the target plane. The same binary patterns...Digital Micromirror Device (DMD) Applications," Proc. of SPIE, 2003, 4985, 14-25. [8] T. E. Giddings and J. J. Shirron, "Numerical Simulation of the

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.

Biological Response to the Dynamic Spectral-Polarized Underwater Light Field

DTIC Science & Technology

2013-09-30

Z39-18 2 optical suite including underwater video- polarimetry (full Stokes vector video-imaging camera custom-built Cummings; and “SALSA” (Bossa...operations, we couple polarimetry measurements of live, free-swimming animals in their environments with a full suite of optical measurements...Ahmed). We also restrain live, awake animals to take polarimetry measurements (in the field and laboratory) under a complete set of viewing angles and

The Effect of Underwater Imagery Radiometry on 3d Reconstruction and Orthoimagery

NASA Astrophysics Data System (ADS)

Agrafiotis, P.; Drakonakis, G. I.; Georgopoulos, A.; Skarlatos, D.

2017-02-01

The work presented in this paper investigates the effect of the radiometry of the underwater imagery on automating the 3D reconstruction and the produced orthoimagery. Main aim is to investigate whether pre-processing of the underwater imagery improves the 3D reconstruction using automated SfM - MVS software or not. Since the processing of images either separately or in batch is a time-consuming procedure, it is critical to determine the necessity of implementing colour correction and enhancement before the SfM - MVS procedure or directly to the final orthoimage when the orthoimagery is the deliverable. Two different test sites were used to capture imagery ensuring different environmental conditions, depth and complexity. Three different image correction methods are applied: A very simple automated method using Adobe Photoshop, a developed colour correction algorithm using the CLAHE (Zuiderveld, 1994) method and an implementation of the algorithm described in Bianco et al., (2015). The produced point clouds using the initial and the corrected imagery are then being compared and evaluated.

Underwater photogrammetric theoretical equations and technique

NASA Astrophysics Data System (ADS)

Fan, Ya-bing; Huang, Guiping; Qin, Gui-qin; Chen, Zheng

2011-12-01

In order to have a high level of accuracy of measurement in underwater close-range photogrammetry, this article deals with a study of three varieties of model equations according to the way of imaging upon the water. First, the paper makes a careful analysis for the two varieties of theoretical equations and finds out that there are some serious limitations in practical application and has an in-depth study for the third model equation. Second, one special project for this measurement has designed correspondingly. Finally, one rigid antenna has been tested by underwater photogrammetry. The experimental results show that the precision of 3D coordinates measurement is 0.94mm, which validates the availability and operability in practical application with this third equation. It can satisfy the measurement requirements of refraction correction, improving levels of accuracy of underwater close-range photogrammetry, as well as strong antijamming and stabilization.

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

Modelling of depth stabilization and submerging of tethered underwater garage in conditions of sea oscillating motion

NASA Astrophysics Data System (ADS)

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

2018-03-01

The paper is dedicated to examining dynamics of a submersible underwater garage in conditions of significant sea oscillation. During the considered research, the mathematical model of the electromechanical depth control system, considering interval parametric uncertainty of the system and distribution of tether mass, was developed. An influence of sea oscillation on submerging underwater garages and their depth stabilization processes was analyzed.

An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

DTIC Science & Technology

2013-02-01

Remotely Operated Vehicle RTOS Real-Time Operating System SAUC -E Student Autonomous Underwater Vehicle Challenge - Europe TCP Transmission Control Protocol...popularity, with examples including the Student Autonomous Underwater Vehicle Challenge - Europe ( SAUC -E) [7] and the AUVSI robosub competition [8]. For...28] for entry into AUV competitions such as SAUC -E [7], and AUVSI [8]. 8 UNCLASSIFIED UNCLASSIFIED DSTO–TN–1194 3.4 Windows CE Windows CE

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

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

Developing national on-line services to annotate and analyse underwater imagery in a research cloud

NASA Astrophysics Data System (ADS)

Proctor, R.; Langlois, T.; Friedman, A.; Davey, B.

2017-12-01

Fish image annotation data is currently collected by various research, management and academic institutions globally (+100,000's hours of deployments) with varying degrees of standardisation and limited formal collaboration or data synthesis. We present a case study of how national on-line services, developed within a domain-oriented research cloud, have been used to annotate habitat images and synthesise fish annotation data sets collected using Autonomous Underwater Vehicles (AUVs) and baited remote underwater stereo-video (stereo-BRUV). Two developing software tools have been brought together in the marine science cloud to provide marine biologists with a powerful service for image annotation. SQUIDLE+ is an online platform designed for exploration, management and annotation of georeferenced images & video data. It provides a flexible annotation framework allowing users to work with their preferred annotation schemes. We have used SQUIDLE+ to sample the habitat composition and complexity of images of the benthos collected using stereo-BRUV. GlobalArchive is designed to be a centralised repository of aquatic ecological survey data with design principles including ease of use, secure user access, flexible data import, and the collection of any sampling and image analysis information. To easily share and synthesise data we have implemented data sharing protocols, including Open Data and synthesis Collaborations, and a spatial map to explore global datasets and filter to create a synthesis. These tools in the science cloud, together with a virtual desktop analysis suite offering python and R environments offer an unprecedented capability to deliver marine biodiversity information of value to marine managers and scientists alike.

Underwater microscopy for in situ studies of benthic ecosystems

NASA Astrophysics Data System (ADS)

Mullen, Andrew D.; Treibitz, Tali; Roberts, Paul L. D.; Kelly, Emily L. A.; Horwitz, Rael; Smith, Jennifer E.; Jaffe, Jules S.

2016-07-01

Microscopic-scale processes significantly influence benthic marine ecosystems such as coral reefs and kelp forests. Due to the ocean's complex and dynamic nature, it is most informative to study these processes in the natural environment yet it is inherently difficult. Here we present a system capable of non-invasively imaging seafloor environments and organisms in situ at nearly micrometre resolution. We overcome the challenges of underwater microscopy through the use of a long working distance microscopic objective, an electrically tunable lens and focused reflectance illumination. The diver-deployed instrument permits studies of both spatial and temporal processes such as the algal colonization and overgrowth of bleaching corals, as well as coral polyp behaviour and interspecific competition. By enabling in situ observations at previously unattainable scales, this instrument can provide important new insights into micro-scale processes in benthic ecosystems that shape observed patterns at much larger scales.

Moving target detection in flash mode against stroboscopic mode by active range-gated laser imaging

NASA Astrophysics Data System (ADS)

Zhang, Xuanyu; Wang, Xinwei; Sun, Liang; Fan, Songtao; Lei, Pingshun; Zhou, Yan; Liu, Yuliang

2018-01-01

Moving target detection is important for the application of target tracking and remote surveillance in active range-gated laser imaging. This technique has two operation modes based on the difference of the number of pulses per frame: stroboscopic mode with the accumulation of multiple laser pulses per frame and flash mode with a single shot of laser pulse per frame. In this paper, we have established a range-gated laser imaging system. In the system, two types of lasers with different frequency were chosen for the two modes. Electric fan and horizontal sliding track were selected as the moving targets to compare the moving blurring between two modes. Consequently, the system working in flash mode shows more excellent performance in motion blurring against stroboscopic mode. Furthermore, based on experiments and theoretical analysis, we presented the higher signal-to-noise ratio of image acquired by stroboscopic mode than flash mode in indoor and underwater environment.

Performance assessment of imaging plates for the JHR transfer Neutron Imaging System

NASA Astrophysics Data System (ADS)

Simon, E.; Guimbal, P. AB(; )

2018-01-01

The underwater Neutron Imaging System to be installed in the Jules Horowitz Reactor (JHR-NIS) is based on a transfer method using a neutron activated beta-emitter like Dysprosium. The information stored in the converter is to be offline transferred on a specific imaging system, still to be defined. Solutions are currently under investigation for the JHR-NIS in order to anticipate the disappearance of radiographic films commonly used in these applications. We report here the performance assessment of Computed Radiography imagers (Imaging Plates) performed at LLB/Orphée (CEA Saclay). Several imaging plate types are studied, in one hand in the configuration involving an intimate contact with an activated dysprosium foil converter: Fuji BAS-TR, Fuji UR-1 and Carestream Flex XL Blue imaging plates, and in the other hand by using a prototypal imaging plate doped with dysprosium and thus not needing any contact with a separate converter foil. The results for these imaging plates are compared with those obtained with gadolinium doped imaging plate used in direct neutron imaging (Fuji BAS-ND). The detection performances of the different imagers are compared regarding resolution and noise. The many advantages of using imaging plates over radiographic films (high sensitivity, linear response, high dynamic range) could palliate its lower intrinsic resolution.

Composite Wavelet Filters for Enhanced Automated Target Recognition

NASA Technical Reports Server (NTRS)

Chiang, Jeffrey N.; Zhang, Yuhan; Lu, Thomas T.; Chao, Tien-Hsin

2012-01-01

Automated Target Recognition (ATR) systems aim to automate target detection, recognition, and tracking. The current project applies a JPL ATR system to low-resolution sonar and camera videos taken from unmanned vehicles. These sonar images are inherently noisy and difficult to interpret, and pictures taken underwater are unreliable due to murkiness and inconsistent lighting. The ATR system breaks target recognition into three stages: 1) Videos of both sonar and camera footage are broken into frames and preprocessed to enhance images and detect Regions of Interest (ROIs). 2) Features are extracted from these ROIs in preparation for classification. 3) ROIs are classified as true or false positives using a standard Neural Network based on the extracted features. Several preprocessing, feature extraction, and training methods are tested and discussed in this paper.

Delamination study of chip-to-chip bonding for a LIGA-based safety and arming system

NASA Astrophysics Data System (ADS)

Subramanian, Gowrishankar; Deeds, Michael; Cochran, Kevin R.; Raghavan, Raghu; Sandborn, Peter A.

1999-08-01

The development of a miniature underwater weapon safety and arming system requires reliable chip-to-chip bonding of die that contain microelectromechanical actuators and sensors fabricated using a LIGA MEMS fabrication process. Chip-to- chip bonding is associated for several different bond materials (indium solder, thermoplastic paste, thermoplastic film and epoxy film), and bonding configurations (with an alloy 42 spacer, silicon to ceramic, and silicon to silicon). Metrology using acoustic micro imaging has been developed to determine the fraction of delamination of samples.

Unobtrusive Multi-Static Serial LiDAR Imager (UMSLI) First Generation Shape-Matching Based Classifier for 2D Contours

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

Cao, Zheng; Ouyang, Bing; Principe, Jose

A multi-static serial LiDAR system prototype was developed under DE-EE0006787 to detect, classify, and record interactions of marine life with marine hydrokinetic generation equipment. This software implements a shape-matching based classifier algorithm for the underwater automated detection of marine life for that system. In addition to applying shape descriptors, the algorithm also adopts information theoretical learning based affine shape registration, improving point correspondences found by shape descriptors as well as the final similarity measure.

Probability-Based Recognition Framework for Underwater Landmarks Using Sonar Images †.

PubMed

Lee, Yeongjun; Choi, Jinwoo; Ko, Nak Yong; Choi, Hyun-Taek

2017-08-24

This paper proposes a probability-based framework for recognizing underwater landmarks using sonar images. Current recognition methods use a single image, which does not provide reliable results because of weaknesses of the sonar image such as unstable acoustic source, many speckle noises, low resolution images, single channel image, and so on. However, using consecutive sonar images, if the status-i.e., the existence and identity (or name)-of an object is continuously evaluated by a stochastic method, the result of the recognition method is available for calculating the uncertainty, and it is more suitable for various applications. Our proposed framework consists of three steps: (1) candidate selection, (2) continuity evaluation, and (3) Bayesian feature estimation. Two probability methods-particle filtering and Bayesian feature estimation-are used to repeatedly estimate the continuity and feature of objects in consecutive images. Thus, the status of the object is repeatedly predicted and updated by a stochastic method. Furthermore, we develop an artificial landmark to increase detectability by an imaging sonar, which we apply to the characteristics of acoustic waves, such as instability and reflection depending on the roughness of the reflector surface. The proposed method is verified by conducting basin experiments, and the results are presented.

Real-time visual mosaicking and navigation on the seafloor

NASA Astrophysics Data System (ADS)

Richmond, Kristof

Remote robotic exploration holds vast potential for gaining knowledge about extreme environments accessible to humans only with great difficulty. Robotic explorers have been sent to other solar system bodies, and on this planet into inaccessible areas such as caves and volcanoes. In fact, the largest unexplored land area on earth lies hidden in the airless cold and intense pressure of the ocean depths. Exploration in the oceans is further hindered by water's high absorption of electromagnetic radiation, which both inhibits remote sensing from the surface, and limits communications with the bottom. The Earth's oceans thus provide an attractive target for developing remote exploration capabilities. As a result, numerous robotic vehicles now routinely survey this environment, from remotely operated vehicles piloted over tethers from the surface to torpedo-shaped autonomous underwater vehicles surveying the mid-waters. However, these vehicles are limited in their ability to navigate relative to their environment. This limits their ability to return to sites with precision without the use of external navigation aids, and to maneuver near and interact with objects autonomously in the water and on the sea floor. The enabling of environment-relative positioning on fully autonomous underwater vehicles will greatly extend their power and utility for remote exploration in the furthest reaches of the Earth's waters---even under ice and under ground---and eventually in extraterrestrial liquid environments such as Europa's oceans. This thesis presents an operational, fielded system for visual navigation of underwater robotic vehicles in unexplored areas of the seafloor. The system does not depend on external sensing systems, using only instruments on board the vehicle. As an area is explored, a camera is used to capture images and a composite view, or visual mosaic, of the ocean bottom is created in real time. Side-to-side visual registration of images is combined with dead-reckoned navigation information in a framework allowing the creation and updating of large, locally consistent mosaics. These mosaics are used as maps in which the vehicle can navigate and localize itself with respect to points in the environment. The system achieves real-time performance in several ways. First, wherever possible, direct sensing of motion parameters is used in place of extracting them from visual data. Second, trajectories are chosen to enable a hierarchical search for side-to-side links which limits the amount of searching performed without sacrificing robustness. Finally, the map estimation is formulated as a sparse, linear information filter allowing rapid updating of large maps. The visual navigation enabled by the work in this thesis represents a new capability for remotely operated vehicles, and an enabling capability for a new generation of autonomous vehicles which explore and interact with remote, unknown and unstructured underwater environments. The real-time mosaic can be used on current tethered vehicles to create pilot aids and provide a vehicle user with situational awareness of the local environment and the position of the vehicle within it. For autonomous vehicles, the visual navigation system enables precise environment-relative positioning and mapping, without requiring external navigation systems, opening the way for ever-expanding autonomous exploration capabilities. The utility of this system was demonstrated in the field at sites of scientific interest using the ROVs Ventana and Tiburon operated by the Monterey Bay Aquarium Research Institute. A number of sites in and around Monterey Bay, California were mosaicked using the system, culminating in a complete imaging of the wreck site of the USS Macon , where real-time visual mosaics containing thousands of images were generated while navigating using only sensor systems on board the vehicle.

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

Advanced instrumentation for research in diving and hyperbaric medicine.

PubMed

Sieber, Arne; L'Abbate, Antonio; Kuch, Benjamin; Wagner, Matthias; Benassi, Antonio; Passera, Mirko; Bedini, Remo

2010-01-01

Improving the safety of diving and increasing knowledge about the adaptation of the human body to underwater and hyperbaric environment require specifically developed underwater instrumentation for physiological measurements. In fact, none of the routine clinical devices for health control is suitable for in-water and/or under-pressure operation. The present paper addresses novel technological acquisitions and the development of three dedicated devices: * an underwater data logger for recording O2 saturation (reflective pulsoxymetry), two-channel ECG, depth and temperature; * an underwater blood pressure meter based on the oscillometric method; and * an underwater echography system. Moreover, examples of recordings are presented and discussed.

An Adaptive Cultural Algorithm with Improved Quantum-behaved Particle Swarm Optimization for Sonar Image Detection.

PubMed

Wang, Xingmei; Hao, Wenqian; Li, Qiming

2017-12-18

This paper proposes an adaptive cultural algorithm with improved quantum-behaved particle swarm optimization (ACA-IQPSO) to detect the underwater sonar image. In the population space, to improve searching ability of particles, iterative times and the fitness value of particles are regarded as factors to adaptively adjust the contraction-expansion coefficient of the quantum-behaved particle swarm optimization algorithm (QPSO). The improved quantum-behaved particle swarm optimization algorithm (IQPSO) can make particles adjust their behaviours according to their quality. In the belief space, a new update strategy is adopted to update cultural individuals according to the idea of the update strategy in shuffled frog leaping algorithm (SFLA). Moreover, to enhance the utilization of information in the population space and belief space, accept function and influence function are redesigned in the new communication protocol. The experimental results show that ACA-IQPSO can obtain good clustering centres according to the grey distribution information of underwater sonar images, and accurately complete underwater objects detection. Compared with other algorithms, the proposed ACA-IQPSO has good effectiveness, excellent adaptability, a powerful searching ability and high convergence efficiency. Meanwhile, the experimental results of the benchmark functions can further demonstrate that the proposed ACA-IQPSO has better searching ability, convergence efficiency and stability.

Performance of multimirror quartzline lamps in a high-pressure, underwater environment

NASA Technical Reports Server (NTRS)

Slater, Howard A.

1988-01-01

Multimirror Quartzline Lamps are extremely versatile and effective for nonconventional imaging requirements such as high-speed photo and video instrumentation and high-magnification imaging. The lamps' versatility though, is not limited to conventional environments. Many research experiments and projects require a high pressure environment. Continuous photographic data acquisition in a high-pressure vessel requires wall penetrations and creates design problems as well as potential failure sites. Underwater photography adds the extra consideration of a liquid. This report expands upon the basic research presented in, Performance of Multimirror Quartzline Lamps in High-Pressure Environments, (NASA-TM-83793, Ernie Walker and Howard Slater, 1984). The report provides information to professional industrial, scientific, and technical photographers as well as research personnel on the survivability of lighting a multimirror quartzline lamp in a nonconventional high-pressure underwater environment. Test results of lighted ELH 300 W multimirror quartzline lamps under high-pressure conditions are documented and general information on the lamps' intensity (footcandle output), cone of light coverage, approximate color temperature is provided. Continuous lighting considerations in liquids are also discussed.

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.

Afocal viewport optics for underwater imaging

NASA Astrophysics Data System (ADS)

Slater, Dan

2014-09-01

A conventional camera can be adapted for underwater use by enclosing it in a sealed waterproof pressure housing with a viewport. The viewport, as an optical interface between water and air needs to consider both the camera and water optical characteristics while also providing a high pressure water seal. Limited hydrospace visibility drives a need for wide angle viewports. Practical optical interfaces between seawater and air vary from simple flat plate windows to complex water contact lenses. This paper first provides a brief overview of the physical and optical properties of the ocean environment along with suitable optical materials. This is followed by a discussion of the characteristics of various afocal underwater viewport types including flat windows, domes and the Ivanoff corrector lens, a derivative of a Galilean wide angle camera adapter. Several new and interesting optical designs derived from the Ivanoff corrector lens are presented including a pair of very compact afocal viewport lenses that are compatible with both in water and in air environments and an afocal underwater hyper-hemispherical fisheye lens.

Underwater 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.

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.

Underwater Acoustic Tracer System

DTIC Science & Technology

2009-03-13

for controlling and utilizing supercavitating projectile dynamics to produce a distinctive radiated noise signal. (2) Description of the Prior Art...metallic objects which travel relatively closely to a magnetic pickup. For larger, high speed, underwater projectiles, supercavitating underwater vehicles...have been proposed for use. The conditions for supercavitation are known in the art. Supercavitation allows for higher speeds to be sustainable

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.

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.

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.

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.

Sensitive test for sea mine identification based on polarization-aided image processing.

PubMed

Leonard, I; Alfalou, A; Brosseau, C

2013-12-02

Techniques are widely sought to detect and identify sea mines. This issue is characterized by complicated mine shapes and underwater light propagation dependencies. In a preliminary study we use a preprocessing step for denoising underwater images before applying the algorithm for mine detection. Once a mine is detected, the protocol for identifying it is activated. Among many correlation filters, we have focused our attention on the asymmetric segmented phase-only filter for quantifying the recognition rate because it allows us to significantly increase the number of reference images in the fabrication of this filter. Yet they are not entirely satisfactory in terms of recognition rate and the obtained images revealed to be of low quality. In this report, we propose a way to improve upon this preliminary study by using a single wavelength polarimetric camera in order to denoise the images. This permits us to enhance images and improve depth visibility. We present illustrative results using in situ polarization imaging of a target through a milk-water mixture and demonstrate that our challenging objective of increasing the detection rate and decreasing the false alarm rate has been achieved.

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).

Development of a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics

NASA Astrophysics Data System (ADS)

Amin, Osman Md; Karim, Md. Arshadul; Saad, Abdullah His

2017-12-01

At present, research on unmanned underwater vehicle (UUV) has become a significant & familiar topic for researchers from various engineering fields. UUV is of mainly two types - AUV (Autonomous Underwater vehicle) & ROV (Remotely Operated Vehicle). There exist a significant number of published research papers on UUV, where very few researchers emphasize on the ease of maneuvering and control of UUV. Maneuvering is important for underwater vehicle in avoiding obstacles, installing underwater piping system, searching undersea resources, underwater mine disposal operations, oceanographic surveys etc. A team from Dept. of Naval Architecture & Marine Engineering of MIST has taken a project to design a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics. The main objective of the research is to develop a control system for UUV which would be able to maneuver the vehicle in six DOF (Degrees of Freedom) with great ease. For this purpose we are not only focusing on controllability but also designing an efficient hull with minimal drag force & optimized propeller using CFD technique. Motors were selected on the basis of the simulated thrust generated by propellers in ANSYS Fluent software module. Settings for control parameters to carry out different types of maneuvering such as hovering, spiral, one point rotation about its centroid, gliding, rolling, drifting and zigzag motions were explained in short at the end.

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.

Underwater Inspection of Navigation Structures with an Acoustic Camera

DTIC Science & Technology

2013-08-01

the camera with a slow angular speed while recording the images. 5. After the scanning has been performed, review recorded data to determine the...Core x86) or newer  2GB RAM  120GB disc space Operating system requirements  Windows XP, Vista, Windows 7, 32/64 bit Java requirements  Sun... Java JDK, Version 1.6, Update 16 or newer, for installation Limitations and tips for proper scanning  Best results are achieved when scanning in

Probability-Based Recognition Framework for Underwater Landmarks Using Sonar Images †

PubMed Central

Choi, Jinwoo; Choi, Hyun-Taek

2017-01-01

This paper proposes a probability-based framework for recognizing underwater landmarks using sonar images. Current recognition methods use a single image, which does not provide reliable results because of weaknesses of the sonar image such as unstable acoustic source, many speckle noises, low resolution images, single channel image, and so on. However, using consecutive sonar images, if the status—i.e., the existence and identity (or name)—of an object is continuously evaluated by a stochastic method, the result of the recognition method is available for calculating the uncertainty, and it is more suitable for various applications. Our proposed framework consists of three steps: (1) candidate selection, (2) continuity evaluation, and (3) Bayesian feature estimation. Two probability methods—particle filtering and Bayesian feature estimation—are used to repeatedly estimate the continuity and feature of objects in consecutive images. Thus, the status of the object is repeatedly predicted and updated by a stochastic method. Furthermore, we develop an artificial landmark to increase detectability by an imaging sonar, which we apply to the characteristics of acoustic waves, such as instability and reflection depending on the roughness of the reflector surface. The proposed method is verified by conducting basin experiments, and the results are presented. PMID:28837068

Multi-sourced, 3D geometric characterization of volcanogenic karst features: Integrating lidar, sonar, and geophysical datasets (Invited)

NASA Astrophysics Data System (ADS)

Sharp, J. M.; Gary, M. O.; Reyes, R.; Halihan, T.; Fairfield, N.; Stone, W. C.

2009-12-01

Karstic aquifers can form very complex hydrogeological systems and 3-D mapping has been difficult, but Lidar, phased array sonar, and improved earth resistivity techniques show promise in this and in linking metadata to models. Zacatón, perhaps the Earth’s deepest cenote, has a sub-aquatic void space exceeding 7.5 x 106 cubic m3. It is the focus of this study which has created detailed 3D maps of the system. These maps include data from above and beneath the the water table and within the rock matrix to document the extent of the immense karst features and to interpret the geologic processes that formed them. Phase 1 used high resolution (20 mm) Lidar scanning of surficial features of four large cenotes. Scan locations, selected to achieve full feature coverage once registered, were established atop surface benchmarks with UTM coordinates established using GPS and Total Stations. The combined datasets form a geo-registered mesh of surface features down to water level in the cenotes. Phase 2 conducted subsurface imaging using Earth Resistivity Imaging (ERI) geophysics. ERI identified void spaces isolated from open flow conduits. A unique travertine morphology exists in which some cenotes are dry or contain shallow lakes with flat travertine floors; some water-filled cenotes have flat floors without the cone of collapse material; and some have collapse cones. We hypothesize that the floors may have large water-filled voids beneath them. Three separate flat travertine caps were imaged: 1) La Pilita, which is partially open, exposing cap structure over a deep water-filled shaft; 2) Poza Seca, which is dry and vegetated; and 3) Tule, which contains a shallow (<1 m) lake. A fourth line was run adjacent to cenote Verde. La Pilita ERI, verified by SCUBA, documented the existence of large water-filled void zones ERI at Poza Seca showed a thin cap overlying a conductive zone extending to at least 25 m depth beneath the cap with no lower boundary of this zone evident. Verde ERI indicate a deep water-filled cavity below the 45 m deep floor. Phase 3 acquired high-resolution imagery of the underwater voids. Because of the great depths (In 1994, Bowden descended to a record 289 meters), unmanned exploration is required to explore these systems. Supported by NASA, the DEPTHX (DEep Phreatic THermal eXplorer) robotic mapper was designed. DEPTHX conducted 3-D underwater mapping missions of 4 cenotes. These found no lateral tunnels connecting the cenotes. The cenote, El Zacatón was shown to be 319 meters deep making it is the deepest underwater vertical shaft and second deepest underwater cave in the world. Spatial geochemical data collected during DEPTHX mapping indicate that water in the 3 of the cenotes is homogeneous, but the 4th (Verde) displays typical lacustrine chemoclines. The data collected by DEPTHX data are being combined with other geologic information to study the nature of the hypogenic karst processes that formed this system.

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.

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.

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

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

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.

Energetics of jellyfish locomotion determined from field measurements using a Self- Contained Underwater Velocimetry Apparatus (SCUVA)

NASA Astrophysics Data System (ADS)

Katija, K.; Dabiri, J. O.

2007-12-01

We conduct laboratory measurements of the flow fields induced by Aurelia labiata over a range of sizes using the method of digital particle image velocimetry (DPIV). The flow field measurements are used to directly quantify the kinetic energy induced by the swimming motions of individual medusae. This method provides details regarding the temporal evolution of the energetics during a swimming cycle and its scaling with bell diameter. These types of measurements also allow for the determination of propulsive efficiency, which can be used to compare various methods of propulsion, both biological and artificial. We then describe the development and application of a Self-Contained Underwater Velocimetry Apparatus (SCUVA), a device that enables a single SCUBA diver to make DPIV measurements of animal-fluid interactions in the field. Improvements and adjustments made to the original system will be presented, and a comparison between the animal-induced flow fields in the laboratory and in the field will be made.

Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

PubMed Central

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM. PMID:22346682

Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

PubMed

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

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

The detection of objects in a turbid underwater medium using orbital angular momentum (OAM)

NASA Astrophysics Data System (ADS)

Cochenour, Brandon; Rodgers, Lila; Laux, Alan; Mullen, Linda; Morgan, Kaitlyn; Miller, Jerome K.; Johnson, Eric G.

2017-05-01

We present an investigation of the optical property of orbital angular momentum (OAM) for use in the detection of objects obscured by a turbid underwater channel. In our experiment, a target is illuminated by a Gaussian beam. An optical vortex is formed by passing the object-reflected and backscattered light through a diffractive spiral phase plate at the receiver, which allows for the spatial separation of coherent and non-coherent light. This provides a method for discriminating target from environment. Initial laboratory results show that the ballistic target return can be detected 2-3 orders of magnitude below the backscatter clutter level. Furthermore, the detection of this coherent component is accomplished with the use of a complicated optical heterodyning scheme. The results suggest new optical sensing techniques for underwater imaging or LIDAR.

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.

Survivability design for a hybrid underwater vehicle

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

Wang, Biao; Wu, Chao; Li, Xiang

A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports themore » survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.« less

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.

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.

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.

Vortex Shedding in the Wake Induced by a Real Elephant Seal Whisker

NASA Astrophysics Data System (ADS)

Turk, Jodi; Omilion, Alexis; Zhang, Wei; Kim, Jeong-Jae; Kim, Jeong-Ju; Choi, Woo-Rak; Lee, Sang-Joon

2017-11-01

Biomimicry has been adopted to create innovative solutions in a vast range of applications. One such application is the design of seal-whisker-inspired flow sensors for autonomous underwater vehicles (AUVs). In dark, cramped, and unstable terrain AUVs are not able to maneuver using visual and sonar-based navigation. Hence, it is critical to use underwater flow sensors to accurately detect minute disturbances in the surroundings. Certain seal whiskers exhibit a unique undulating three-dimensional morphology that can reduce vortex induced vibrations (VIVs) if the major axis of the whisker cross-section is aligned to the inflow. This allows the seal to precisely track prey fish upstream using solely their whiskers. The current study aims to understand the effect of a real seal whisker's morphology on the vortex shedding behavior. Despite extensive studies of wake induced by scaled whisker-like models, the vortex shedding in the wake of a real seal whisker is not well understood. A series of experiments are conducted with a high-speed Particle Imaging Velocimetry (PIV) system in a water channel to examine the vortex shedding downstream from a smooth whisker and an undulating whisker at a Reynolds number of a few hundred. Results of the vortex shedding induced by real seal whiskers can provide insights on developing high-sensitivity underwater flow sensors for AUVs and other whisker-inspired structures.

Self-Assembled Rov and Photogrammetric Surveys with Low Cost Techniques

NASA Astrophysics Data System (ADS)

Costa, E.; Guerra, F.; Vernier, P.

2018-05-01

In last years, ROVs, have been employed to explore underwater environments and have played an important role for documentation and surveys in different fields of scientific application. In 2017, the Laboratorio di Fotogrammetria of Iuav University of Venice has decided to buy an OpenRov, a low cost ROV that could be assembled by ourselves to add some external components for our necessities, to document archaeological sites. The paper is related to the photogrammetric survey for the documentation of underwater environments and to the comparison between different solutions applied on a case studio, five marble columns on a sandy bottom at 5 meters deep. On the lateral sides of the ROV, we have applied two GoPro Hero4 Session, which have documented the items both with a series of images and with a video. The geometric accuracy of the obtained 3D model has been evaluated through comparison with a photogrammetric model realized with a professional reflex camera, Nikon D610. Some targets have been topographically surveyed with a trilateration and have been used to connected in the same reference system the different models, allowing the comparisons of the point clouds. Remote Operating Vehicles offer not only safety for their operators, but are also a relatively low cost alternative. The employment of a low-cost vehicle adapted to the necessities of surveys support a request for safer, cheaper and efficient methods for exploring underwater environments.

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

The elusive character of discontinuous deep-water channels: New insights from Lucia Chica channel system, offshore California

USGS Publications Warehouse

Maier, K.L.; Fildani, A.; Paull, C.K.; Graham, S.A.; McHargue, T.R.; Caress, D.W.; McGann, M.

2011-01-01

New high-resolution autonomous underwater vehicle (AUV) seafloor images, with 1 m lateral resolution and 0.3 m vertical resolution, reveal unexpected seafloor rugosity and low-relief (<10 m), discontinuous conduits over ~70 km2. Continuous channel thalwegs were interpreted originally from lower-resolution images, but newly acquired AUV data indicate that a single sinuous channel fed a series of discontinuous lower-relief channels. These discontinuous channels were created by at least four avulsion events. Channel relief, defined as the height from the thalweg to the levee crest, controls avulsions and overall stratigraphic architecture of the depositional area. Flowstripped turbidity currents separated into and reactivated multiple channels to create a distributary pattern and developed discontinuous trains of cyclic scours and megaflutes, which may be erosional precursors to continuous channels. The diverse features now imaged in the Lucia Chica channel system (offshore California) are likely common in modern and ancient systems with similar overall morphologies, but have not been previously mapped with lower-resolution detection methods in any of these systems. ?? 2011 Geological Society of America.

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

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

Divers-Operated Underwater Photogrammetry: Applications in the Study of Antarctic Benthos

NASA Astrophysics Data System (ADS)

Piazza, P.; Cummings, V.; Lohrer, D.; Marini, S.; Marriott, P.; Menna, F.; Nocerino, E.; Peirano, A.; Schiaparelli, S.

2018-05-01

Ecological studies about marine benthic communities received a major leap from the application of a variety of non-destructive sampling and mapping techniques based on underwater image and video recording. The well-established scientific diving practice consists in the acquisition of single path or `round-trip' over elongated transects, with the imaging device oriented in a nadir looking direction. As it may be expected, the application of automatic image processing procedures to data not specifically acquired for 3D modelling can be risky, especially if proper tools for assessing the quality of the produced results are not employed. This paper, born from an international cooperation, focuses on this topic, which is of great interest for ecological and monitoring benthic studies in Antarctica. Several video footages recorded from different scientific teams in different years are processed with an automatic photogrammetric procedure and salient statistical features are reported to critically analyse the derived results. As expected, the inclusion of oblique images from additional lateral strips may improve the expected accuracy in the object space, without altering too much the current video recording practices.

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.

Reduction of the Radiating Sound of a Submerged Finite Cylindrical Shell Structure by Active Vibration Control

PubMed Central

Kim, Heung Soo; Sohn, Jung Woo; Jeon, Juncheol; Choi, Seung-Bok

2013-01-01

In this work, active vibration control of an underwater cylindrical shell structure was investigated, to suppress structural vibration and structure-borne noise in water. Finite element modeling of the submerged cylindrical shell structure was developed, and experimentally evaluated. Modal reduction was conducted to obtain the reduced system equation for the active feedback control algorithm. Three Macro Fiber Composites (MFCs) were used as actuators and sensors. One MFC was used as an exciter. The optimum control algorithm was designed based on the reduced system equations. The active control performance was then evaluated using the lab scale underwater cylindrical shell structure. Structural vibration and structure-borne noise of the underwater cylindrical shell structure were reduced significantly by activating the optimal controller associated with the MFC actuators. The results provide that active vibration control of the underwater structure is a useful means to reduce structure-borne noise in water. PMID:23389344

Reduction of the radiating sound of a submerged finite cylindrical shell structure by active vibration control.

PubMed

Kim, Heung Soo; Sohn, Jung Woo; Jeon, Juncheol; Choi, Seung-Bok

2013-02-06

In this work, active vibration control of an underwater cylindrical shell structure was investigated, to suppress structural vibration and structure-borne noise in water. Finite element modeling of the submerged cylindrical shell structure was developed, and experimentally evaluated. Modal reduction was conducted to obtain the reduced system equation for the active feedback control algorithm. Three Macro Fiber Composites (MFCs) were used as actuators and sensors. One MFC was used as an exciter. The optimum control algorithm was designed based on the reduced system equations. The active control performance was then evaluated using the lab scale underwater cylindrical shell structure. Structural vibration and structure-borne noise of the underwater cylindrical shell structure were reduced significantly by activating the optimal controller associated with the MFC actuators. The results provide that active vibration control of the underwater structure is a useful means to reduce structure-borne noise in water.

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

Controllable Buoys and Networked Buoy Systems

NASA Technical Reports Server (NTRS)

Davoudi, Farhooman (Inventor); Davoodi, Faranak (Inventor)

2017-01-01

Buoyant sensor networks are described, comprising floating buoys with sensors and energy harvesting capabilities. The buoys can control their buoyancy and motion, and can organize communication in a distributed fashion. Some buoys may have tethered underwater vehicles with a smart spooling system that allows the vehicles to dive deep underwater while remaining in communication and connection with the buoys.

Ocean science: The rise of Rhizaria

NASA Astrophysics Data System (ADS)

Caron, David A.

2016-04-01

Large amoeba-like organisms known as Rhizaria have often been overlooked in studies of ocean biology and biogeochemistry. Underwater imaging and ecological network analyses are revealing their roles. See Article p.465 & Letter p.504

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.

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.

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.

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

Innovation Technologies and Applications for Coastal Archaeological sites

NASA Astrophysics Data System (ADS)

Di Iorio, A.; Biliouris, D.; Guzinski, R.; Hansen, L. B.; Bagni, M.

2015-04-01

Innovation Technologies and Applications for Coastal Archaeological sites project (ITACA) aims to develop and test a management system for underwater archaeological sites in coastal regions. The discovering and monitoring service will use innovative satellite remote sensing techniques combined with image processing algorithms. The project will develop a set of applications integrated in a system pursuing the following objectives: - Search and location of ancient ship wrecks; - Monitoring of ship wrecks, ruins and historical artefacts that are now submerged; - Integration of resulting search and monitoring data with on-site data into a management tool for underwater sites; - Demonstration of the system's suitability for a service. High resolution synthetic aperture radar (TerraSAR-X, Cosmo-SkyMed) and multispectral satellite data (WorldView) will be combined to derive the relative bathymetry of the bottom of the sea up to the depth of 50 meters. The resulting data fusion will be processed using shape detection algorithms specific for archaeological items. The new algorithms, the physical modelling and the computational capabilities will be integrated into the Web-GIS, together with data recorded from surface (2D and 3D modelling) and from underwater surveys. Additional specific archaeological layers will be included into the WebGIS to facilitate the object identification through shape detection techniques and mapping. The system will be verified and validated through an extensive onground (sea) campaign carried out with both cutting edge technologies (side-scan sonar, multi beam echo sounder) and traditional means (professional scuba divers) in two test sites in Italy and Greece. The project is leaded by Planetek Hellas E.P.E. and include ALMA Sistemi sas for the "shape detection" and dissemination tasks, DHI-GRAS and Kell Srl for multispectral and SAR bathymetry. The complete consortium is composed by eleven partners and the project Kick-Off has been held in January 2014. The present contribution aims to present the project research achievements and finding at the mid-term review.

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.

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.

Underwater cargo vessel utilizing variable buoyancy system for gliding propulsion

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

Qi, Z.K.; Seireg, A.

1982-09-01

This study deals with investigating the feasibility of an underwater glider capable of carrying cargo for long distances by alternately employing gravity and buoyancy forces for forward propulsion. The parameters controlling the vessel design, stability and control are investigated.

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.

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.

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.

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.

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.

Technologies for Positioning and Placement of Underwater Structures

DTIC Science & Technology

2000-03-01

for imaging the bottom immediately before placement of the structure. c. Use passive sensors (such as tiltmeters , inclinometers, and gyrocompasses...4 Acoustic Sensors .................................................................... 5 Multibeamn and Side-Scan Sonar Transducers...11.I Video Camera....................................................................11. Passive Sensors

Multi-Beam Sonar Infrastructure Mapping Research

DOT National Transportation Integrated Search

2017-10-01

The hydraulics unit in MnDOTs bridge office applied for a research grant to develop in-house underwater acoustic 3D imaging capabilities. This research report presents both stationary and mobile scanning techniques, outlines the setup of both syst...

NASA Satellite Tracks Underwater Volcanic Eruption in Canary Islands

NASA Image and Video Library

2011-11-02

In July 2011, volcanic tremors began on the Island of El Hierro in the Canary Islands; by September, many tourists evacuated the resort island, fearing a volcanic eruption. This image is from NASA Terra spacecraft.

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

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.

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

Hearing characteristics of cephalopods: modeling and environmental impact study.

PubMed

Zhang, Yunfeng; Shi, Feng; Song, Jiakun; Zhang, Xugang; Yu, Shiliang

2015-01-01

Cephalopods (octopus, squid and cuttlefish) are some of the most intriguing molluscs, and they represent economically important commercial marine species for fisheries. Previous studies have shown that cephalopods are sensitive to underwater particle motion, especially at low frequencies in the order of 10 Hz. The present paper deals with quantitative modeling of the statocyst system in three cephalopod species: Octopus vulgaris, Sepia officinalis and Loligo vulgaris. The octopus's macula/statolith organ was modeled as a 2nd-order dynamic oscillator using parameter values estimated from scanning electron micrograph images. The modeling results agree reasonably well with experimental data (acceleration threshold) in the three cephalopod species. Insights made from quantitative modeling and simulating the particle motion sensing mechanism of cephalopods elucidated their underwater particle motion detection capabilities. Sensitivity to emerging environmental issues, such as low frequency noise caused by near-shore wind farms and increasing levels of carbon dioxide in the ocean, and sensitivity to sounds produced by impending landslides were investigated in octopus using the model. © 2014 International Society of Zoological Sciences, Institute of Zoology/Chinese Academy of Sciences and Wiley Publishing Asia Pty Ltd.

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.

FluidCam 1&2 - UAV-based Fluid Lensing Instruments for High-Resolution 3D Subaqueous Imaging and Automated Remote Biosphere Assessment of Reef Ecosystems

NASA Astrophysics Data System (ADS)

Chirayath, V.; Instrella, R.

2016-02-01

We present NASA ESTO FluidCam 1 & 2, Visible and NIR Fluid-Lensing-enabled imaging payloads for Unmanned Aerial Vehicles (UAVs). Developed as part of a focused 2014 earth science technology grant, FluidCam 1&2 are Fluid-Lensing-based computational optical imagers designed for automated 3D mapping and remote sensing of underwater coastal targets from airborne platforms. Fluid Lensing has been used to map underwater reefs in 3D in American Samoa and Hamelin Pool, Australia from UAV platforms at sub-cm scale, which has proven a valuable tool in modern marine research for marine biosphere assessment and conservation. We share FluidCam 1&2 instrument validation and testing results as well as preliminary processed data from field campaigns. Petabyte-scale aerial survey efforts using Fluid Lensing to image at-risk reefs demonstrate broad applicability to large-scale automated species identification, morphology studies and reef ecosystem characterization for shallow marine environments and terrestrial biospheres, of crucial importance to improving bathymetry data for physical oceanographic models and understanding climate change's impact on coastal zones, global oxygen production, carbon sequestration.

FluidCam 1&2 - UAV-Based Fluid Lensing Instruments for High-Resolution 3D Subaqueous Imaging and Automated Remote Biosphere Assessment of Reef Ecosystems

NASA Astrophysics Data System (ADS)

Chirayath, V.

2015-12-01

We present NASA ESTO FluidCam 1 & 2, Visible and NIR Fluid-Lensing-enabled imaging payloads for Unmanned Aerial Vehicles (UAVs). Developed as part of a focused 2014 earth science technology grant, FluidCam 1&2 are Fluid-Lensing-based computational optical imagers designed for automated 3D mapping and remote sensing of underwater coastal targets from airborne platforms. Fluid Lensing has been used to map underwater reefs in 3D in American Samoa and Hamelin Pool, Australia from UAV platforms at sub-cm scale, which has proven a valuable tool in modern marine research for marine biosphere assessment and conservation. We share FluidCam 1&2 instrument validation and testing results as well as preliminary processed data from field campaigns. Petabyte-scale aerial survey efforts using Fluid Lensing to image at-risk reefs demonstrate broad applicability to large-scale automated species identification, morphology studies and reef ecosystem characterization for shallow marine environments and terrestrial biospheres, of crucial importance to improving bathymetry data for physical oceanographic models and understanding climate change's impact on coastal zones, global oxygen production, carbon sequestration.

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.

Underwater sonar image detection: A combination of non-local spatial information and quantum-inspired shuffled frog leaping algorithm.

PubMed

Wang, Xingmei; Liu, Shu; Liu, Zhipeng

2017-01-01

This paper proposes a combination of non-local spatial information and quantum-inspired shuffled frog leaping algorithm to detect underwater objects in sonar images. Specifically, for the first time, the problem of inappropriate filtering degree parameter which commonly occurs in non-local spatial information and seriously affects the denoising performance in sonar images, was solved with the method utilizing a novel filtering degree parameter. Then, a quantum-inspired shuffled frog leaping algorithm based on new search mechanism (QSFLA-NSM) is proposed to precisely and quickly detect sonar images. Each frog individual is directly encoded by real numbers, which can greatly simplify the evolution process of the quantum-inspired shuffled frog leaping algorithm (QSFLA). Meanwhile, a fitness function combining intra-class difference with inter-class difference is adopted to evaluate frog positions more accurately. On this basis, recurring to an analysis of the quantum-behaved particle swarm optimization (QPSO) and the shuffled frog leaping algorithm (SFLA), a new search mechanism is developed to improve the searching ability and detection accuracy. At the same time, the time complexity is further reduced. Finally, the results of comparative experiments using the original sonar images, the UCI data sets and the benchmark functions demonstrate the effectiveness and adaptability of the proposed method.

Underwater sonar image detection: A combination of non-local spatial information and quantum-inspired shuffled frog leaping algorithm

PubMed Central

Liu, Zhipeng

2017-01-01

This paper proposes a combination of non-local spatial information and quantum-inspired shuffled frog leaping algorithm to detect underwater objects in sonar images. Specifically, for the first time, the problem of inappropriate filtering degree parameter which commonly occurs in non-local spatial information and seriously affects the denoising performance in sonar images, was solved with the method utilizing a novel filtering degree parameter. Then, a quantum-inspired shuffled frog leaping algorithm based on new search mechanism (QSFLA-NSM) is proposed to precisely and quickly detect sonar images. Each frog individual is directly encoded by real numbers, which can greatly simplify the evolution process of the quantum-inspired shuffled frog leaping algorithm (QSFLA). Meanwhile, a fitness function combining intra-class difference with inter-class difference is adopted to evaluate frog positions more accurately. On this basis, recurring to an analysis of the quantum-behaved particle swarm optimization (QPSO) and the shuffled frog leaping algorithm (SFLA), a new search mechanism is developed to improve the searching ability and detection accuracy. At the same time, the time complexity is further reduced. Finally, the results of comparative experiments using the original sonar images, the UCI data sets and the benchmark functions demonstrate the effectiveness and adaptability of the proposed method. PMID:28542266

Electric resistivity and seismic refraction tomography: a challenging joint underwater survey at Äspö Hard Rock Laboratory

NASA Astrophysics Data System (ADS)

Ronczka, Mathias; Hellman, Kristofer; Günther, Thomas; Wisén, Roger; Dahlin, Torleif

2017-06-01

Tunnelling below water passages is a challenging task in terms of planning, pre-investigation and construction. Fracture zones in the underlying bedrock lead to low rock quality and thus reduced stability. For natural reasons, they tend to be more frequent at water passages. Ground investigations that provide information on the subsurface are necessary prior to the construction phase, but these can be logistically difficult. Geophysics can help close the gaps between local point information by producing subsurface images. An approach that combines seismic refraction tomography and electrical resistivity tomography has been tested at the Äspö Hard Rock Laboratory (HRL). The aim was to detect fracture zones in a well-known but logistically challenging area from a measuring perspective. The presented surveys cover a water passage along part of a tunnel that connects surface facilities with an underground test laboratory. The tunnel is approximately 100 m below and 20 m east of the survey line and gives evidence for one major and several minor fracture zones. The geological and general test site conditions, e.g. with strong power line noise from the nearby nuclear power plant, are challenging for geophysical measurements. Co-located positions for seismic and ERT sensors and source positions are used on the 450 m underwater section of the 700 m profile. Because of a large transition zone that appeared in the ERT result and the missing coverage of the seismic data, fracture zones at the southern and northern parts of the underwater passage cannot be detected by separated inversion. Synthetic studies show that significant three-dimensional (3-D) artefacts occur in the ERT model that even exceed the positioning errors of underwater electrodes. The model coverage is closely connected to the resolution and can be used to display the model uncertainty by introducing thresholds to fade-out regions of medium and low resolution. A structural coupling cooperative inversion approach is able to image the northern fracture zone successfully. In addition, previously unknown sedimentary deposits with a significantly large thickness are detected in the otherwise unusually well-documented geological environment. The results significantly improve the imaging of some geologic features, which would have been undetected or misinterpreted otherwise, and combines the images by means of cluster analysis into a conceptual subsurface model.

Underwater DVI: Simple fingerprint technique for positive identification.

PubMed

Khoo, Lay See; Hasmi, Ahmad Hafizam; Mahmood, Mohd Shah; Vanezis, Peter

2016-09-01

An underwater disaster can be declared when a maritime accident occurred or when an aircraft is plunged into water area, be it ocean, sea or river. Nevertheless, handling of human remains in an underwater recovery operation is often a difficult and demanding task as working conditions may be challenging with poor to no visibility, location of remains at considerable depths and associated hazards from surrounding water. A case of the recent helicopter crash, into a famous river in Sarawak, domiciled by huge crocodiles, is discussed in this paper. Search and recovery team as well as the combat divers from the Special Elite Troop Commando, known as VAT 69, were deployed to the scene to perform the underwater recovery to search for all the victims on board involving five Malaysians with a pilot of Philippines nationality. This paper highlights the limitations and challenges faced during the underwater search and recovery. All the bodies recovered were in moderate decomposition stage with crushed injuries and mutilated face and body. A simple and conventional fingerprint technique were used to record the fingerprint. The prints impressions were later photographed using a smartphone and transferred back to the RMP headquarters in Kuala Lumpur for fingerprint match by using WhatsApp Messenger, a phone application. All the first five victims were identified within an average of 10min. The last victim recovered was the pilot. For foreign nationals, the Immigration Department of Malaysia will record the prints of both index fingers only. The lifting of the fingerprint of the last victim was the most challenging in which only one index finger left that can be used for comparison. A few techniques were attempted using the black printer's ink, glass and tape techniques for the last victim. Subsequently, images of the prints impression were taken using the same smartphone with additional macro lens attached to it to enhance the resolution. The images were transferred to the RMP headquarters through WhatsApp Messenger. The prints were confirmed to be the pilot 20min later. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

DeepSurveyCam--A Deep Ocean Optical Mapping System.

PubMed

Kwasnitschka, Tom; Köser, Kevin; Sticklus, Jan; Rothenbeck, Marcel; Weiß, Tim; Wenzlaff, Emanuel; Schoening, Timm; Triebe, Lars; Steinführer, Anja; Devey, Colin; Greinert, Jens

2016-01-28

Underwater photogrammetry and in particular systematic visual surveys of the deep sea are by far less developed than similar techniques on land or in space. The main challenges are the rough conditions with extremely high pressure, the accessibility of target areas (container and ship deployment of robust sensors, then diving for hours to the ocean floor), and the limitations of localization technologies (no GPS). The absence of natural light complicates energy budget considerations for deep diving flash-equipped drones. Refraction effects influence geometric image formation considerations with respect to field of view and focus, while attenuation and scattering degrade the radiometric image quality and limit the effective visibility. As an improvement on the stated issues, we present an AUV-based optical system intended for autonomous visual mapping of large areas of the seafloor (square kilometers) in up to 6000 m water depth. We compare it to existing systems and discuss tradeoffs such as resolution vs. mapped area and show results from a recent deployment with 90,000 mapped square meters of deep ocean floor.

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

Development of hybrid method for the prediction of underwater propeller noise

NASA Astrophysics Data System (ADS)

Seol, Hanshin; Suh, Jung-Chun; Lee, Soogab

2005-11-01

Noise reduction and control is an important problem in the performance of underwater acoustic systems and in the habitability of the passenger ship for crew and passenger. Furthermore, sound generated by a propeller is critical in underwater detection and it is often related to the survivability of the vessel especially for military purpose. This paper presents a numerical study on the non-cavitating and blade sheet cavitation noises of the underwater propeller. A brief summary of numerical method with verification and results are presented. The noise is predicted using time-domain acoustic analogy. The flow field is analyzed with potential-based panel method, and then the time-dependent pressure and sheet cavity volume data are used as the input for Ffowcs Williams-Hawkings formulation to predict the far-field acoustics. Noise characteristics are presented according to noise sources and conditions. Through this study, the dominant noise source of the underwater propeller is analyzed, which will provide a basis for proper noise control strategies.

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 .

Multi-Scale Measures of Rugosity, Slope and Aspect from Benthic Stereo Image Reconstructions

PubMed Central

Friedman, Ariell; Pizarro, Oscar; Williams, Stefan B.; Johnson-Roberson, Matthew

2012-01-01

This paper demonstrates how multi-scale measures of rugosity, slope and aspect can be derived from fine-scale bathymetric reconstructions created from geo-referenced stereo imagery. We generate three-dimensional reconstructions over large spatial scales using data collected by Autonomous Underwater Vehicles (AUVs), Remotely Operated Vehicles (ROVs), manned submersibles and diver-held imaging systems. We propose a new method for calculating rugosity in a Delaunay triangulated surface mesh by projecting areas onto the plane of best fit using Principal Component Analysis (PCA). Slope and aspect can be calculated with very little extra effort, and fitting a plane serves to decouple rugosity from slope. We compare the results of the virtual terrain complexity calculations with experimental results using conventional in-situ measurement methods. We show that performing calculations over a digital terrain reconstruction is more flexible, robust and easily repeatable. In addition, the method is non-contact and provides much less environmental impact compared to traditional survey techniques. For diver-based surveys, the time underwater needed to collect rugosity data is significantly reduced and, being a technique based on images, it is possible to use robotic platforms that can operate beyond diver depths. Measurements can be calculated exhaustively at multiple scales for surveys with tens of thousands of images covering thousands of square metres. The technique is demonstrated on data gathered by a diver-rig and an AUV, on small single-transect surveys and on a larger, dense survey that covers over . Stereo images provide 3D structure as well as visual appearance, which could potentially feed into automated classification techniques. Our multi-scale rugosity, slope and aspect measures have already been adopted in a number of marine science studies. This paper presents a detailed description of the method and thoroughly validates it against traditional in-situ measurements. PMID:23251370

A Signal Processing Algorithm Based on Multiple Microprocessors for an Underwater Acoustic Imaging System.

DTIC Science & Technology

1980-12-01

identified by the 49 4 UJ 4 4JJ 4A ww U- *i 0 tao Cv4- 50-0 trace) indicated that the bus usage was 7.9% of the loop’s execution time. The number of...1S Wc 0 4 wW 1 C, .- L 3 WQ - is = IViu4 W" L - &’aoI c O: W " Cn -- I C I0 " L =l- *. at C mW C 4 isq - is Ca W WCC .. .- C.- a .of C-( i I X0"e , Lw

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 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

Remote Control over Underwater Dynamic Attachment/Detachment and Locomotion.

PubMed

Ma, Yanfei; Ma, Shuanhong; Wu, Yang; Pei, Xiaowei; Gorb, Stanislav N; Wang, Zuankai; Liu, Weimin; Zhou, Feng

2018-06-19

Despite extensive efforts to mimic the fascinating adhesion capability of geckos, the development of reversible adhesives underwater has long been lagging. The appearance of mussels-inspired dopamine chemistry has provided the feasibility to fabricate underwater adhesives; however, for such a system, imitating the reversible and fast dynamic attachment/detachment mechanism of gecko feet still remains unsolved. Here, by synthesizing a thermoresponsive copolymer of poly(dopamine methacrylamide-co-methoxyethyl-acrylate-co-N-isopropyl acrylamide) and then decorating it onto mushroom-shaped poly(dimethylsiloxane) pillar arrays, a novel underwater thermoresponsive gecko-like adhesive (TRGA) can be fabricated, yielding high adhesion during the attachment state above the lower critical solution temperature (LCST) of the copolymer, yet low adhesion during the detachment state below the LCST of the copolymer. By integrating the Fe 3 O 4 nanoparticles into the TRGA, TRGAs responsive to near-infrared laser radiation can be engineered, which can be successfully used for rapid and reversible remote control over adhesion so as to capture and release heavy objects underwater because of the contrast force change of both the normal adhesion force and the lateral friction force. It is also demonstrated that the material can be assembled on the tracks of an underwater mobile device to realize controllable movement. This opens up the door for developing intelligent underwater gecko-like locomotion with dynamic attachment/detachment ability. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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)

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

A low-cost and reliable technique to monitor the spread of an invasive seagrass in the Caribbean Sea

NASA Astrophysics Data System (ADS)

Jobsis, D.; Wyllie-Echeverria, S.

2016-02-01

In 2002 the seagrass Halophila stipulacea was observed in Grenada in the Eastern Caribbean Sea. Since then this invasive species has spread northward through the Lesser Antilles and Leeward Islands into the US Virgin Islands. There are native Halophila species as well as other seagrass species in Eastern Caribbean therefore it is essential to accurately identify H. stipulacea before an invasion event is reported. Moreover, because the consequences of H. stipulaceapresence and spread are not known in many locations, after accurate identification is made it is also important to map patch expansion as a first step in process studies designed to determine impact. We now report a low-cost (<$1000) and reliable technique to produce species specific, geo-referenced maps that can be used to track invasion spread. System components are: a GoPro video camera placed inside underwater housing, a weighted towfish and a GPS tracking device. The camera, set in the time-lapse mode, is fixed to the towfish; Afterward using a series of straight line transects, our array is towed at low speeds while synched to GPS. The accuracy of an underwater video system is based on knowing the accurate position of seagrass on the seafloor during filming (Norris et al. 1997). After sampling images and their associated GPS coordinates are imported to a spreadsheet and coded such that H. stipulaceais related to a known position on the bottom. With this system we produce accurate maps that specifically identify H. stipulacea patches, regardless of water depth, on the seafloor. During our poster presentation we will show a series of images from 2015 sampling and display mapping results. Since the 2002 sighting in Grenada, H. stipulaceae has spread northward to nineteen Eastern Caribbean Islands (Williette et al 2014). Our technique will allow those charged with protecting natural resources to track the spread of this invasion and potentially provide an early warning system for islands nations not yet invaded.

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...

EOID Model Validation and Performance Prediction

DTIC Science & Technology

2002-09-30

Our long-term goal is to accurately predict the capability of the current generation of laser-based underwater imaging sensors to perform Electro ... Optic Identification (EOID) against relevant targets in a variety of realistic environmental conditions. The two most prominent technologies in this area

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.

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.

Quantifying Coseismic Normal Fault Rupture at the Seafloor: The 2004 Les Saintes Earthquake Along the Roseau Fault (French Antilles)

NASA Astrophysics Data System (ADS)

Olive, J. A. L.; Escartin, J.; Leclerc, F.; Garcia, R.; Gracias, N.; Odemar Science Party, T.

2016-12-01

While >70% of Earth's seismicity is submarine, almost all observations of earthquake-related ruptures and surface deformation are restricted to subaerial environments. Such observations are critical for understanding fault behavior and associated hazards (including tsunamis), but are not routinely conducted at the seafloor due to obvious constraints. During the 2013 ODEMAR cruise we used autonomous and remotely operated vehicles to map the Roseau normal Fault (Lesser Antilles), source of the 2004 Mw6.3 earthquake and associated tsunami (<3.5m run-up). These vehicles acquired acoustic (multibeam bathymetry) and optical data (video and electronic images) spanning from regional (>1 km) to outcrop (<1 m) scales. These high-resolution submarine observations, analogous to those routinely conducted subaerially, rely on advanced image and video processing techniques, such as mosaicking and structure-from-motion (SFM). We identify sub-vertical fault slip planes along the Roseau scarp, displaying coseismic deformation structures undoubtedly due to the 2004 event. First, video mosaicking allows us to identify the freshly exposed fault plane at the base of one of these scarps. A maximum vertical coseismic displacement of 0.9 m can be measured from the video-derived terrain models and the texture-mapped imagery, which have better resolution than any available acoustic systems (<10 cm). Second, seafloor photomosaics allow us to identify and map both additional sub-vertical fault scarps, and cracks and fissures at their base, recording hangingwall damage from the same event. These observations provide critical parameters to understand the seismic cycle and long-term seismic behavior of this submarine fault. Our work demonstrates the feasibility of extensive, high-resolution underwater surveys using underwater vehicles and novel imaging techniques, thereby opening new possibilities to study recent seafloor changes associated with tectonic, volcanic, or hydrothermal activity.

Soundscapes and the sense of hearing of fishes.

PubMed

Fay, Richard

2009-03-01

Underwater soundscapes have probably played an important role in the adaptation of ears and auditory systems of fishes throughout evolutionary time, and for all species. These sounds probably contain important information about the environment and about most objects and events that confront the receiving fish so that appropriate behavior is possible. For example, the sounds from reefs appear to be used by at least some fishes for their orientation and migration. These sorts of environmental sounds should be considered much like "acoustic daylight," that continuously bathes all environments and contain information that all organisms can potentially use to form a sort of image of the environment. At present, however, we are generally ignorant of the nature of ambient sound fields impinging on fishes, and the adaptive value of processing these fields to resolve the multiple sources of sound. Our field has focused almost exclusively on the adaptive value of processing species-specific communication sounds, and has not considered the informational value of ambient "noise." Since all fishes can detect and process acoustic particle motion, including the directional characteristics of this motion, underwater sound fields are potentially more complex and information-rich than terrestrial acoustic environments. The capacities of one fish species (goldfish) to receive and make use of such sound source information have been demonstrated (sound source segregation and auditory scene analysis), and it is suggested that all vertebrate species have this capacity. A call is made to better understand underwater soundscapes, and the associated behaviors they determine in fishes. © 2009 ISZS, Blackwell Publishing and IOZ/CAS.

In vivo visualization of robotically implemented synthetic tracked aperture ultrasound (STRATUS) imaging system using curvilinear array

NASA Astrophysics Data System (ADS)

Zhang, Haichong K.; Aalamifar, Fereshteh; Boctor, Emad M.

2016-04-01

Synthetic aperture for ultrasound is a technique utilizing a wide aperture in both transmit and receive to enhance the ultrasound image quality. The limitation of synthetic aperture is the maximum available aperture size limit determined by the physical size of ultrasound probe. We propose Synthetic-Tracked Aperture Ultrasound (STRATUS) imaging system to overcome the limitation by extending the beamforming aperture size through ultrasound probe tracking. With a setup involving a robotic arm, the ultrasound probe is moved using the robotic arm, while the positions on a scanning trajectory are tracked in real-time. Data from each pose are synthesized to construct a high resolution image. In previous studies, we have demonstrated the feasibility through phantom experiments. However, various additional factors such as real-time data collection or motion artifacts should be taken into account when the in vivo target becomes the subject. In this work, we build a robot-based STRATUS imaging system with continuous data collection capability considering the practical implementation. A curvilinear array is used instead of a linear array to benefit from its wider capture angle. We scanned human forearms under two scenarios: one submerged the arm in the water tank under 10 cm depth, and the other directly scanned the arm from the surface. The image contrast improved 5.51 dB, and 9.96 dB for the underwater scan and the direct scan, respectively. The result indicates the practical feasibility of STRATUS imaging system, and the technique can be potentially applied to the wide range of human body.

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.

Australian sea-floor survey data, with images and expert annotations.

PubMed

Bewley, Michael; Friedman, Ariell; Ferrari, Renata; Hill, Nicole; Hovey, Renae; Barrett, Neville; Marzinelli, Ezequiel M; Pizarro, Oscar; Figueira, Will; Meyer, Lisa; Babcock, Russ; Bellchambers, Lynda; Byrne, Maria; Williams, Stefan B

2015-01-01

This Australian benthic data set (BENTHOZ-2015) consists of an expert-annotated set of georeferenced benthic images and associated sensor data, captured by an autonomous underwater vehicle (AUV) around Australia. This type of data is of interest to marine scientists studying benthic habitats and organisms. AUVs collect georeferenced images over an area with consistent illumination and altitude, and make it possible to generate broad scale, photo-realistic 3D maps. Marine scientists then typically spend several minutes on each of thousands of images, labeling substratum type and biota at a subset of points. Labels from four Australian research groups were combined using the CATAMI classification scheme, a hierarchical classification scheme based on taxonomy and morphology for scoring marine imagery. This data set consists of 407,968 expert labeled points from around the Australian coast, with associated images, geolocation and other sensor data. The robotic surveys that collected this data form part of Australia's Integrated Marine Observing System (IMOS) ongoing benthic monitoring program. There is reuse potential in marine science, robotics, and computer vision research.

Australian sea-floor survey data, with images and expert annotations

PubMed Central

Bewley, Michael; Friedman, Ariell; Ferrari, Renata; Hill, Nicole; Hovey, Renae; Barrett, Neville; Pizarro, Oscar; Figueira, Will; Meyer, Lisa; Babcock, Russ; Bellchambers, Lynda; Byrne, Maria; Williams, Stefan B.

2015-01-01

This Australian benthic data set (BENTHOZ-2015) consists of an expert-annotated set of georeferenced benthic images and associated sensor data, captured by an autonomous underwater vehicle (AUV) around Australia. This type of data is of interest to marine scientists studying benthic habitats and organisms. AUVs collect georeferenced images over an area with consistent illumination and altitude, and make it possible to generate broad scale, photo-realistic 3D maps. Marine scientists then typically spend several minutes on each of thousands of images, labeling substratum type and biota at a subset of points. Labels from four Australian research groups were combined using the CATAMI classification scheme, a hierarchical classification scheme based on taxonomy and morphology for scoring marine imagery. This data set consists of 407,968 expert labeled points from around the Australian coast, with associated images, geolocation and other sensor data. The robotic surveys that collected this data form part of Australia's Integrated Marine Observing System (IMOS) ongoing benthic monitoring program. There is reuse potential in marine science, robotics, and computer vision research. PMID:26528396

A mobile device-based imaging spectrometer for environmental monitoring by attaching a lightweight small module to a commercial digital camera.

PubMed

Cai, Fuhong; Lu, Wen; Shi, Wuxiong; He, Sailing

2017-11-15

Spatially-explicit data are essential for remote sensing of ecological phenomena. Lately, recent innovations in mobile device platforms have led to an upsurge in on-site rapid detection. For instance, CMOS chips in smart phones and digital cameras serve as excellent sensors for scientific research. In this paper, a mobile device-based imaging spectrometer module (weighing about 99 g) is developed and equipped on a Single Lens Reflex camera. Utilizing this lightweight module, as well as commonly used photographic equipment, we demonstrate its utility through a series of on-site multispectral imaging, including ocean (or lake) water-color sensing and plant reflectance measurement. Based on the experiments we obtain 3D spectral image cubes, which can be further analyzed for environmental monitoring. Moreover, our system can be applied to many kinds of cameras, e.g., aerial camera and underwater camera. Therefore, any camera can be upgraded to an imaging spectrometer with the help of our miniaturized module. We believe it has the potential to become a versatile tool for on-site investigation into many applications.

Australian sea-floor survey data, with images and expert annotations

NASA Astrophysics Data System (ADS)

Bewley, Michael; Friedman, Ariell; Ferrari, Renata; Hill, Nicole; Hovey, Renae; Barrett, Neville; Pizarro, Oscar; Figueira, Will; Meyer, Lisa; Babcock, Russ; Bellchambers, Lynda; Byrne, Maria; Williams, Stefan B.

2015-10-01

This Australian benthic data set (BENTHOZ-2015) consists of an expert-annotated set of georeferenced benthic images and associated sensor data, captured by an autonomous underwater vehicle (AUV) around Australia. This type of data is of interest to marine scientists studying benthic habitats and organisms. AUVs collect georeferenced images over an area with consistent illumination and altitude, and make it possible to generate broad scale, photo-realistic 3D maps. Marine scientists then typically spend several minutes on each of thousands of images, labeling substratum type and biota at a subset of points. Labels from four Australian research groups were combined using the CATAMI classification scheme, a hierarchical classification scheme based on taxonomy and morphology for scoring marine imagery. This data set consists of 407,968 expert labeled points from around the Australian coast, with associated images, geolocation and other sensor data. The robotic surveys that collected this data form part of Australia's Integrated Marine Observing System (IMOS) ongoing benthic monitoring program. There is reuse potential in marine science, robotics, and computer vision research.

UNDERWATER MAPPING USING GLORIA AND MIPS.

USGS Publications Warehouse

Chavez, Pat S.; Anderson, Jeffrey A.; Schoonmaker, James W.

1987-01-01

Advances in digital image processing of the (GLORIA) Geological Long-Range Induced Asdic) sidescan-sonar image data have made it technically and economically possible to map large areas of the ocean floor including the Exclusive Economic Zone. Software was written to correct both geometric and radiometric distortions that exist in the original raw GLORIA data. A digital mosaicking technique was developed enabling 2 degree by 2 degree quadrangles to be generated.

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.

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.

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.

Database Development for Ocean Impacts: Imaging, Outreach and Rapid Response

DTIC Science & Technology

2012-04-18

Edds-Walton, R R. Fay Specialisation for underwater hearing in the red-eared slider turtle, Trachemys scripta elegans Association for Research in...hearing in the red-eared slider turtle, Trachemys scripta elegans . International Society for Neuroethology 2010 Ketten, D. R., Arruda, ,J., S

Efficiency of a flapping propulsion system based on two side-by-side pitching foils

NASA Astrophysics Data System (ADS)

Huera-Huarte, Francisco

2017-11-01

We explore the propulsive performance of two foils flapping side-by-side in a wide variety of configurations, for different foil separations, pitching amplitudes and frequencies and phase differences. Direct force and torque measurements will be shown in each situation, after a thorough parametric study, that led to the identification of highly efficient modes of propulsion. The especially designed experimental rig allowed the computation of efficiencies globally and at each shaft in the system. Planar and volumetric Particle Image Velocimetry (PIV) allowed a detailed description of the wake generated by the system, for each different kinematics investigated. The investigation is part of an ambitious project with the aim of producing a high efficient and highly manoeuvrable flapping propulsion system for underwater vehicles. Funding from Spanish Ministry MINECO through Grant DPI2015-71645-P is gratefully acknowledged.

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...

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.

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

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

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

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.

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.

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

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.

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.

Results and applications of a space suit range-of-motion study

NASA Technical Reports Server (NTRS)

Reinhardt, AL

1989-01-01

The range of motion of space suits has traditionally been described using limited 2-D mapping of limb, torso, or arm movements performed in front of an orthogonal grid. A new technique for recovering extra-vehicular (EVA) space suit range-of-motion data during underwater testing was described in a paper presented by the author at the 1988 conference. The new technique uses digitized data which is automatically acquired from video images of the subject. Three-dimensional trajectories are recovered from these data, and can be displayed using 2-D computer graphics. Results of using this technique for the current shuttle EVA suit during underwater simulated weightlessness testing are discussed. Application of the data for use in animating anthropometric computer models is highlighted.

Looking inside the Ocean: Toward an Autonomous Imaging System for Monitoring Gelatinous Zooplankton

PubMed Central

Corgnati, Lorenzo; Marini, Simone; Mazzei, Luca; Ottaviani, Ennio; Aliani, Stefano; Conversi, Alessandra; Griffa, Annalisa

2016-01-01

Marine plankton abundance and dynamics in the open and interior ocean is still an unknown field. The knowledge of gelatinous zooplankton distribution is especially challenging, because this type of plankton has a very fragile structure and cannot be directly sampled using traditional net based techniques. To overcome this shortcoming, Computer Vision techniques can be successfully used for the automatic monitoring of this group.This paper presents the GUARD1 imaging system, a low-cost stand-alone instrument for underwater image acquisition and recognition of gelatinous zooplankton, and discusses the performance of three different methodologies, Tikhonov Regularization, Support Vector Machines and Genetic Programming, that have been compared in order to select the one to be run onboard the system for the automatic recognition of gelatinous zooplankton. The performance comparison results highlight the high accuracy of the three methods in gelatinous zooplankton identification, showing their good capability in robustly selecting relevant features. In particular, Genetic Programming technique achieves the same performances of the other two methods by using a smaller set of features, thus being the most efficient in avoiding computationally consuming preprocessing stages, that is a crucial requirement for running on an autonomous imaging system designed for long lasting deployments, like the GUARD1. The Genetic Programming algorithm has been installed onboard the system, that has been operationally tested in a two-months survey in the Ligurian Sea, providing satisfactory results in terms of monitoring and recognition performances. PMID:27983638

DeepSurveyCam—A Deep Ocean Optical Mapping System

PubMed Central

Kwasnitschka, Tom; Köser, Kevin; Sticklus, Jan; Rothenbeck, Marcel; Weiß, Tim; Wenzlaff, Emanuel; Schoening, Timm; Triebe, Lars; Steinführer, Anja; Devey, Colin; Greinert, Jens

2016-01-01

Underwater photogrammetry and in particular systematic visual surveys of the deep sea are by far less developed than similar techniques on land or in space. The main challenges are the rough conditions with extremely high pressure, the accessibility of target areas (container and ship deployment of robust sensors, then diving for hours to the ocean floor), and the limitations of localization technologies (no GPS). The absence of natural light complicates energy budget considerations for deep diving flash-equipped drones. Refraction effects influence geometric image formation considerations with respect to field of view and focus, while attenuation and scattering degrade the radiometric image quality and limit the effective visibility. As an improvement on the stated issues, we present an AUV-based optical system intended for autonomous visual mapping of large areas of the seafloor (square kilometers) in up to 6000 m water depth. We compare it to existing systems and discuss tradeoffs such as resolution vs. mapped area and show results from a recent deployment with 90,000 mapped square meters of deep ocean floor. PMID:26828495

Feature Modeling in Underwater Environments Using Sparse Linear Combinations

DTIC Science & Technology

2010-01-01

nose of the tor- pedo obviously has a different optical depth than the tail and points in between. Our chosen PSF does not consider this, but it...IEEE Transactions on Information Theory, 52(4), 2006. 4 [6] R. Hess and A. Fern. Improved video registration using non-distinctive local image

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

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.

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.

A comparison of visual statistics for the image enhancement of FORESITE aerial images with those of major image classes

NASA Astrophysics Data System (ADS)

Jobson, Daniel J.; Rahman, Zia-ur; Woodell, Glenn A.; Hines, Glenn D.

2006-05-01

Aerial images from the Follow-On Radar, Enhanced and Synthetic Vision Systems Integration Technology Evaluation (FORESITE) flight tests with the NASA Langley Research Center's research Boeing 757 were acquired during severe haze and haze/mixed clouds visibility conditions. These images were enhanced using the Visual Servo (VS) process that makes use of the Multiscale Retinex. The images were then quantified with visual quality metrics used internally within the VS. One of these metrics, the Visual Contrast Measure, has been computed for hundreds of FORESITE images, and for major classes of imaging-terrestrial (consumer), orbital Earth observations, orbital Mars surface imaging, NOAA aerial photographs, and underwater imaging. The metric quantifies both the degree of visual impairment of the original, un-enhanced images as well as the degree of visibility improvement achieved by the enhancement process. The large aggregate data exhibits trends relating to degree of atmospheric visibility attenuation, and its impact on the limits of enhancement performance for the various image classes. Overall results support the idea that in most cases that do not involve extreme reduction in visibility, large gains in visual contrast are routinely achieved by VS processing. Additionally, for very poor visibility imaging, lesser, but still substantial, gains in visual contrast are also routinely achieved. Further, the data suggest that these visual quality metrics can be used as external standalone metrics for establishing performance parameters.

A Comparison of Visual Statistics for the Image Enhancement of FORESITE Aerial Images with Those of Major Image Classes

NASA Technical Reports Server (NTRS)

Johnson, Daniel J.; Rahman, Zia-ur; Woodell, Glenn A.; Hines, Glenn D.

2006-01-01

Aerial images from the Follow-On Radar, Enhanced and Synthetic Vision Systems Integration Technology Evaluation (FORESITE) flight tests with the NASA Langley Research Center's research Boeing 757 were acquired during severe haze and haze/mixed clouds visibility conditions. These images were enhanced using the Visual Servo (VS) process that makes use of the Multiscale Retinex. The images were then quantified with visual quality metrics used internally with the VS. One of these metrics, the Visual Contrast Measure, has been computed for hundreds of FORESITE images, and for major classes of imaging--terrestrial (consumer), orbital Earth observations, orbital Mars surface imaging, NOAA aerial photographs, and underwater imaging. The metric quantifies both the degree of visual impairment of the original, un-enhanced images as well as the degree of visibility improvement achieved by the enhancement process. The large aggregate data exhibits trends relating to degree of atmospheric visibility attenuation, and its impact on limits of enhancement performance for the various image classes. Overall results support the idea that in most cases that do not involve extreme reduction in visibility, large gains in visual contrast are routinely achieved by VS processing. Additionally, for very poor visibility imaging, lesser, but still substantial, gains in visual contrast are also routinely achieved. Further, the data suggest that these visual quality metrics can be used as external standalone metrics for establishing performance parameters.

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

Experiences from using Autonomous Underwater Vehicles and Synthetic Aperture Sonar for Sediment and Habitat Mapping

NASA Astrophysics Data System (ADS)

Thorsnes, T.; Bjarnadóttir, L. R.

2017-12-01

Emerging platforms and tools like autonomous underwater vehicles and synthetic aperture sonars provide interesting opportunities for making seabed mapping more efficient and precise. Sediment grain-size maps are an important product in their own right and a key input for habitat and biotope maps. National and regional mapping programmes are tasked with mapping large areas, and survey efficiency, data quality, and resulting map confidence are important considerations when selecting the mapping strategy. Since 2005, c. 175,000 square kilometres of the Norwegian continental shelf and continental slope has been mapped with respect to sediments, habitats and biodiversity, and pollution under the MAREANO programme (www.mareano.no). At present the sediment mapping is based on a combination of ship-borne multibeam bathymetry and backscatter, visual documentation using a towed video platform, and grab sampling. We have now tested a new approach, using an Autonomous Underwater Vehicle (AUV) as the survey platform for the collection of acoustic data (Synthetic Aperture Sonar (SAS), EM2040 bathymetry and backscatter) and visual data (still images using a TFish colour photo system). This pilot project was conducted together the Norwegian Hydrographic Service, the Institute of Marine Research (biology observations) and the Norwegian Defence Research Establishment (operation of ship and AUV). The test site reported here is the Vesterdjupet area, offshore Lofoten, northern Norway. The water depth is between 170 and 300 metres, with sediments ranging from gravel, cobbles and boulders to sandy mud. A cold-water coral reef, associated with bioclastic sediments was also present in the study area. The presentation will give an overview of the main findings and experiences gained from this pilot project with a focus on geological mapping and will also discuss the relevance of AUV-based mapping to large-area mapping programmes like MAREANO.

Bioinspired polyethylene terephthalate nanocone arrays with underwater superoleophobicity and anti-bioadhesion properties

NASA Astrophysics Data System (ADS)

Liu, Wendong; Liu, Xueyao; Fangteng, Jiaozi; Wang, Shuli; Fang, Liping; Shen, Huaizhong; Xiang, Siyuan; Sun, Hongchen; Yang, Bai

2014-10-01

This paper presents a facile method to fabricate bioinspired polyethylene terephthalate (PET) nanocone arrays via colloidal lithography. The aspect ratio (AR) of the nanocones can be finely modulated ranging from 1 to 6 by regulating the etching time. The samples with the AR value of 6 can present underwater superoleophobicity with the underwater oil contact angle (OCA) of 171.8°. The as-prepared PET nanocone arrays perform anti-bioadhesion behavior, which inhibits the formation of the actin cytoskeleton when it used as the substrate for cell culture. Moreover, the oil wettability is temperature controlled after modifying the PET nanocone arrays with PNIPAAm film, and the oil wettability of the functionalized nanocone arrays can be transformed from the superoleophobic state with OCA about 151° to the oleophilic state with OCA about 25° reversibly. Due to the high-throughput, parallel fabrication and cost-efficiency of this method, it will be favourable for researchers to introduce oleophobic properties to various substrate and device surfaces. Due to the superoleophobicity and simple functionalizing properties, the PET nanocone arrays are very promising surfaces for anti-adhesion, self-cleaning and have potential applications in material, medical, and biological fields.This paper presents a facile method to fabricate bioinspired polyethylene terephthalate (PET) nanocone arrays via colloidal lithography. The aspect ratio (AR) of the nanocones can be finely modulated ranging from 1 to 6 by regulating the etching time. The samples with the AR value of 6 can present underwater superoleophobicity with the underwater oil contact angle (OCA) of 171.8°. The as-prepared PET nanocone arrays perform anti-bioadhesion behavior, which inhibits the formation of the actin cytoskeleton when it used as the substrate for cell culture. Moreover, the oil wettability is temperature controlled after modifying the PET nanocone arrays with PNIPAAm film, and the oil wettability of the functionalized nanocone arrays can be transformed from the superoleophobic state with OCA about 151° to the oleophilic state with OCA about 25° reversibly. Due to the high-throughput, parallel fabrication and cost-efficiency of this method, it will be favourable for researchers to introduce oleophobic properties to various substrate and device surfaces. Due to the superoleophobicity and simple functionalizing properties, the PET nanocone arrays are very promising surfaces for anti-adhesion, self-cleaning and have potential applications in material, medical, and biological fields. Electronic supplementary information (ESI) available: The optical microscopy image of the self-assembled 2D PS microspheres over a large area, the diameter of the PS microsphere is 580 nm; The top-view SEM image of the PET nanocone arrays over a large area, the AR of the nanocone is 6; The SEM image of the PET nanocone arrays obtained after 30 min etching; The optical image of the water droplet on the PET nanocone arrays with an AR of 6; The schematic illustration of the nanocone arrays modification with PNIPAAm; High resolution XPS spectra of the PNIPAAm modified PET nanocone arrays. See DOI: 10.1039/c4nr04471a

A localization algorithm of adaptively determining the ROI of the reference circle in image

NASA Astrophysics Data System (ADS)

Xu, Zeen; Zhang, Jun; Zhang, Daimeng; Liu, Xiaomao; Tian, Jinwen

2018-03-01

Aiming at solving the problem of accurately positioning the detection probes underwater, this paper proposed a method based on computer vision which can effectively solve this problem. The theory of this method is that: First, because the shape information of the heat tube is similar to a circle in the image, we can find a circle which physical location is well known in the image, we set this circle as the reference circle. Second, we calculate the pixel offset between the reference circle and the probes in the picture, and adjust the steering gear through the offset. As a result, we can accurately measure the physical distance between the probes and the under test heat tubes, then we can know the precise location of the probes underwater. However, how to choose reference circle in image is a difficult problem. In this paper, we propose an algorithm that can adaptively confirm the area of reference circle. In this area, there will be only one circle, and the circle is the reference circle. The test results show that the accuracy of the algorithm of extracting the reference circle in the whole picture without using ROI (region of interest) of the reference circle is only 58.76% and the proposed algorithm is 95.88%. The experimental results indicate that the proposed algorithm can effectively improve the efficiency of the tubes detection.

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.

Underwater 3d Modeling: Image Enhancement and Point Cloud Filtering

NASA Astrophysics Data System (ADS)

Sarakinou, I.; Papadimitriou, K.; Georgoula, O.; Patias, P.

2016-06-01

This paper examines the results of image enhancement and point cloud filtering on the visual and geometric quality of 3D models for the representation of underwater features. Specifically it evaluates the combination of effects from the manual editing of images' radiometry (captured at shallow depths) and the selection of parameters for point cloud definition and mesh building (processed in 3D modeling software). Such datasets, are usually collected by divers, handled by scientists and used for geovisualization purposes. In the presented study, have been created 3D models from three sets of images (seafloor, part of a wreck and a small boat's wreck) captured at three different depths (3.5m, 10m and 14m respectively). Four models have been created from the first dataset (seafloor) in order to evaluate the results from the application of image enhancement techniques and point cloud filtering. The main process for this preliminary study included a) the definition of parameters for the point cloud filtering and the creation of a reference model, b) the radiometric editing of images, followed by the creation of three improved models and c) the assessment of results by comparing the visual and the geometric quality of improved models versus the reference one. Finally, the selected technique is tested on two other data sets in order to examine its appropriateness for different depths (at 10m and 14m) and different objects (part of a wreck and a small boat's wreck) in the context of an ongoing research in the Laboratory of Photogrammetry and Remote Sensing.

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.

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.

Mapping Health of Bonaire Coral Reefs Using a Lightweight Hyperspectral Mapping System - First Results

NASA Astrophysics Data System (ADS)

Suomalainen, Juha; Mucher, Sander; Kooistra, Lammert; Meesters, Erik

2014-05-01

The Dutch Caribbean island of Bonaire is one of the world's top diving holiday destinations much due to its clear waters and healthy coral reefs. The coral reefs surround the western side of the island as an approximately 50-150m wide band. However, the general consensus is that the extent and biodiversity of the Bonarian coral reef is constantly decreasing due to anthropogenic pressures. The last extensive study of the health of the reef ecosystem was performed in 1985 by Van Duyl creating an underwater atlas. In order to update this atlas of Bonaire's coral reefs, in October 2013, a hyperspectral mapping campaign was performed using the WUR Hyperspectral Mapping System (HYMSY). A dive validation campaign has been planned for early 2014. The HYMSY consists of a custom pushbroom spectrometer (range 450-950nm, FWHM 9nm, ~20 lines/s, 328 pixels/line), a consumer camera (collecting 16MPix raw image every 2 seconds), a GPS-Inertia Navigation System (GPS-INS), and synchronization and data storage units. The weight of the system at take-off is 2.0kg allowing it to be mounted on varying platforms. In Bonaire the system was flown on two platforms. (1) on a Cessna airplane to provide a coverage for whole west side of the island with a hyperspectral map in 2-4m resolution and a RGB orthomosaic in 15cm resolution, and (2) on a kite pulled by boat and car to provide a subset coverage in higher resolution. In this presentation we will present our mapping technique and first results including a preliminary underwater atlas and conclusions on reef development.

A distributed pipeline for DIDSON data processing

USGS Publications Warehouse

Li, Liling; Danner, Tyler; Eickholt, Jesse; McCann, Erin L.; Pangle, Kevin; Johnson, Nicholas

2018-01-01

Technological advances in the field of ecology allow data on ecological systems to be collected at high resolution, both temporally and spatially. Devices such as Dual-frequency Identification Sonar (DIDSON) can be deployed in aquatic environments for extended periods and easily generate several terabytes of underwater surveillance data which may need to be processed multiple times. Due to the large amount of data generated and need for flexibility in processing, a distributed pipeline was constructed for DIDSON data making use of the Hadoop ecosystem. The pipeline is capable of ingesting raw DIDSON data, transforming the acoustic data to images, filtering the images, detecting and extracting motion, and generating feature data for machine learning and classification. All of the tasks in the pipeline can be run in parallel and the framework allows for custom processing. Applications of the pipeline include monitoring migration times, determining the presence of a particular species, estimating population size and other fishery management tasks.

Directly measuring melt at a vertical face tidewater glacier: is it possible?

NASA Astrophysics Data System (ADS)

Sutherland, D.; Amundson, J. M.; Duncan, D.; Jackson, R. H.; Kienholz, C.; Motyka, R. J.; Nash, J. D.

2017-12-01

Direct observations of melt on the underwater portion of tidewater glaciers have proved elusive, mostly due to the inherent dangers of making measurements next to a calving ice front. Additionally, the melting process itself is often masked by large ice speeds, variable calving across the glacier front, and enhanced melting due to rising subglacial discharge plumes. Here, we use repeat multibeam sonar images of LeConte Glacier to assess the possibility of measuring terminus melt in situ. LeConte Glacier is a fast-moving tidewater system in southeast Alaska with ice speeds of 25 m d-1 and previously estimated submarine melting that accounts for 50% of ice loss at the front. In August 2016, May 2017, and September 2017, we conducted intensive fieldwork at the 1.5 km long, 250 m deep glacier front, collecting dozens of repeat multibeam images of the underwater terminus. Combined with coincident time-lapse photography and surface radar measurements, we attempt to disentangle the ambient melt at the glacier face from ice motion and calving. We use a suite of oceanographic observations of the emerging subglacial discharge plume to separate portions of the glacier front that show evidence of enhanced melting versus portions outside of the affected plume areas. We find a complex, time-varying geometry, with regions of undercutting, overcutting, and large discharge channels. Measurements like these are critical to i) improving numerical model parameterizations of coupled glacier-ocean interactions and ii) developing a process-based understanding of how the literal ice-ocean boundary evolves in time and space.

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.

Towards Enhanced Underwater Lidar Detection via Source Separation

NASA Astrophysics Data System (ADS)

Illig, David W.

Interest in underwater optical sensors has grown as technologies enabling autonomous underwater vehicles have been developed. Propagation of light through water is complicated by the dual challenges of absorption and scattering. While absorption can be reduced by operating in the blue-green region of the visible spectrum, reducing scattering is a more significant challenge. Collection of scattered light negatively impacts underwater optical ranging, imaging, and communications applications. This thesis concentrates on the ranging application, where scattering reduces operating range as well as range accuracy. The focus of this thesis is on the problem of backscatter, which can create a "clutter" return that may obscure submerged target(s) of interest. The main contributions of this thesis are explorations of signal processing approaches to increase the separation between the target and backscatter returns. Increasing this separation allows detection of weak targets in the presence of strong scatter, increasing both operating range and range accuracy. Simulation and experimental results will be presented for a variety of approaches as functions of water clarity and target position. This work provides several novel contributions to the underwater lidar field: 1. Quantification of temporal separation approaches: While temporal separation has been studied extensively, this work provides a quantitative assessment of the extent to which both high frequency modulation and spatial filter approaches improve the separation between target and backscatter. 2. Development and assessment of frequency separation: This work includes the first frequency-based separation approach for underwater lidar, in which the channel frequency response is measured with a wideband waveform. Transforming to the time-domain gives a channel impulse response, in which target and backscatter returns may appear in unique range bins and thus be separated. 3. Development and assessment of statistical separation: The first investigations of statistical separation approaches for underwater lidar are presented. By demonstrating that target and backscatter returns have different statistical properties, a new separation axis is opened. This work investigates and quantifies performance of three statistical separation approaches. 4. Application of detection theory to underwater lidar: While many similar applications use detection theory to assess performance, less development has occurred in the underwater lidar field. This work applies these concepts to statistical separation approaches, providing another perspective in which to assess performance. In addition, by using detection theory approaches, statistical metrics can be used to associate a level of confidence in each ranging measurement. 5. Preliminary investigation of forward scatter suppression: If backscatter is sufficiently suppressed, forward scattering becomes a performance-limiting factor. This work presents a proof-of-concept demonstration of the potential for statistical separation approaches to suppress both forward and backward scatter. These results provide a demonstration of the capability that signal processing has to improve separation between target and backscatter. Separation capability improves in the transition from temporal to frequency to statistical separation approaches, with the statistical separation approaches improving target detection sensitivity by as much as 30 dB. Ranging and detection results demonstrate the enhanced performance this would allow in ranging applications. This increased performance is an important step in moving underwater lidar capability towards the requirements of the next generation of sensors.

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

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.

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.

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.

Large Scale Structure From Motion for Autonomous Underwater Vehicle Surveys

DTIC Science & Technology

2004-09-01

Govern the Formation of Multiple Images of a Scene and Some of Their Applications. MIT Press, 2001. [26] 0. Faugeras and S. Maybank . Motion from point...Machine Vision Conference, volume 1, pages 384-393, September 2002. [69] S. Maybank and 0. Faugeras. A theory of self-calibration of a moving camera

Underwater EIT Follow-on Project

DTIC Science & Technology

2009-01-01

correlation value of 0.2. (White pixels indicate zero deviation from predicted transimpedance ; blue represents high deviation...34 Figure 50. Sample transimpedance measurements for high turbidity (top) and low turbidity (bottom) conditions. (These measurements...magnitudes of the transimpedance measurements. ... 40 Figure 67. A reconstruction image of rust level 0. The true target position is 2cm below the

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

Synthesis of TiCx Powder via the Underwater Explosion of an Explosive

NASA Astrophysics Data System (ADS)

Tanaka, Shigeru; Bataev, Ivan; Hamashima, Hideki; Tsurui, Akihiko; Hokamoto, Kazuyuki

2018-05-01

In this study, a novel approach to the explosive synthesis of titanium carbide (TiC) is discussed. Nonstoichiometric TiCx powder was produced via the underwater explosion of a Ti powder encapsulated within a spherical explosive charge. The explosion process, bubble formation, and synthesis process were visualized using high-speed camera imaging. It was concluded that synthesis occurred within the detonation gas during the first expansion/contraction cycle of the bubble, which was accompanied by a strong emission of light. The recovered powders were studied using scanning electron microscopy and X-ray diffraction. Submicron particles were generated during the explosion. An increase in the carbon content of the starting powder resulted in an increase in the carbon content of the final product. No oxide byproducts were observed within the recovered powders.

Underwater Photogrammetry and Object Modeling: A Case Study of Xlendi Wreck in Malta

PubMed Central

Drap, Pierre; Merad, Djamal; Hijazi, Bilal; Gaoua, Lamia; Nawaf, Mohamad Motasem; Saccone, Mauro; Chemisky, Bertrand; Seinturier, Julien; Sourisseau, Jean-Christophe; Gambin, Timmy; Castro, Filipe

2015-01-01

In this paper we present a photogrammetry-based approach for deep-sea underwater surveys conducted from a submarine and guided by knowledge-representation combined with a logical approach (ontology). Two major issues are discussed in this paper. The first concerns deep-sea surveys using photogrammetry from a submarine. Here the goal was to obtain a set of images that completely covered the selected site. Subsequently and based on these images, a low-resolution 3D model is obtained in real-time, followed by a very high-resolution model produced back in the laboratory. The second issue involves the extraction of known artefacts present on the site. This aspect of the research is based on an a priori representation of the knowledge involved using systematic reasoning. Two parallel processes were developed to represent the photogrammetric process used for surveying as well as for identifying archaeological artefacts visible on the sea floor. Mapping involved the use of the CIDOC-CRM system (International Committee for Documentation (CIDOC)—Conceptual Reference Model)—This is a system that has been previously utilised to in the heritage sector and is largely available to the established scientific community. The proposed theoretical representation is based on procedural attachment; moreover, a strong link is maintained between the ontological description of the modelled concepts and the Java programming language which permitted 3D structure estimation and modelling based on a set of oriented images. A very recently discovered shipwreck acted as a testing ground for this project; the Xelendi Phoenician shipwreck, found off the Maltese coast, is probably the oldest known shipwreck in the western Mediterranean. The approach presented in this paper was developed in the scope of the GROPLAN project (Généralisation du Relevé, avec Ontologies et Photogrammétrie, pour l'Archéologie Navale et Sous-marine). Financed by the French National Research Agency (ANR) for four years, this project associates two French research laboratories, an industrial partner, the University of Malta, and Texas A & M University. PMID:26690147

Underwater Photogrammetry and Object Modeling: A Case Study of Xlendi Wreck in Malta.

PubMed

Drap, Pierre; Merad, Djamal; Hijazi, Bilal; Gaoua, Lamia; Nawaf, Mohamad Motasem; Saccone, Mauro; Chemisky, Bertrand; Seinturier, Julien; Sourisseau, Jean-Christophe; Gambin, Timmy; Castro, Filipe

2015-12-04

In this paper we present a photogrammetry-based approach for deep-sea underwater surveys conducted from a submarine and guided by knowledge-representation combined with a logical approach (ontology). Two major issues are discussed in this paper. The first concerns deep-sea surveys using photogrammetry from a submarine. Here the goal was to obtain a set of images that completely covered the selected site. Subsequently and based on these images, a low-resolution 3D model is obtained in real-time, followed by a very high-resolution model produced back in the laboratory. The second issue involves the extraction of known artefacts present on the site. This aspect of the research is based on an a priori representation of the knowledge involved using systematic reasoning. Two parallel processes were developed to represent the photogrammetric process used for surveying as well as for identifying archaeological artefacts visible on the sea floor. Mapping involved the use of the CIDOC-CRM system (International Committee for Documentation (CIDOC)-Conceptual Reference Model)-This is a system that has been previously utilised to in the heritage sector and is largely available to the established scientific community. The proposed theoretical representation is based on procedural attachment; moreover, a strong link is maintained between the ontological description of the modelled concepts and the Java programming language which permitted 3D structure estimation and modelling based on a set of oriented images. A very recently discovered shipwreck acted as a testing ground for this project; the Xelendi Phoenician shipwreck, found off the Maltese coast, is probably the oldest known shipwreck in the western Mediterranean. The approach presented in this paper was developed in the scope of the GROPLAN project (Généralisation du Relevé, avec Ontologies et Photogrammétrie, pour l'Archéologie Navale et Sous-marine). Financed by the French National Research Agency (ANR) for four years, this project associates two French research laboratories, an industrial partner, the University of Malta, and Texas A & M University.

Digital Image Support in the ROADNet Real-time Monitoring Platform

NASA Astrophysics Data System (ADS)

Lindquist, K. G.; Hansen, T. S.; Newman, R. L.; Vernon, F. L.; Nayak, A.; Foley, S.; Fricke, T.; Orcutt, J.; Rajasekar, A.

2004-12-01

The ROADNet real-time monitoring infrastructure has allowed researchers to integrate geophysical monitoring data from a wide variety of signal domains. Antelope-based data transport, relational-database buffering and archiving, backup/replication/archiving through the Storage Resource Broker, and a variety of web-based distribution tools create a powerful monitoring platform. In this work we discuss our use of the ROADNet system for the collection and processing of digital image data. Remote cameras have been deployed at approximately 32 locations as of September 2004, including the SDSU Santa Margarita Ecological Reserve, the Imperial Beach pier, and the Pinon Flats geophysical observatory. Fire monitoring imagery has been obtained through a connection to the HPWREN project. Near-real-time images obtained from the R/V Roger Revelle include records of seafloor operations by the JASON submersible, as part of a maintenance mission for the H2O underwater seismic observatory. We discuss acquisition mechanisms and the packet architecture for image transport via Antelope orbservers, including multi-packet support for arbitrarily large images. Relational database storage supports archiving of timestamped images, image-processing operations, grouping of related images and cameras, support for motion-detect triggers, thumbnail images, pre-computed video frames, support for time-lapse movie generation and storage of time-lapse movies. Available ROADNet monitoring tools include both orbserver-based display of incoming real-time images and web-accessible searching and distribution of images and movies driven by the relational database (http://mercali.ucsd.edu/rtapps/rtimbank.php). An extension to the Kepler Scientific Workflow System also allows real-time image display via the Ptolemy project. Custom time-lapse movies may be made from the ROADNet web pages.

CoBOP: Electro-Optic Identification Laser Line Sean Sensors

DTIC Science & Technology

1998-01-01

Electro - Optic Identification Sensors Project[1] is to develop and demonstrate high resolution underwater electro - optic (EO) imaging sensors, and associated image processing/analysis methods, for rapid visual identification of mines and mine-like contacts (MLCs). Identification of MLCs is a pressing Fleet need. During MCM operations, sonar contacts are classified as mine-like if they are sufficiently similar to signatures of mines. Each contact classified as mine-like must be identified as a mine or not a mine. During MCM operations in littoral areas,

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.

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.

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.

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.

Model-based approach to the detection and classification of mines in sidescan sonar.

PubMed

Reed, Scott; Petillot, Yvan; Bell, Judith

2004-01-10

This paper presents a model-based approach to mine detection and classification by use of sidescan sonar. Advances in autonomous underwater vehicle technology have increased the interest in automatic target recognition systems in an effort to automate a process that is currently carried out by a human operator. Current automated systems generally require training and thus produce poor results when the test data set is different from the training set. This has led to research into unsupervised systems, which are able to cope with the large variability in conditions and terrains seen in sidescan imagery. The system presented in this paper first detects possible minelike objects using a Markov random field model, which operates well on noisy images, such as sidescan, and allows a priori information to be included through the use of priors. The highlight and shadow regions of the object are then extracted with a cooperating statistical snake, which assumes these regions are statistically separate from the background. Finally, a classification decision is made using Dempster-Shafer theory, where the extracted features are compared with synthetic realizations generated with a sidescan sonar simulator model. Results for the entire process are shown on real sidescan sonar data. Similarities between the sidescan sonar and synthetic aperture radar (SAR) imaging processes ensure that the approach outlined here could be made applied to SAR image analysis.

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

Effect of the starting and turning performances on the subsequent swimming parameters of elite swimmers.

PubMed

Veiga, Santiago; Roig, Andreu

2017-03-01

In the present research, we examined the effect of the starting and turning performances on the subsequent swimming parameters by (1) comparing the starting and turning velocities with the swimming parameters on the emersion and mid-pool segments and (2) by relating the individual behaviour of swimmers during the start and turns with subsequent behaviour on each swimming lap. One hundred and twelve 100 m performances on the FINA 2013 World Swimming Championships were analysed by an image-processing system (InThePool 2.0®). At the point of the start emersion, the swimming parameters of the 100-m elite swimmers were substantially greater than the mid-pool parameters, except on the breaststroke races. On the other hand, no diminution in the swimming parameters was observed between the turn emersion and the mid-pool swimming, except on the butterfly and backstroke male races. Changes on the surface swimming kinematics were not generally related to the starting or turning parameters, although male swimmers who develop faster starts seem to achieve faster velocities at emersion. Race analysts should be aware of a transfer of momentum when swimmers emerge from underwater with implications on the subsequent swimming kinematics, especially for male swimmers who employ underwater undulatory techniques.

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

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.

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.

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.

Recreational-Grade Sidescan Sonar: Transforming a Low-Cost Leisure Gadget into a High Resolution Riverbed Remote Sensing Tool

NASA Astrophysics Data System (ADS)

Hamill, D. D.; Buscombe, D.; Wheaton, J. M.; Wilcock, P. R.

2016-12-01

The size and spatial organization of bed material, bed texture, is a fundamental physical attribute of lotic ecosystems. Traditional methods to map bed texture (such as physical samples and underwater video) are limited by low spatial coverage, and poor precision in positioning. Recreational grade sidescan sonar systems now offer the possibility of imaging submerged riverbed sediments at coverages and resolutions sufficient to identify subtle changes in bed texture, in any navigable body of water, with minimal cost, expertise in sonar, or logistical effort, thereby facilitating the democratization of acoustic imaging of benthic environments, to support ecohydrological studies in shallow water, not subject to the rigors of hydrographic standards, nor the preserve of hydroacoustic expertise and proprietary hydrographic industry software. We investigate the possibility of using recreational grade sidescan sonar for sedimentary change detection using a case study of repeat sidescan imaging of mixed sand-gravel-rock riverbeds in a debris-fan dominated canyon river, at a coverage and resolution that meets the objectives of studies of the effects of changing bed substrates on salmonid spawning. A repeat substrate mapping analysis on data collected between 2012 and 2015 on the Colorado River in Glen, Marble, and Grand Canyons will be presented. A detailed method has been developed to interpret and analyze non-survey-grade sidescan sonar data, encoded within an open source software tool developed by the authors. An automated technique to quantify bed texture directly from sidescan sonar imagery is tested against bed sediment observations from underwater video and multibeam sonar. Predictive relationships between known bed sediment observations and bed texture metrics could provide an objective means to quantify bed textures and to relate changes in bed texture to biological components of an aquatic ecosystem, at high temporal frequency, and with minimal logistical effort and cost.

Fluid Lensing and Applications to Remote Sensing of Aquatic Environments

NASA Technical Reports Server (NTRS)

Chirayath, Ved

2017-01-01

The use of fluid lensing technology on UAVs is presented as a novel means for 3D imaging of aquatic ecosystems from above the water's surface at the centimeter scale. Preliminary results are presented from airborne fluid lensing campaigns conducted over the coral reefs of Ofu Island, American Samoa (2013) and the stromatolite reefs of Shark Bay, Western Australia (2014), covering a combined area of 15km2. These reef ecosystems were revealed with centimetre-scale 2D resolution, and an accompanying 3D bathymetry model was derived using fluid lensing, Structure from Motion and UAV position data. Data products were validated from in-situ survey methods including underwater calibration targets, depth measurements and millimetre-scale high-dynamic range gigapixel photogrammetry. Fluid lensing is an experimental technology that uses water transmitting wavelengths to passively image underwater objects at high-resolution by exploiting time-varying optical lensing events caused by surface waves. Fluid lensing data are captured from low-altitude, cost-effective electric UAVs to achieve multispectral imagery and bathymetry models at the centimetre scale over regional areas. As a passive system, fluid lensing is presently limited by signal-to-noise ratio and water column inherent optical properties to approximately 10 m depth over visible wavelengths in clear waters. The datasets derived from fluid lensing present the first centimetre-scale images of a reef acquired from above the ocean surface, without wave distortion. The 3D multispectral data distinguish coral, fish and invertebrates in American Samoa, and reveal previously undocumented, morphologically distinct, stromatolite structures in Shark Bay. These findings suggest fluid lensing and multirotor electric drones represent a promising advance in the remote sensing of aquatic environments at the centimetre scale, or 'reef scale' relevant to the conservation of reef ecosystems. Pending further development and validation of fluid lensing methods, these technologies present a solution for large-scale 3D surveys of shallow aquatic habitats with centimetre-scale spatial resolution and hourly temporal sampling.

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

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.

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.

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

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

Evaluation of electrical conductivity of Cu and Al through sub microsecond underwater electrical wire explosion

NASA Astrophysics Data System (ADS)

Sheftman, D.; Shafer, D.; Efimov, S.; Krasik, Ya. E.

2012-03-01

Sub-microsecond timescale underwater electrical wire explosions using Cu and Al materials have been conducted. Current and voltage waveforms and time-resolved streak images of the discharge channel, coupled to 1D magneto-hydrodynamic simulations, have been used to determine the electrical conductivity of the metals for the range of conditions between hot liquid metal and strongly coupled non-ideal plasma, in the temperature range of 10-60 KK. The results of these studies showed that the conductivity values obtained are typically lower than those corresponding to modern theoretical electrical conductivity models and provide a transition between the conductivity values obtained in microsecond time scale explosions and those obtained in nanosecond time scale wire explosions. In addition, the measured wire expansion shows good agreement with equation of state tables.

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.

Fine-scale relief related to late holocene channel shifting within the floor of the upper Redondo Fan, offshore Southern California

USGS Publications Warehouse

Normark, W.R.; Paull, C.K.; Caress, D.W.; Ussler, W.; Sliter, R.

2009-01-01

Erosional and depositional bedforms have been imaged at outcrop scale in the upper Redondo Fan, in the San Pedro Basin of offshore Southern California in ???600 m water depths, using an Autonomous Underwater Vehicle developed by the Monterey Bay Aquarium Research Institute. The Autonomous Underwater Vehicle is equipped with multibeam and chirp sub-bottom sonars. Sampling and photographic images using the Monterey Bay Aquarium Research Institute Remotely Operated Vehicle Tiburon provide groundtruth for the Autonomous Underwater Vehicle survey. The 0??3 m vertical and 1??5 m lateral bathymetric resolution and 0??1 m sub-bottom profile resolution provide unprecedented detail of bedform morphology and structure. Multiple channels within the Redondo Fan have been active at different times during the Late Holocene (0 to 3000 yr bp). The currently active channel extending from Redondo Canyon makes an abrupt 90?? turn at the canyon mouth before resuming a south-easterly course along the east side of the Redondo Fan. This channel is floored by sand and characterized by small steps generally <1 m in relief, spaced 10 to 80 m in the down-channel direction. A broader channel complex lies along the western side of the fan valley that was last active more than 850 years ago. Two distinct trains of large scours, with widths ranging from tens to a few hundred metres and depths of 20 m, occur on the floor of the western channel complex, which has a thin mud drape. If observed in cross-section only, these large scours would probably be misidentified as the thalweg of an active channel. ?? 2009 The Authors. Journal compilation ?? 2009 International Association of Sedimentologists.

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.

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.

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.

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

Methods and Simulations of Muon Tomography and Reconstruction

NASA Astrophysics Data System (ADS)

Schreiner, Henry Fredrick, III

This dissertation investigates imaging with cosmic ray muons using scintillator-based portable particle detectors, and covers a variety of the elements required for the detectors to operate and take data, from the detector internal communications and software algorithms to a measurement to allow accurate predictions of the attenuation of physical targets. A discussion of the tracking process for the three layer helical design developed at UT Austin is presented, with details of the data acquisition system, and the highly efficient data format. Upgrades to this system provide a stable system for taking images in harsh or inaccessible environments, such as in a remote jungle in Belize. A Geant4 Monte Carlo simulation was used to develop our understanding of the efficiency of the system, as well as to make predictions for a variety of different targets. The projection process is discussed, with a high-speed algorithm for sweeping a plane through data in near real time, to be used in applications requiring a search through space for target discovery. Several other projections and a foundation of high fidelity 3D reconstructions are covered. A variable binning scheme for rapidly varying statistics over portions of an image plane is also presented and used. A discrepancy in our predictions and the observed attenuation through smaller targets is shown, and it is resolved with a new measurement of low energy spectrum, using a specially designed enclosure to make a series of measurements underwater. This provides a better basis for understanding the images of small amounts of materials, such as for thin cover materials.

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.

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.

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

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.

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.

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.

Evaluation of Suppression of Hydroprocessed Renewable Jet (HRJ) Fuel Fires with Aqueous Film Forming Foam (AFFF)

DTIC Science & Technology

2011-07-01

cameras were installed around the test pan and an underwater GoPro ® video camera recorded the fire from below the layer of fuel. 3.2.2. Camera Images...Distribution A: Approved for public release; distribution unlimited. 3.2.3. Video Images A GoPro video camera with a wide angle lens recorded the tests...camera and the GoPro ® video camera were not used for fire suppression experiments. 3.3.2. Test Pans Two ¼-in thick stainless steel test pans were

Effectiveness of an automatic tracking software in underwater motion analysis.

PubMed

Magalhaes, Fabrício A; Sawacha, Zimi; Di Michele, Rocco; Cortesi, Matteo; Gatta, Giorgio; Fantozzi, Silvia

2013-01-01

Tracking of markers placed on anatomical landmarks is a common practice in sports science to perform the kinematic analysis that interests both athletes and coaches. Although different software programs have been developed to automatically track markers and/or features, none of them was specifically designed to analyze underwater motion. Hence, this study aimed to evaluate the effectiveness of a software developed for automatic tracking of underwater movements (DVP), based on the Kanade-Lucas-Tomasi feature tracker. Twenty-one video recordings of different aquatic exercises (n = 2940 markers' positions) were manually tracked to determine the markers' center coordinates. Then, the videos were automatically tracked using DVP and a commercially available software (COM). Since tracking techniques may produce false targets, an operator was instructed to stop the automatic procedure and to correct the position of the cursor when the distance between the calculated marker's coordinate and the reference one was higher than 4 pixels. The proportion of manual interventions required by the software was used as a measure of the degree of automation. Overall, manual interventions were 10.4% lower for DVP (7.4%) than for COM (17.8%). Moreover, when examining the different exercise modes separately, the percentage of manual interventions was 5.6% to 29.3% lower for DVP than for COM. Similar results were observed when analyzing the type of marker rather than the type of exercise, with 9.9% less manual interventions for DVP than for COM. In conclusion, based on these results, the developed automatic tracking software presented can be used as a valid and useful tool for underwater motion analysis. Key PointsThe availability of effective software for automatic tracking would represent a significant advance for the practical use of kinematic analysis in swimming and other aquatic sports.An important feature of automatic tracking software is to require limited human interventions and supervision, thus allowing short processing time.When tracking underwater movements, the degree of automation of the tracking procedure is influenced by the capability of the algorithm to overcome difficulties linked to the small target size, the low image quality and the presence of background clutters.The newly developed feature-tracking algorithm has shown a good automatic tracking effectiveness in underwater motion analysis with significantly smaller percentage of required manual interventions when compared to a commercial software.

Continuous Monitoring of Mobility, Burial and Re exposure of Underwater Munitions in Energetic Near Shore Environments

DTIC Science & Technology

2017-01-01

parameters on Wasque Shoals ..................................................... 22 Figure 19. Rotary sonar imagery showing migrating mega- ripples and the...shown by the green and yellow lines reveals the convergence and divergence of the migrating mega- ripples ...26 Figure 24. Succesive rotary sonar images showing transient burial and reexposure of a surrogate UXO by migrating mega- ripples

Uniformity of cylindrical imploding underwater shockwaves at very small radii

NASA Astrophysics Data System (ADS)

Yanuka, D.; Rososhek, A.; Bland, S. N.; Krasik, Ya. E.

2017-11-01

We compare the convergent shockwaves generated from underwater, cylindrical arrays of copper wire exploded by multiple kilo-ampere current pulses on nanosecond and microsecond scales. In both cases, the pulsed power devices used for the experiments had the same stored energy (˜500 J) and the wire mass was adjusted to optimize energy transfer to the shockwave. Laser backlit framing images of the shock front were achieved down to the radius of 30 μm. It was found that even in the case of initial azimuthal non-symmetry, the shock wave self-repairs in the final stages of its motion, leading to a highly uniform implosion. In both these and previous experiments, interference fringes have been observed in streak and framing images as the shockwave approached the axis. We have been able to accurately model the origin of the fringes, which is due to the propagation of the laser beam diffracting off the uniform converging shock front. The dynamics of the shockwave and its uniformity at small radii indicate that even with only 500 J stored energies, this technique should produce pressures above 1010 Pa on the axis, with temperatures and densities ideal for warm dense matter research.

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

Functional brain imaging and bioacoustics in the Bottlenose dolphins, Tursiops truncatus

NASA Astrophysics Data System (ADS)

Ridgway, Sam; Finneran, James; Carder, Donald; van Bonn, William; Smith, Cynthia; Houser, Dorian; Mattrey, Robert; Hoh, Carl

2003-10-01

The dolphin brain is the central processing computer for a complex and effective underwater echolocation and communication system. Until now, it has not been possible to study or diagnose disorders of the dolphin brain employing modern functional imaging methods like those used in human medicine. Our most recent studies employ established methods such as behavioral tasks, physiological observations, and computed tomography (CT) and, for the first time, single photon emission computed tomography (SPECT), and positron emission tomography (PET). Trained dolphins slide out of their enclosure on to a mat and are transported by trainers and veterinarians to the laboratory for injection of a ligand. Following ligand injection, brief experiments include trained vocal responses to acoustic, visual, or tactile stimuli. We have used the ligand technetium (Tc-99m) biscisate (Neurolite) to image circulatory flow by SPECT. Fluro-deoxy-d-glucose (18-F-FDG) has been employed to image brain metabolism with PET. Veterinarians carefully monitored dolphins during and after the procedure. Through these methods, we have demonstrated that functional imaging can be employed safely and productively with dolphins to obtain valuable information on brain structure and function for medical and research purposes. Hemispheric differences and variations in flow and metabolism in different brain areas will be shown.

Blind source separation based on time-frequency morphological characteristics for rigid acoustic scattering by underwater objects

NASA Astrophysics Data System (ADS)

Yang, Yang; Li, Xiukun

2016-06-01

Separation of the components of rigid acoustic scattering by underwater objects is essential in obtaining the structural characteristics of such objects. To overcome the problem of rigid structures appearing to have the same spectral structure in the time domain, time-frequency Blind Source Separation (BSS) can be used in combination with image morphology to separate the rigid scattering components of different objects. Based on a highlight model, the separation of the rigid scattering structure of objects with time-frequency distribution is deduced. Using a morphological filter, different characteristics in a Wigner-Ville Distribution (WVD) observed for single auto term and cross terms can be simplified to remove any cross-term interference. By selecting time and frequency points of the auto terms signal, the accuracy of BSS can be improved. An experimental simulation has been used, with changes in the pulse width of the transmitted signal, the relative amplitude and the time delay parameter, in order to analyzing the feasibility of this new method. Simulation results show that the new method is not only able to separate rigid scattering components, but can also separate the components when elastic scattering and rigid scattering exist at the same time. Experimental results confirm that the new method can be used in separating the rigid scattering structure of underwater objects.

Flow measurement and thrust estimation of a vibrating ionic polymer metal composite

NASA Astrophysics Data System (ADS)

Chae, Woojin; Cha, Youngsu; Peterson, Sean D.; Porfiri, Maurizio

2015-09-01

Ionic polymer metal composites (IPMCs) are an emerging class of soft active materials that are finding growing application as underwater propulsors for miniature biomimetic swimmers. Understanding the hydrodynamics generated by an IPMC vibrating under water is central to the design of such biomimetic swimmers. In this paper, we propose the use of time-resolved particle image velocimetry to detail the fluid kinematics and kinetics in the vicinity of an IPMC vibrating along its fundamental structural mode. The reconstructed pressure field is ultimately used to estimate the thrust produced by the IPMC. The vibration frequency is systematically varied to elucidate the role of the Reynolds number on the flow physics and the thrust production. Experimental results indicate the formation and shedding of vortical structures from the IPMC tip during its vibration. Vorticity shedding is sustained by the pressure gradients along each side of the IPMC, which are most severe in the vicinity of the tip. The mean thrust is found to robustly increase with the Reynolds number, closely following a power law that has been derived from direct three-dimensional numerical simulations. A reduced order distributed model is proposed to describe IPMC underwater vibration and estimate thrust production, offering insight into the physics of underwater propulsion and aiding in the design of IPMC-based propulsors.

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.

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

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.

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.

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.

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.

Optical image modulation above the submarine bottom topography: a case study on the Taiwan Banks, China

NASA Astrophysics Data System (ADS)

Li, Yan; Hu, Jianyu; Li, Jing; Fu, Bin; Ma, Liming

2003-05-01

A possible mechanism to explain the correlation between submarine topography and the direct sunlight specially reflected from the sea surface with variable roughness caused by the bottom-current effect was suggested fifteen years ago by Henning et al. in International Journal of Remote Sensing, 9, 45-67, after comparing radar satellite image and Skylab satellite photograph of the North American east coast (Nantucket Shoals) with submarine relief features. A case study is carried out in the famous sand waves field located at the Taiwan banks of Taiwan Strait in August 1998. The TM images, either visible bands (TM1, TM2, TM3) or near infrared bands (TM4, TM5, TM7), shows submarine relief features for sand waves, with wavelength of 300 to 2000 meters, riding on the lager scale sand ridges and channel system. Sea truth data including 660 nm beam attenuation coefficient profiles were conducted in the same period. We compare signals of TM images, attenuation coefficient profiles, and sounding maps of the Taiwan Bands. The subsurface upwelling signals with contributions of the water column and the bottom, either estimated by single or quasi-single-scattering theory or revealed by the TM images after removing the contribution of direct sunlight reflected signals from sea surface, were too weak to distinguish the ridges and troughs of bedforms especially for red and near infrared bands. However, the direct sunlight specially reflected signals from the sea surface, approximately at same level in water-leaving reflectance not only for visible bands (TM1, TM2, TM3) but also for near infrared bands (TM4, TM5, TM7), was the major submarine bottom topography signals especially for those pixels towards the direction of the sun azimuth. Following a physical description for the lee waves appeared on free surface when the current flows round an underwater obstacle, the direct sunlight reflected signals related wave face slope, is dominated by the height and depth of sand waves and sand ridges, and current speed of the flows over those bedforms. The direct sunlight reflected signals from the sea surface could be regarded as a powerful tool to detect bedforms and other underwater obstacles.

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

Sound pressure level gain in an acoustic metamaterial cavity.

PubMed

Song, Kyungjun; Kim, Kiwon; Hur, Shin; Kwak, Jun-Hyuk; Park, Jihyun; Yoon, Jong Rak; Kim, Jedo

2014-12-11

The inherent attenuation of a homogeneous viscous medium limits radiation propagation, thereby restricting the use of many high-frequency acoustic devices to only short-range applications. Here, we design and experimentally demonstrate an acoustic metamaterial localization cavity which is used for sound pressure level (SPL) gain using double coiled up space like structures thereby increasing the range of detection. This unique behavior occurs within a subwavelength cavity that is 1/10(th) of the wavelength of the incident acoustic wave, which provides up to a 13 dB SPL gain. We show that the amplification results from the Fabry-Perot resonance of the cavity, which has a simultaneously high effective refractive index and effective impedance. We also experimentally verify the SPL amplification in an underwater environment at higher frequencies using a sample with an identical unit cell size. The versatile scalability of the design shows promising applications in many areas, especially in acoustic imaging and underwater communication.

Hybrid numerical method for solution of the radiative transfer equation in one, two, or three dimensions.

PubMed

Reinersman, Phillip N; Carder, Kendall L

2004-05-01

A hybrid method is presented by which Monte Carlo (MC) techniques are combined with an iterative relaxation algorithm to solve the radiative transfer equation in arbitrary one-, two-, or three-dimensional optical environments. The optical environments are first divided into contiguous subregions, or elements. MC techniques are employed to determine the optical response function of each type of element. The elements are combined, and relaxation techniques are used to determine simultaneously the radiance field on the boundary and throughout the interior of the modeled environment. One-dimensional results compare well with a standard radiative transfer model. The light field beneath and adjacent to a long barge is modeled in two dimensions and displayed. Ramifications for underwater video imaging are discussed. The hybrid model is currently capable of providing estimates of the underwater light field needed to expedite inspection of ship hulls and port facilities.

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.

Rainfall Effects on the Kuroshio Current East of Taiwan

NASA Astrophysics Data System (ADS)

Hsu, Po-Chun; Lin, Chen-Chih; Ho, Chung-Ru

2017-04-01

Changes of sea surface salinity (SSS) in the open oceans are related to precipitation and evaporation. SSS has been an indicator of water cycle. It may be related to the global change. The Kuroshio Current, a western boundary current originating from the North Equatorial Current, transfers warm and higher salinity to higher latitudes. It flows northward along the east coasts of Luzon Island and Taiwan Island to Japan. In this study, effects of heavy rainfall on the Kuroshio surface salinity east of Taiwan are investigated. Sea surface salinity (SSS) data taken by conductivity temperature depth (CTD) sensor on R/V Ocean Researcher I cruises, conductivity sensor on eight glider cruises, and Aquarius satellite data are used in this study. The rain rate data derived from the Tropical Rainfall Measuring Mission (TRMM) Microwave Imager (TMI) are also employed. A glider is a kind of autonomous underwater vehicle, which uses small changes in its buoyancy in conjunction with wings to convert vertical motion to horizontal in the underwater without requiring input from an operator. It can take sensors to measure salinity, temperature, and pressure. The TRMM/TMI data from remote sensing system are daily and are mapped to 0.25-degree grid. The results show a good correlation between the rain rate and SSS with a correlation coefficient of 0.86. The rainfall causes SSS of the Kuroshio surface water drops 0.176 PSU per 1 mm/hr rain rate.

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.

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.

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.

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.

Distributed Fusion in Sensor Networks with Information Genealogy

DTIC Science & Technology

2011-06-28

image processing [2], acoustic and speech recognition [3], multitarget tracking [4], distributed fusion [5], and Bayesian inference [6-7]. For...Adaptation for Distant-Talking Speech Recognition." in Proc Acoustics. Speech , and Signal Processing, 2004 |4| Y Bar-Shalom and T 1-. Fortmann...used in speech recognition and other classification applications [8]. But their use in underwater mine classification is limited. In this paper, we

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.

Backstepping sliding mode control with functional tuning based on an instantaneous power approach applied to an underwater vehicle

NASA Astrophysics Data System (ADS)

Santos, Carlos Henrique Farias dos; Cildoz, Mariana Uzeda; Terra, Marco Henrique; De Pieri, Edson Roberto

2018-03-01

In this paper, we present a modified backstepping sliding mode control to deal with Euler-Lagrange systems. The controller is applied in an underwater vehicle in order to show the effectiveness of the approach proposed. Instantaneous power data provided by the propulsion system are used to tune the controller in order to guarantee robust performance and energy saving. Thanks to the combination of an internal Proportional Integral and Derivative (PID) controller, it is possible implement high gains to deal with the influence of disturbances and uncertainties. A comparative study among this backstepping sliding mode controller and standard sliding mode controls is presented.

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.

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...

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].

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.