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.

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

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

NASA Astrophysics Data System (ADS)

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

2007-06-01

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

An 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%.

The design, fabrication and delivery of a spacelab neutral buoyancy Instrument Pointing System (IPS) mockup. [underwater training simulator

NASA Technical Reports Server (NTRS)

Vanvalkenburgh, C. N.

1984-01-01

Underwater simulations of EVA contingency operations such as manual jettison, payload disconnect, and payload clamp actuation were used to define crew aid needs and mockup pecularities and characteristics to verify the validity of simulation using the trainer. A set of mockup instrument pointing system tests was conducted and minor modifications and refinements were made. Flight configuration struts were tested and verified to be operable by the flight crew. Tasks involved in developing the following end items are described: IPS gimbal system, payload, and payload clamp assembly; the igloos (volumetric); spacelab pallets, experiments, and hardware; experiment, and hardware; experiment 7; and EVA hand tools, support hardware (handrails and foot restraints). The test plan preparation and test support are also covered.

76 FR 52734 - Underwater Locating Devices (Acoustic) (Self-Powered)

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-23

...This notice announces the planned revocation of all Technical Standard Order authorizations (TSOA) issued for the production of Underwater Locating Devices (Acoustic) (Self-Powered) manufactured to the TSO-C121 and TSO-C121a specifications. These actions are necessary because the planned issuance of TSO-C121b, Underwater Locating Devices (Acoustic) (Self-Powered), with a minimum performance standard (MPS) that will increase the minimum operating life of Underwater Locating Devices from 30 days to 90 days.

77 FR 13174 - Underwater Locating Devices (Acoustic) (Self-Powered)

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-05

...This is a confirmation notice for the planned revocation of all Technical Standard Order authorizations issued for the production of Underwater Locating Devices (Acoustic) (Self-Powered) manufactured to the TSO-C121 and TSO-C121a specifications. These actions are necessary because the planned issuance of TSO-C121b, Underwater Locating Devices (Acoustic) (Self-Powered), minimum performance standard (MPS) will increase the minimum operating life of Underwater Locating Devices from 30 days to 90 days.

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 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.

Uncovering deep mysteries: the underwater life of an amphibious louse.

PubMed

Leonardi, Maria Soledad; Aznar, F Javier; Crespo, Enrique A; Lazzari, Claudio R

2014-12-01

Despite the incredible success of insects in colonizing almost every habitat, they remain virtually absent in one major environment--the open sea. A variety of hypotheses have been raised to explain why just a few insect species are present in the ocean, but none of them appears to be fully explanatory. Lice belonging to the family Echinophthiriidae are ectoparasites on different species of pinnipeds and river otters, i.e. they have amphibious hosts, who regularly perform long excursions into the open sea reaching depths of hundreds of meters (thousands of feets). Consequently, lice must be able to support not only changes in their surrounding media, but also extreme variations in hydrostatic pressure as well as breathing in a low oxygen atmosphere. In order to shed some light on the way lice can survive during the diving excursions of their hosts, we have performed a series of experiments to test the survival capability of different instars of Antarctophthirus microchir (Phthiraptera: Anoplura) from South American sea lions Otaria flavescens, when submerged into seawater. These experiments were aimed at analyzing: (a) immersion tolerance along the louse life; (b) lice's ability to obtain oxygen from seawater; (c) physiological responses and mechanisms involved in survival underwater. Our experiments showed that the forms present in non-diving pups--i.e. eggs and first-instar nymphs--were unable to tolerate immersion in water, while following instars and adults, all usually found in diving hosts, supported it very well. Furthermore, as long as the level of oxygen dissolved in water was higher, the lice survival capability underwater increased, and the recovery period after returning to air declined. These results are discussed in relation to host ecology, host exploitation and lice functional morphology. Copyright © 2014 Elsevier Ltd. All rights reserved.

On the importance of measurement system calibration for underwater passive monitoring

NASA Astrophysics Data System (ADS)

Miqueleti, S. A.; Costa-Félix, R. P. B.

2016-07-01

The underwater passive acoustic monitoring of sound in oceans is growing in recent years and has served as a source of information on marine life and the interference of human activities on the environment. The recordings are used for species identification and prevention of potential adverse effects of vessel traffic, sonar and offshore activities as a whole. However, not much attention is given to the calibration of the hydrophone used to ensure the validity of the information collected. The resulting sound depends on the input audio, and the transfer function of the intensity of the input signal. This paper presents an assessment of how the lack of calibration of hydroacoustic systems might compromise the evaluation of the marine environment.

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.

Energy-Efficient Underwater Surveillance by Means of Hybrid Aquacopters

DTIC Science & Technology

2014-12-01

life-cycle analysis, photovoltaic device maximum power point tracking (MPPT), and surface treatments for antifouling of the solar cells can be...108 3. Power Conversion and Storage...15 Figure 10. Shallow Water Analysis and Forecast System product, displaying regional ocean current vectors overlaying a sea surface

Underwater Turbulence Detection Using Gated Wavefront Sensing Technique

PubMed Central

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

2018-01-01

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

Underwater 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.

KSC-04pd1506

NASA Image and Video Library

2004-07-08

KENNEDY SPACE CENTER, FLA. - A dive boat is moored to the Life Support Buoy, anchored above the NOAA undersea station Aquarius, offshore from Key Largo. Underwater is the NASA Extreme Environment Mission Operations 6 (NEEMO-6) mission team: (left to right) Tara Ruttley, a biomedical engineer, and astronauts Nick Patrick, John Herrington and Doug Wheelock. The NEEMO-6 mission involves exposing an astronaut/scientist crew to a real mission experience in an extreme environment - Aquarius - to prepare for future space flight. Spacewalk-like diving excursions and field-tests on a variety of biomedical equipment are designed to help astronauts living aboard the International Space Station. To prepare for their 10-day stay, the team had dive training twice a day at the Life Support Buoy.

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

A prototype Crew Medical Restraint System (CMRS) for Space Station Freedom

NASA Technical Reports Server (NTRS)

Johnston, S. L.; Eichstadt, F. T.; Billica, R. D.

1992-01-01

The Crew Medical Restrain System (CMRS) is a prototype system designed and developed for use as a universally deployable medical restraint/workstation on Space Station Freedom (SSF), the Shuttle Transportation System (STS), and the Assured Crew Rescue Vehicle (ACRV) for support of an ill or injured crewmember requiring stabilization and transportation to Earth. The CMRS will support all medical capabilities of the Health Maintenance Facility (HMF) by providing a restraint/interface system for all equipment (advance life support packs, defibrillator, ventilator, portable oxygen supply, IV pump, transport monitor, transport aspirator, and intervenous fluids delivery system) and personnel (patient and crew medical officers). It must be functional within the STS, ACRV, and all SSF habitable volumes. The CMRS will allow for medical capabilities within CPR, ACLS and ATLS standards of care. This must all be accomplished for a worst case transport time scenario of 24 hours from SSF to a definitive medical care facility on Earth. A presentation of the above design prototype with its subsequent one year SSF/HMF and STS/ACRV high fidelity mock-up ground based simulation testing will be given. Also, parabolic flight and underwater Weightless Test Facility evaluations will be demonstrated for various medical contingencies. The final design configuration to date will be discussed with future space program impact considerations.

KSC-04pd1498

NASA Image and Video Library

2004-07-07

KENNEDY SPACE CENTER, FLA. - Disembarking from the boat in Key Largo are Otto Rutten and Marc Reagan, participating in the NASA Extreme Environment Mission Operations 6 (NEEMO-6) mission at the NOAA Aquarius underwater station offshore. Rutten is director for the National Underwater Research Center; Reagan is mission lead. The NEEMO-6 mission involves exposing an astronaut/scientist crew to a real mission experience in an extreme environment to prepare for future space flight. Spacewalk-like diving excursions and field-tests on a variety of biomedical equipment are designed to help astronauts living aboard the International Space Station. The NEEMO-6 team comprises astronaut John Herrington, mission commander, astronauts Doug Wheelock and Nick Patrick, and biomedical engineer Tara Ruttley. To prepare for their 10-day stay, the team had dive training twice a day at the Life Support Buoy, anchored above Aquarius.

CURV 3: Characteristics and mission applications

NASA Astrophysics Data System (ADS)

Perkins, W. W.; Brady, L. K.

1984-03-01

The Cable-Controlled Underwater Recovery Vehicle (CURV) program was begun by NOSC for the specific purpose of developing economical systems to recover test ordnance at NOSC's Long Beach and San Clemente Island test ranges. CURV 3 is the latest in this series of tethered, unmanned, remotely controlled vehicles and its present capabilities far exceed the original CURV 1. Originally conceived for use as a search and recovery vehicle, CURV has evolved into a versatile and easily adaptable multipurpose work vehicle capable of performing search and recovery tasks as well as pursuing test, evaluation, exploration, and work projects. Basically, CURV is a composite of integrated subsystems including such items as propulsion, search and navigation, optics, hydraulics, and tools. Because it is unmanned and does not require life support or other complex support systems, CURV is able to perform most undersea tasks more economically and efficiently than maned systems. Also, since it is powered and controlled from the surface, CURV has a continuous, unlimited operating capability. Under emergency conditions, the vehicle can operate to 10,000-foot depths. CURV can be easily transported to any spot in the world. Upon arrival of the vehicle, control van, cable, and support gear can be mounted on a suitable ship of opportunity.

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.

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.

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

DTIC Science & Technology

2011-09-30

channel interference mitigation for underwater acoustic MIMO - OFDM . 3) Turbo equalization for OFDM modulated physical layer network coding. 4) Blind CFO...Underwater Acoustic MIMO - OFDM . MIMO - OFDM has been actively studied for high data rate communications over the bandwidthlimited underwater acoustic...with the cochannel interference (CCI) due to parallel transmissions in MIMO - OFDM . Our proposed receiver has the following components: 1

WODA Technical Guidance on Underwater Sound from Dredging.

PubMed

Thomsen, Frank; Borsani, Fabrizio; Clarke, Douglas; de Jong, Christ; de Wit, Pim; Goethals, Fredrik; Holtkamp, Martine; Martin, Elena San; Spadaro, Philip; van Raalte, Gerard; Victor, George Yesu Vedha; Jensen, Anders

2016-01-01

The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic biota and advice on underwater sound monitoring procedures. The paper follows a risk-based approach and provides guidance for standardization of acoustic terminology and methods for data collection and analysis. Furthermore, the literature on dredging-related sounds and the effects of dredging sounds on marine life is surveyed and guidance on the management of dredging-related sound risks is provided.

Discovery of Sound in the Sea: Resources for Educators, Students, the Public, and Policymakers.

PubMed

Vigness-Raposa, Kathleen J; Scowcroft, Gail; Miller, James H; Ketten, Darlene R; Popper, Arthur N

2016-01-01

There is increasing concern about the effects of underwater sound on marine life. However, the science of sound is challenging. The Discovery of Sound in the Sea (DOSITS) Web site ( http://www.dosits.org ) was designed to provide comprehensive scientific information on underwater sound for the public and educational and media professionals. It covers the physical science of underwater sound and its use by people and marine animals for a range of tasks. Celebrating 10 years of online resources, DOSITS continues to develop new material and improvements, providing the best resource for the most up-to-date information on underwater sound and its potential effects.

Calibration Techniques for Accurate Measurements by Underwater Camera Systems

PubMed Central

Shortis, Mark

2015-01-01

Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems. PMID:26690172

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.

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.

KSC-04pd1499

NASA Image and Video Library

2004-07-07

KENNEDY SPACE CENTER, FLA. - After their return from a practice dive at the NOAA Aquarius underwater station offshore at Key Largo, Marc Reagan, John Herrington and Nick Patrick unload dive gear. Herrington is mission commander and Patrick is a member of the crew on the NASA Extreme Environment Mission Operations 6 (NEEMO-6) mission. Reagan is mission lead as well as underwater still photographer. The NEEMO-6 mission involves exposing an astronaut/scientist crew to a real mission experience in an extreme environment - the NOAA undersea station Aquarius offshore from Key Largo - to prepare for future space flight. Spacewalk-like diving excursions and field-tests on a variety of biomedical equipment are designed to help astronauts living aboard the International Space Station. Other team members are Doug Wheelock and biomedical engineer Tara Ruttley. To prepare for their 10-day stay, the team had dive training twice a day at the Life Support Buoy, anchored above Aquarius.

A Data Link Layer in Support of Swarming of Autonomous Underwater Vehicles

ERIC Educational Resources Information Center

Jabba Molinares, Daladier

2009-01-01

Communication underwater is challenging because of the inherent characteristics of the media. First, common radio frequency (RF) signals utilized in wireless communications cannot be used under water. RF signals are attenuated in such as way that RF communication underwater is restricted to very few meters. As a result, acoustic-based…

Quick-Connect Nut

NASA Technical Reports Server (NTRS)

1999-01-01

Marshall Space Flight Center (MSFC) has developed a specially-designed nut, called the Quick-Connect Nut, for quick and easy assembly of components in the harsh environment of space, as in assembly of International Space Station. The design permits nuts to be installed simply by pushing them onto standard bolts, then giving a quick twist. To remove, they are unscrewed like conventional nuts. Possible applications include the mining industry for erecting support barriers, assembling underwater oil drilling platforms, fire-fighting equipment, scaffolding, assembly-line machinery, industrial cranes, and even changing lug nuts on race cars. The speed of assembly can make the difference between life and death in different aspects of life on Earth.

Benefit from NASA

NASA Image and Video Library

1999-10-12

Marshall Space Flight Center (MSFC) has developed a specially-designed nut, called the Quick-Connect Nut, for quick and easy assembly of components in the harsh environment of space, as in assembly of International Space Station. The design permits nuts to be installed simply by pushing them onto standard bolts, then giving a quick twist. To remove, they are unscrewed like conventional nuts. Possible applications include the mining industry for erecting support barriers, assembling underwater oil drilling platforms, fire-fighting equipment, scaffolding, assembly-line machinery, industrial cranes, and even changing lug nuts on race cars. The speed of assembly can make the difference between life and death in different aspects of life on Earth.

Adhesion beyond the interface: Molecular adaptations of the mussel byssus to the intertidal zone

NASA Astrophysics Data System (ADS)

MIller, Dusty Rose

The California mussel, Mytilus californianus, adheres robustly in the high-energy and oxidizing intertidal zone with a fibrous holdfast called the byssus using 3,4-dihydroxyphenyl-L-alanine (Dopa)-containing adhesive mussel foot proteins (mfps). There are many supporting roles to mussel adhesion that are intimately linked and ultimately responsible for mussel byssus's durable and dynamic adhesion. This dissertation explores these supporting mechanisms, including delivery of materials underwater, iron binding, friction, and antioxidant activity. As the outermost covering of the byssus, the cuticle deserves particular attention for its supporting roles to adhesion including the high stiffness and extensibility of the M. californianus byssal cuticle, which make it one of the most energy tolerant materials known. The cuticle's matrix-granule composite structure contributes to its toughness by microcracking between its harder granules and softer matrix. We investigated delivery of cuticular material underwater, cohesion of cuticle proteins, and surface damage mitigation by cuticle protein-based coacervates. To investigate underwater material delivery, we made cuticle matrix mimics by coacervating a key cuticular protein, Mytilus californianus foot protein 1, mfp-1, with hyaluronic acid. These matrix mimics coacervated over a wide range of solution conditions, delivered concentrated material, settled on and coated surfaces underwater. Because the granules are composed of mfp-1 condensed with iron, we used the surface forces apparatus to investigate the effects of iron on the cohesion of mfp-1 from two different species of mussels and found that subtle sequence variations modulate cohesion. Using the coacervate matrix mimics and, modeling the granules as a hard surface (mica), we investigated the wear protection of coacervated mfp-1/HA to mica under frictional shear and found that preventing wear depends critically on the presence of Dopa groups. In addition to cuticle-derived mechanisms for adhesion protection, we also tested for direct chemical mechanisms by tracking redox in the mussel adhesive plaques and found a persistent reservoir of antioxidant activity that can protect Dopa from oxidation. Overall, the mussel byssus represents an excellent model system for understanding adaptive mechanisms of both underwater adhesives and tough materials and I propose in this dissertation that these supporting mechanisms are intimately linked and ultimately responsible for the durable and dynamic underwater adhesion of mussels in the intertidal zone.

Ocean Worlds Analog Systems in the Hadal Ocean: Systematic Examination of Pressure, Food Supply, Topography, and Evolution on Hadal Life

NASA Astrophysics Data System (ADS)

Shank, T. M.; German, C.; Machado, C.; Bowen, A.; Drazen, J.; Yancey, P.; Jamieson, A.; Rowden, A.; Clark, M.; Heyl, T.; Mayor, D.; Piertney, S.; Ruhl, H.

2018-05-01

Key questions on life’s evolution are being pursued in Earth’s hadal ocean, Earth’s only analog to Europa’s ocean. A recent WHOI-JPL partnership is developing an armada of autonomous underwater drone vehicles to explore of Earth’s and Europa’s oceans.

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.

Underground pipeline laying using the pipe-in-pipe system

NASA Astrophysics Data System (ADS)

Antropova, N.; Krets, V.; Pavlov, M.

2016-09-01

The problems of resource saving and environmental safety during the installation and operation of the underwater crossings are always relevant. The paper describes the existing methods of trenchless pipeline technology, the structure of multi-channel pipelines, the types of supporting and guiding systems. The rational design is suggested for the pipe-in-pipe system. The finite element model is presented for the most dangerous sections of the inner pipes, the optimum distance is detected between the roller supports.

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

Reconnaissance Report for Navigation Improvements (Reduction of Shoaling) at Santa Cruz Harbor Santa Cruz County, California

DTIC Science & Technology

1992-05-01

productive. Thus, the area supports a wide variety of marine and terrestrial life. This mild climate and richness of resources has facilitated human ...and they have the ability to coexist with many human endeavors in the marine environment. Although the sand trap will have to be dredged annually... human activity. I 5.4 Fish & Invertebrates East Jetty Sealing: The underwater spaces in the east jetty that are filled with fluidized sand are not

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.

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.

Underwater Acoustic Beacon Location System

DTIC Science & Technology

2016-12-23

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

Quantum imaging for underwater arctic navigation

NASA Astrophysics Data System (ADS)

Lanzagorta, Marco

2017-05-01

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

KSC-04pd1508

NASA Image and Video Library

2004-07-11

KENNEDY SPACE CENTER, FLA. - Onboard the dive boat at the Life Support Buoy offshore from Key Largo is Marc Reagan, mission lead for the NASA Extreme Environment Mission Operations 6 (NEEMO-6) mission. At right is Lt. Scott Sparks, a Navy medical officer. Reagan is also the underwater still photographer. The NEEMO-6 team comprises John Herrington, commander, Tara Ruttley, a biomedical engineer, and astronauts Nick Patrick and Doug Wheelock. The NEEMO-6 mission involves exposing an astronaut/scientist crew to a real mission experience in an extreme environment - the NOAA undersea station Aquarius - to prepare for future space flight. Spacewalk-like diving excursions and field-tests on a variety of biomedical equipment are designed to help astronauts living aboard the International Space Station. To prepare for their 10-day stay, the team had dive training twice a day at the Life Support Buoy, anchored above Aquarius.

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.

Diving beneath the Surface: Underwater Robotics Lessons Bring STEM to Life for Teachers in Guam

ERIC Educational Resources Information Center

Tweed, Anne; Arndt, Laura

2017-01-01

In spring 2014, education leaders from across Micronesia came together on the island of Guam to learn about underwater robotics and Marine Advanced Technology Education (MATE), a program based at Monterey Peninsula College in Monterey, California. Participants listened intently as they learned about building and participating in competitions with…

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.

Underwater Acoustic Transponders Tracking While Mapping With A Multibeam Echo-Sounder

NASA Astrophysics Data System (ADS)

de Moustier, C. P.; Franzheim, A.; Testa, W.; Burns, J. M.; Foy, R.

2010-12-01

A 160 kHz multibeam echo-sounder was used to interrogate and receive the replies from custom-built miniature underwater acoustic transponders attached to the carapace of king crabs in Womens Bay, Alaska. This new application of multibeam echo-sounders combines acoustic tracking and mapping, thus providing environmental context to the tracking information. Each transponder replies with its own coded sequence that stands out from other echoes received by the sonar. Range and bearing of the replies from multiple transponders can be obtained in a single sonar ping. The king crab experiment was done in 25-35 m of water depth, and the system was successfully tested without animals at 190 m depth. Work supported by NOAA's Undersea Research Program Grant G4768, with field work support from NOAA-NMFS/AFSC/RACE and Electronic Navigation Ltd.

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

NASA Astrophysics Data System (ADS)

Tan, Yayun; Zhang, He; Zha, Bingting

2017-09-01

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

Unmanned Underwater Vehicle (UUV) Information Study

DTIC Science & Technology

2014-11-28

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

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

DTIC Science & Technology

2013-09-30

underwater acoustic communication technologies for autonomous distributed underwater networks, through innovative signal processing, coding, and navigation...in real enviroments , an offshore testbed has been developed to conduct field experimetns. The testbed consists of four nodes and has been deployed...Leadership by the Connecticut Technology Council. Dr. Zhaohui Wang joined the faculty of the Department of Electrical and Computer Engineering at

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

PubMed

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

2008-09-01

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

Preparation of Polyurethane/Graphite Composite Films with Stable Mechanical Property and Wear Resistance Underwater.

PubMed

Wang, Miaomiao; Wang, Zubin; Chen, Qirong; Meng, Xiangfu; Heng, Liping

2018-06-01

The wear resistance and stable mechanical properties affect the service life of the underwater functional materials to a certain extent. Unfortunately, the current study of underwater functional materials is rarely related to these aspects. Herein, we successfully designed and prepared polyurethane/graphite nanosheet (PU/GN) composite materials, which exhibited excellent wear resistance and stable mechanical properties underwater. The PU/GN composite films were prepared by evaporating a mixed solution of PU and GN on concave hexagonal honeycomb silicon templates. The mechanical properties of the composite films were determined by tensile test, and the wear resistance was evaluated by comparing the surface morphology before and after grind. By adjusting the content of graphite in the composite films, we found that the composite films containing 23 wt% GN had higher tensile strength and superior wear resistance. Moreover, this composite film showed an outstanding stability when expose to water. The impressive results along with simple preparation process made PU/GN composite films had potential applications in robust underwater functional materials.

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.

New virtual sonar and wireless sensor system concepts

NASA Astrophysics Data System (ADS)

Houston, B. H.; Bucaro, J. A.; Romano, A. J.

2004-05-01

Recently, exciting new sensor array concepts have been proposed which, if realized, could revolutionize how we approach surface mounted acoustic sensor systems for underwater vehicles. Two such schemes are so-called ``virtual sonar'' which is formulated around Helmholtz integral processing and ``wireless'' systems which transfer sensor information through radiated RF signals. The ``virtual sonar'' concept provides an interesting framework through which to combat the dilatory effects of the structure on surface mounted sensor systems including structure-borne vibration and variations in structure-backing impedance. The ``wireless'' concept would eliminate the necessity of a complex wiring or fiber-optic external network while minimizing vehicle penetrations. Such systems, however, would require a number of advances in sensor and RF waveguide technologies. In this presentation, we will discuss those sensor and sensor-related developments which are desired or required in order to make practical such new sensor system concepts, and we will present several underwater applications from the perspective of exploiting these new sonar concepts. [Work supported by ONR.

Bringing the Ocean to the Precollege Classroom through field Investigations at a National Underwater Laboratory

DTIC Science & Technology

1998-09-30

was to use field experiences to 1) enhance educator capability in science content and skills, 2) immerse school systems in an inquiry-driven, active ... learning process, and 3) establish links to real-time scientific information in support of classroom activities. Participants capability in marine

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.

KSC-03pd1385

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - A team onboard the Liberty Star, the NASA Space Shuttle support ship operated by United Space Alliance, get ready to lower underwater research equipment into the water. An undersea expedition is underway to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

KSC-03pd1384

NASA Image and Video Library

2003-05-02

KENNEDY SPACE CENTER, FLA. - Underwater research equipment is prepared for immersion from the Liberty Star, the NASA Space Shuttle support ship operated by United Space Alliance. It is being used on an undersea expedition to characterize the condition of the deep-sea coral reefs and reef fish populations in the Oculina Banks, a marine protected area, 20 miles offshore of the east coast of Florida. The equipment includes an underwater robot, a seafloor sampler, and the Passive Acoustic Monitoring System (PAMS), originally developed by NASA to monitor the impact of rocket launches on wildlife refuge lagoons at KSC. The research is sponsored by NOAA Fisheries. The ship departed from Port Canaveral April 29 and will return May 9.

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

Effects of Offshore Wind Farms on the Early Life Stages of Dicentrarchus labrax.

PubMed

Debusschere, Elisabeth; De Coensel, Bert; Vandendriessche, Sofie; Botteldooren, Dick; Hostens, Kris; Vincx, Magda; Degraer, Steven

2016-01-01

Anthropogenically generated underwater noise in the marine environment is ubiquitous, comprising both intense impulse and continuous noise. The installation of offshore wind farms across the North Sea has triggered a range of ecological questions regarding the impact of anthropogenically produced underwater noise on marine wildlife. Our interest is on the impact on the "passive drifters," i.e., the early life stages of fish that form the basis of fish populations and are an important prey for pelagic predators. This study deals with the impact of pile driving and operational noise generated at offshore wind farms on Dicentrarchus labrax (sea bass) larvae.

Measuring Coastal Boating Noise to Assess Potential Impacts on Marine Life

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

Matzner, Shari; Jones, Mark E.

2011-07-01

Article requested for submission in Sea Technology Magazine describing the Underwater Noise From Small Boats. An Overlooked Component of the Acoustic Environment in Coastal Areas. Underwater noise and its effects on marine life deserve attention as human activity in the marine environment increases. Noise can affect fish and marine mammals in ways that are physiological, as in auditory threshold shifts, and behavioral, as in changes in foraging habits. One anthropogenic source of underwater noise that has received little attention to date is recreational boating. Coastal areas and archipelago regions, which play a crucial role in the marine ecosystem, are oftenmore » subject to high levels of boat traffic. In order to better understand the noise produced by a small powerboat, a test was conducted in Sequim Bay, Washington, using an instrumented research vessel and multiple acoustic sensors. The broadband noise and narrowband peak levels were observed from two different locations while the boat was operated under various conditions. The results, combined with background noise levels, sound propagation and local boat traffic patterns, can provide a picture of the total boating noise to which marine life may be subjected.« less

Impact of Vessel Noise on Oyster Toadfish (Opsanus tau) Behavior and Implications for Underwater Noise Management

NASA Astrophysics Data System (ADS)

Krahforst, Cecilia S.

Underwater noise and its impacts on marine life are growing management concerns. This dissertation considers both the ecological and social concerns of underwater noise, using the oyster toadfish (Opsanus tau) as a model species. Oyster toadfish call for mates using a boatwhistle sound, but increased ambient noise levels from vessels or other anthropogenic activities are likely to influence the ability of males to find mates. If increased ambient noise levels reduce fish fitness then underwater noise can impact socially valued ecosystem services (e.g. fisheries). The following ecological objectives of the impacts of underwater noise on oyster toadfish were investigated: (1) to determine how noise influences male calling behavior; (2) to assess how areas of high vessel activity ("noisy") and low vessel activity ("quiet") influence habitat utilization (fish standard length and occupancy rate); and (3) to discover if fitness (number of clutches and number of embryos per clutch) is lower in "noisy" compared with "quiet" sites. Field experiments were executed in "noisy" and "quiet" areas. Recorded calls by males in response to playback sounds (vessel, predator, and snapping shrimp sounds) and egg deposition by females ("noisy" vs. "quiet" sites) demonstrated that oyster toadfish are impacted by underwater noise. First, males decreased their call rates and called louder in response to increased ambient noise levels. Second, oyster toadfish selected nesting sites in areas with little or no inboard motorboat activity. Third, male oyster toadfish at "noisy" sites either had no egg clutches on their shelters or the number of embryos per clutch was significantly lower than in the "quiet" areas. Underwater noise and disturbance from vessels are influencing the fitness of the oyster toadfish. The social significance of the growing concerns regarding underwater noise was investigated by identifying dominant themes found within two types of texts: four recent underwater noise management strategy papers and 14 texts from the federal enabling legislation. To uncover themes that might reveal underlying cultural patterns and values, word frequency of key terms in each set of documents was compared using a correspondence analysis and network analyses. The predominant theme within the noise management documents was "assessing the acoustic impacts and protecting marine life [esp. marine mammals]." The legislative documents spanned a range of concerns but focused primarily on themes associated with the trade-offs between human use and the environment, such as resource "conservation" and "development." In terms of marine life, the enabling federal legislation used "fish" and the noise management documents focused on "marine mammals" as their primary animal of concern. This disparity between document types explained the paucity of ecosystem services that were discussed in the noise management documents because fish and fisheries provide important ecosystem services to the human population. By focusing more on the concept of fish, the noise management documents would be more effective at incorporating ecosystem services, which is likely to be more socially accepted than the current management initiatives.

An Underwater Target Detection System for Electro-Optical Imagery Data

DTIC Science & Technology

2010-06-01

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

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.

The influence of underwater turbulence on optical phase measurements

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

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.

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.

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

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.

The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

DTIC Science & Technology

1997-04-01

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

Underwater electric field detection system based on weakly electric fish

NASA Astrophysics Data System (ADS)

Xue, Wei; Wang, Tianyu; Wang, Qi

2018-04-01

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

Autonomous Adaptive Acoustic Relay Positioning

DTIC Science & Technology

2013-09-01

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

Maritime In Situ Sensing Inter-Operable Networks (MISSION)

DTIC Science & Technology

2013-09-30

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

System for fuel rod removal from a reactor module

DOEpatents

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

1988-07-28

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

System for fuel rod removal from a reactor module

DOEpatents

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

1990-01-01

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

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.

Experimental Investigations of the Effects of Underwater Explosions on Swimbladder Fish, II: 1975 Chesapeake Bay Tests

DTIC Science & Technology

1976-09-21

Ranges Environmental Effects of Explosions 20. ABSTRACT (Continue on reverse side It necessary and Identify by block number; The experiment...CHESAPEAKE BAY TESTS The Navy is required to consider the possible adverse environmental effects of its research operations. When such operations involve...the detonation of underwater explosions, one of the environmental factors to be evaluated is the effect of these explosions on nearby marine life

Affordable underwater wireless optical communication using LEDs

NASA Astrophysics Data System (ADS)

Pilipenko, Vladimir; Arnon, Shlomi

2013-09-01

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

An overview of underwater remotely manned Systems and sub-systems

NASA Technical Reports Server (NTRS)

Rechnitzer, A., B.

1975-01-01

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

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.

Underwater Sound Propagation Modeling Methods for Predicting Marine Animal Exposure.

PubMed

Hamm, Craig A; McCammon, Diana F; Taillefer, Martin L

2016-01-01

The offshore exploration and production (E&P) industry requires comprehensive and accurate ocean acoustic models for determining the exposure of marine life to the high levels of sound used in seismic surveys and other E&P activities. This paper reviews the types of acoustic models most useful for predicting the propagation of undersea noise sources and describes current exposure models. The severe problems caused by model sensitivity to the uncertainty in the environment are highlighted to support the conclusion that it is vital that risk assessments include transmission loss estimates with statistical measures of confidence.

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

PubMed

Nian, Rui; Liu, Fang; He, Bo

2013-07-16

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

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

PubMed Central

Nian, Rui; Liu, Fang; He, Bo

2013-01-01

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

Astronaut Bruce McCandless during an underwater test MMU/FSS in bldg 29 WETF

NASA Image and Video Library

1981-08-04

Astronaut Bruce McCandless during an underwater test of the Manned Maneuvering Unit (MMU) Flight Support Station (FSS) donning and doffing in the Bldg 29 Weightless Environment Training Facility (WETF). View is of McCandless wearing the extravehicular mobility unit (EMU), stepping into the MMU.

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.

Underwater-seal nasogastric tube drainage to relieve gastric distension caused by air swallowing.

PubMed

Solomon, A W; Bramall, J C; Ball, J

2011-02-01

Air swallowing can occur as a psychogenic phenomenon, because of abnormal anatomy, or during non-invasive positive pressure ventilation. Gross distension of the stomach with air can have severe consequences for the respiratory and gastrointestinal systems. We report the case of a 62-year-old man with severe dynamic hyperinflation due to chronic obstructive pulmonary disease, who developed respiratory failure requiring intubation a few hours after radical prostatectomy. Following a percutaneous tracheostomy and weaning of sedation on day six, his abdomen began to enlarge progressively. X-rays revealed massive gastric distension due to air swallowing, which continued despite all efforts to optimise therapy. The use of an underwater seal drainage system on a nasogastric tube improved ventilation and ultimately aided weaning from mechanical support. © 2010 The Authors. Anaesthesia © 2010 The Association of Anaesthetists of Great Britain and Ireland.

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

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

NASA Astrophysics Data System (ADS)

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

2010-02-01

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

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.

Research on the underwater target imaging based on the streak tube laser lidar

NASA Astrophysics Data System (ADS)

Cui, Zihao; Tian, Zhaoshuo; Zhang, Yanchao; Bi, Zongjie; Yang, Gang; Gu, Erdan

2018-03-01

A high frame rate streak tube imaging lidar (STIL) for real-time 3D imaging of underwater targets is presented in this paper. The system uses 532nm pulse laser as the light source, the maximum repetition rate is 120Hz, and the pulse width is 8ns. LabVIEW platform is used in the system, the system control, synchronous image acquisition, 3D data processing and display are realized through PC. 3D imaging experiment of underwater target is carried out in a flume with attenuation coefficient of 0.2, and the images of different depth and different material targets are obtained, the imaging frame rate is 100Hz, and the maximum detection depth is 31m. For an underwater target with a distance of 22m, the high resolution 3D image real-time acquisition is realized with range resolution of 1cm and space resolution of 0.3cm, the spatial relationship of the targets can be clearly identified by the image. The experimental results show that STIL has a good application prospect in underwater terrain detection, underwater search and rescue, and other fields.

Eco-hydro-acoustic modeling and its use as an EIA tool.

PubMed

Rossington, Kate; Benson, Tom; Lepper, Paul; Jones, Diane

2013-10-15

The effects of anthropogenic underwater noise on marine life is of growing concern and assessment of impacts on marine life is often carried out using predictive underwater noise models to map zones of influence for marine species. However, these models do not predict how a species may react to that noise. In this paper, the results from a modified predictive underwater noise model and a hydrodynamic model are used in an individual based model (IBM) to predict the impacts on cod (Gadhus moruha) from noise generated during a pile driving event at an offshore wind farm in Liverpool Bay, UK. The model included cod which were sensitive to noise and those which were insensitive ('deaf'). Fish movement was from the outer bay into the Dee Estuary, a known feeding ground. The IBM indicated that the cod which could hear took up to 7 days longer to reach their destination than the cod which were deaf. This technique could be used during the consenting process for offshore projects to better understand the potential impact on marine species. Copyright © 2013 Elsevier Ltd. All rights reserved.

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

Local Learning Strategies for Wake Identification

NASA Astrophysics Data System (ADS)

Colvert, Brendan; Alsalman, Mohamad; Kanso, Eva

2017-11-01

Swimming agents, biological and engineered alike, must navigate the underwater environment to survive. Tasks such as autonomous navigation, foraging, mating, and predation require the ability to extract critical cues from the hydrodynamic environment. A substantial body of evidence supports the hypothesis that biological systems leverage local sensing modalities, including flow sensing, to gain knowledge of their global surroundings. The nonlinear nature and high degree of complexity of fluid dynamics makes the development of algorithms for implementing localized sensing in bioinspired engineering systems essentially intractable for many systems of practical interest. In this work, we use techniques from machine learning for training a bioinspired swimmer to learn from its environment. We demonstrate the efficacy of this strategy by learning how to sense global characteristics of the wakes of other swimmers measured only from local sensory information. We conclude by commenting on the advantages and limitations of this data-driven, machine learning approach and its potential impact on broader applications in underwater sensing and navigation.

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.

A MAC Protocol to Support Monitoring of Underwater Spaces.

PubMed

Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio F; Meseguer, Roc; Eggly, Gabriel; Pistonesi, Marcelo F

2016-06-27

Underwater sensor networks are becoming an important field of research, because of their everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geolocalization, ocean sampling and early tsunamis alert. The challenge of performing underwater communications is well known, provided that radio signals are useless in this medium, and a wired solution is too expensive. Therefore, the sensors in these networks transmit their information using acoustic signals that propagate well under water. This data transmission type not only brings an opportunity, but also several challenges to the implementation of these networks, e.g., in terms of energy consumption, data transmission and signal interference. In order to help advance the knowledge in the design and implementation of these networks for monitoring underwater spaces, this paper proposes a MAC protocol for acoustic communications between the nodes, based on a self-organized time division multiple access mechanism. The proposal was evaluated using simulations of a real monitoring scenario, and the obtained results are highly encouraging.

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.

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

NASA Astrophysics Data System (ADS)

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

2002-01-01

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

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

NASA Astrophysics Data System (ADS)

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

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

A network coding based routing protocol for underwater sensor networks.

PubMed

Wu, Huayang; Chen, Min; Guan, Xin

2012-01-01

Due to the particularities of the underwater environment, some negative factors will seriously interfere with data transmission rates, reliability of data communication, communication range, and network throughput and energy consumption of underwater sensor networks (UWSNs). Thus, full consideration of node energy savings, while maintaining a quick, correct and effective data transmission, extending the network life cycle are essential when routing protocols for underwater sensor networks are studied. In this paper, we have proposed a novel routing algorithm for UWSNs. To increase energy consumption efficiency and extend network lifetime, we propose a time-slot based routing algorithm (TSR).We designed a probability balanced mechanism and applied it to TSR. The theory of network coding is introduced to TSBR to meet the requirement of further reducing node energy consumption and extending network lifetime. Hence, time-slot based balanced network coding (TSBNC) comes into being. We evaluated the proposed time-slot based balancing routing algorithm and compared it with other classical underwater routing protocols. The simulation results show that the proposed protocol can reduce the probability of node conflicts, shorten the process of routing construction, balance energy consumption of each node and effectively prolong the network lifetime.

A Network Coding Based Routing Protocol for Underwater Sensor Networks

PubMed Central

Wu, Huayang; Chen, Min; Guan, Xin

2012-01-01

Due to the particularities of the underwater environment, some negative factors will seriously interfere with data transmission rates, reliability of data communication, communication range, and network throughput and energy consumption of underwater sensor networks (UWSNs). Thus, full consideration of node energy savings, while maintaining a quick, correct and effective data transmission, extending the network life cycle are essential when routing protocols for underwater sensor networks are studied. In this paper, we have proposed a novel routing algorithm for UWSNs. To increase energy consumption efficiency and extend network lifetime, we propose a time-slot based routing algorithm (TSR).We designed a probability balanced mechanism and applied it to TSR. The theory of network coding is introduced to TSBR to meet the requirement of further reducing node energy consumption and extending network lifetime. Hence, time-slot based balanced network coding (TSBNC) comes into being. We evaluated the proposed time-slot based balancing routing algorithm and compared it with other classical underwater routing protocols. The simulation results show that the proposed protocol can reduce the probability of node conflicts, shorten the process of routing construction, balance energy consumption of each node and effectively prolong the network lifetime. PMID:22666045

A Wide Area Risk Assessment Framework for Underwater Military Munitions Response

NASA Astrophysics Data System (ADS)

Holland, K. T.; Calantoni, J.

2017-12-01

Our objective was to develop a prototype statistical framework supporting Wide Area Assessment and Remedial Investigation decisions relating to the risk of unexploded ordnance and other military munitions concentrated in underwater environments. Decision making involving underwater munitions is inherently complex due to the high degree of uncertainty in the environmental conditions that force munitions responses (burial, decay, migration, etc.) and associated risks to the public. The prototype framework provides a consistent approach to accurately delineating contaminated areas at underwater munitions sites through the estimation of most probable concentrations. We adapted existing deterministic models and environmental data services for use within statistical modules that allowed the estimation of munition concentration given historic site information and environmental attributes. Ultimately this risk surface can be used to evaluate costs associated with various remediation approaches (e.g. removal, monitoring, etc.). Unfortunately, evaluation of the assessment framework was limited due to the lack of enduser data services from munition site managers. Of the 450 U.S. sites identified as having potential contamination with underwater munitions, assessment of available munitions information (including historic firing or disposal records, and recent ground-truth munitions samples) indicated very limited information in the databases. Example data types include the most probable munition types, approximate firing / disposal dates and locations, and any supportive munition survey or sampling results. However the overall technical goal to integrate trained statistical belief networks with detailed geophysical knowledge of sites, of sensors and of the underwater environment was demonstrated and should allow probabilistic estimates of the most likely outcomes and tradeoffs while managing uncertainty associated with military munitions response.

Nautilus at Risk – Estimating Population Size and Demography of Nautilus pompilius

PubMed Central

Dunstan, Andrew; Bradshaw, Corey J. A.; Marshall, Justin

2011-01-01

The low fecundity, late maturity, long gestation and long life span of Nautilus suggest that this species is vulnerable to over-exploitation. Demand from the ornamental shell trade has contributed to their rapid decline in localized populations. More data from wild populations are needed to design management plans which ensure Nautilus persistence. We used a variety of techniques including capture-mark-recapture, baited remote underwater video systems, ultrasonic telemetry and remotely operated vehicles to estimate population size, growth rates, distribution and demographic characteristics of an unexploited Nautilus pompilius population at Osprey Reef (Coral Sea, Australia). We estimated a small and dispersed population of between 844 and 4467 individuals (14.6–77.4 km−2) dominated by males (83∶17 male∶female) and comprised of few juveniles (<10%).These results provide the first Nautilid population and density estimates which are essential elements for long-term management of populations via sustainable catch models. Results from baited remote underwater video systems provide confidence for their more widespread use to assess efficiently the size and density of exploited and unexploited Nautilus populations worldwide. PMID:21347360

Tools for Tomorrow’s Science and Technology Workforce: MATE’s 2006 ROV Competition Sets Students’ Sights on Ocean Observing Systems

DTIC Science & Technology

2006-09-01

Underwater Robot Challenge was organized and supported by the City University of Hong Kong and the WWF (Worldwide Fund for Nature). THE POWER OF... PARTNERSHIP In addition to providing background information and resources for developing the mission scenario, working with Ocean.US and the ORION

Using technology to interact with the natural environment: part ii

Treesearch

Laurie Harmon; Mark Gleason

2007-01-01

In 2005, the underwater remotely operated vehicle (ROV) was introduced at the Northeastern Recreation Research Symposium as a tool for connecting people with the natural environment. During 2004 and 2005, we used the ROV to support research and involve the public in educational programs, thereby fostering a greater understanding of our underwater resources of Lake...

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.

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.

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.

A simple protocol using underwater epoxy to install annual temperature monitoring sites in rivers and streams

Treesearch

Daniel J. Isaak; Dona L. Horan; Sherry P. Wollrab

2013-01-01

Thermal regimes in rivers and streams are fundamental determinants of biological processes and are often monitored for regulatory compliance. Here, we describe a simple technique for establishing annual monitoring sites that uses underwater epoxy to attach miniature sensors to large rocks and cement bridge supports, which then serve as protective anchors. More than 500...

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

PubMed Central

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

2014-01-01

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

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

PubMed

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

2014-03-07

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

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.

Automatic electronic fish tracking system

NASA Technical Reports Server (NTRS)

Osborne, P. W.; Hoffman, E.; Merriner, J. V.; Richards, C. E.; Lovelady, R. W.

1976-01-01

A newly developed electronic fish tracking system to automatically monitor the movements and migratory habits of fish is reported. The system is aimed particularly at studies of effects on fish life of industrial facilities which use rivers or lakes to dump their effluents. Location of fish is acquired by means of acoustic links from the fish to underwater Listening Stations, and by radio links which relay tracking information to a shore-based Data Base. Fish over 4 inches long may be tracked over a 5 x 5 mile area. The electronic fish tracking system provides the marine scientist with electronics which permit studies that were not practical in the past and which are cost-effective compared to manual methods.

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.

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

Comparative assessment of amphibious hearing in pinnipeds.

PubMed

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

2013-06-01

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

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.

Controlling autonomous underwater floating platforms using bacterial fermentation.

PubMed

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

2013-01-01

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

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.

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.

Controlled Ecological Life Support System. Life Support Systems in Space Travel

NASA Technical Reports Server (NTRS)

Macelroy, R. D. (Editor); Smernoff, D. T. (Editor); Klein, H. P. (Editor)

1985-01-01

Life support systems in space travel, in closed ecological systems were studied. Topics discussed include: (1) problems of life support and the fundamental concepts of bioregeneration; (2) technology associated with physical/chemical regenerative life support; (3) projection of the break even points for various life support techniques; (4) problems of controlling a bioregenerative life support system; (5) data on the operation of an experimental algal/mouse life support system; (6) industrial concepts of bioregenerative life support; and (7) Japanese concepts of bioregenerative life support and associated biological experiments to be conducted in the space station.

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 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

A Support Vector Learning-Based Particle Filter Scheme for Target Localization in Communication-Constrained Underwater Acoustic Sensor Networks

PubMed Central

Zhang, Chenglin; Yan, Lei; Han, Song; Guan, Xinping

2017-01-01

Target localization, which aims to estimate the location of an unknown target, is one of the key issues in applications of underwater acoustic sensor networks (UASNs). However, the constrained property of an underwater environment, such as restricted communication capacity of sensor nodes and sensing noises, makes target localization a challenging problem. This paper relies on fractional sensor nodes to formulate a support vector learning-based particle filter algorithm for the localization problem in communication-constrained underwater acoustic sensor networks. A node-selection strategy is exploited to pick fractional sensor nodes with short-distance pattern to participate in the sensing process at each time frame. Subsequently, we propose a least-square support vector regression (LSSVR)-based observation function, through which an iterative regression strategy is used to deal with the distorted data caused by sensing noises, to improve the observation accuracy. At the same time, we integrate the observation to formulate the likelihood function, which effectively update the weights of particles. Thus, the particle effectiveness is enhanced to avoid “particle degeneracy” problem and improve localization accuracy. In order to validate the performance of the proposed localization algorithm, two different noise scenarios are investigated. The simulation results show that the proposed localization algorithm can efficiently improve the localization accuracy. In addition, the node-selection strategy can effectively select the subset of sensor nodes to improve the communication efficiency of the sensor network. PMID:29267252

A Support Vector Learning-Based Particle Filter Scheme for Target Localization in Communication-Constrained Underwater Acoustic Sensor Networks.

PubMed

Li, Xinbin; Zhang, Chenglin; Yan, Lei; Han, Song; Guan, Xinping

2017-12-21

Target localization, which aims to estimate the location of an unknown target, is one of the key issues in applications of underwater acoustic sensor networks (UASNs). However, the constrained property of an underwater environment, such as restricted communication capacity of sensor nodes and sensing noises, makes target localization a challenging problem. This paper relies on fractional sensor nodes to formulate a support vector learning-based particle filter algorithm for the localization problem in communication-constrained underwater acoustic sensor networks. A node-selection strategy is exploited to pick fractional sensor nodes with short-distance pattern to participate in the sensing process at each time frame. Subsequently, we propose a least-square support vector regression (LSSVR)-based observation function, through which an iterative regression strategy is used to deal with the distorted data caused by sensing noises, to improve the observation accuracy. At the same time, we integrate the observation to formulate the likelihood function, which effectively update the weights of particles. Thus, the particle effectiveness is enhanced to avoid "particle degeneracy" problem and improve localization accuracy. In order to validate the performance of the proposed localization algorithm, two different noise scenarios are investigated. The simulation results show that the proposed localization algorithm can efficiently improve the localization accuracy. In addition, the node-selection strategy can effectively select the subset of sensor nodes to improve the communication efficiency of the sensor network.

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.

Summary Report Panel 1: The Need for Protocols and Standards in Research on Underwater Noise Impacts on Marine Life.

PubMed

Erbe, Christine; Ainslie, Michael A; de Jong, Christ A F; Racca, Roberto; Stocker, Michael

2016-01-01

As concern about anthropogenic noise and its impacts on marine fauna is increasing around the globe, data are being compared across populations, species, noise sources, geographic regions, and time. However, much of the raw and processed data are not comparable due to differences in measurement methodology, analysis and reporting, and a lack of metadata. Common protocols and more formal, international standards are needed to ensure the effectiveness of research, conservation, regulation and practice, and unambiguous communication of information and ideas. Developing standards takes time and effort, is largely driven by a few expert volunteers, and would benefit from stakeholders' contribution and support.

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

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

Stepanov, Vyacheslav; Potapov, Victor; Safronov, Alexey

2013-07-01

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

Deformable Self-Propelled Micro-Object Comprising Underwater Oil Droplets

NASA Astrophysics Data System (ADS)

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

2016-08-01

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

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

NASA Astrophysics Data System (ADS)

Zhou, Zhi

2017-12-01

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

A study on practical use of underwater abrasive water jet cutting

NASA Astrophysics Data System (ADS)

Yamaguchi, Hitoshi; Demura, Kenji

1993-09-01

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

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

PubMed

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

2016-08-09

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

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.

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

DTIC Science & Technology

2014-01-01

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

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.

Ethylene-promoted elongation: an adaptation to submergence stress.

PubMed

Jackson, Michael B

2008-01-01

A sizeable minority of taxa is successful in areas prone to submergence. Many such plants elongate with increased vigour when underwater. This helps to restore contact with the aerial environment by shortening the duration of inundation. Poorly adapted species are usually incapable of this underwater escape. Evidence implicating ethylene as the principal factor initiating fast underwater elongation by leaves or stems is evaluated comprehensively along with its interactions with other hormones and gases. These interactions make up a sequence of events that link the perception of submergence to a prompt acceleration of extension. The review encompasses whole plant physiology, cell biology and molecular genetics. It includes assessments of how submergence threatens plant life and of the extent to which the submergence escape demonstrably improves the likelihood of survival. Experimental testing over many years establishes ethylene-promoted underwater extension as one of the most convincing examples of hormone-mediated stress adaptation by plants. The research has utilized a wide range of species that includes numerous angiosperms, a fern and a liverwort. It has also benefited from detailed physiological and molecular studies of underwater elongation by rice (Oryza sativa) and the marsh dock (Rumex palustris). Despite complexities and interactions, the work reveals that the signal transduction pathway is initiated by the simple expediency of physical entrapment of ethylene within growing cells by a covering of water.

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.

History of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

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

Herndon, J.N.

1992-05-01

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith`s tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle`s remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less

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.

Numerical modelling of underwater detonation of non-ideal condensed-phase explosives

NASA Astrophysics Data System (ADS)

Schoch, Stefan; Nikiforakis, Nikolaos

2015-01-01

The interest in underwater detonation tests originated from the military, since the expansion and subsequent collapse of the explosive bubble can cause considerable damage to surrounding structures or vessels. In military applications, the explosive is typically represented as a pre-burned material under high pressure, a reasonable assumption due to the short reaction zone lengths, and complete detonation of the unreacted explosive. Hence, numerical simulations of underwater detonation tests have been primarily concerned with the prediction of target loading and the damage incurred rather than the accurate modelling of the underwater detonation process. The mining industry in contrast has adopted the underwater detonation test as a means to experimentally characterise the energy output of their highly non-ideal explosives depending on explosive type and charge configuration. This characterisation requires a good understanding of how the charge shape, pond topography, charge depth, and additional charge confinement affect the energy release, some of which can be successfully quantified with the support of accurate numerical simulations. In this work, we propose a numerical framework which is able to capture the non-ideal explosive behaviour and in addition is capable of capturing both length scales: the reaction zone and the pond domain. The length scale problem is overcome with adaptive mesh refinement, which, along with the explosive model, is validated against experimental data of various TNT underwater detonations. The variety of detonation and bubble behaviour observed in non-ideal detonations is demonstrated in a parameter study over the reactivity of TNT. A representative underwater mining test containing an ammonium-nitrate fuel-oil ratestick charge is carried out to demonstrate that the presented method can be readily applied alongside experimental underwater detonation tests.

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.

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

PubMed

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

2013-02-25

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

Underwater detection by using ultrasonic sensor

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

The Role of Training in the Development of Adaptive Mechanisms in Freedivers

PubMed Central

Ostrowski, Andrzej; Strzała, Marek; Stanula, Arkadiusz; Juszkiewicz, Mirosław; Pilch, Wanda; Maszczyk, Adam

2012-01-01

Freediving is a sport in which athletes aim to achieve the longest or the deepest breath-hold dive. Divers are at risk of gradually increasing hypoxia and hypercapnia due to a long time spent underwater and additionally of increasing hyperoxia while depth diving. Exceeding the limits of hypoxia endurance leads to loss of consciousness or even to death whithout immediate first aid. Often enhanced world records indicate the ability to shape specific to the discipline adaptive mechanisms of cardio-pulmonary system which are individually conditioned. During stay underwater heartbeats decelerating called bradycardia, increase in blood pressure, peripheral blood vessels narrowing and blood centralization in freediver’s organism. These mechanisms enhance blood oxygen management as well as transporting it first of all to essential for survival organs, i.e. brain and heart. These mechanisms are supported by spleen and adrenal glands hormonal reactions. PMID:23487544

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

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.

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 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

NASA Life Sciences Program

NASA Technical Reports Server (NTRS)

1995-01-01

This Life Science Program video examines the variety of projects that study both the physiological and psychological impacts on astronauts due to extended space missions. The hazards of space radiation and microgravity effects on the human body are described, along with these effects on plant growth, and the performance of medical procedures in space. One research technique, which is hoped to provide help for future space travel, is the study of aquanauts and their life habits underwater.

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

PubMed

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

2018-04-16

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

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

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

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

Coast Guard Maritime Security in the Underwater Domain

DTIC Science & Technology

2015-02-06

appreciate the endless love and support of my wife, Amanda, and our children , Nina and Benton. It is only through their tremendous patience and understanding...Truver, 2012) In this case, a private tugboat found the IED on the surface 1 in a plastic bag. Fortunately, there were no injuries , but the case...ALMDS), (Truver, 2012). These systems are reviewed later in this chapter under heading C. Analysis of Alternatives later in this chapter. 2. Baseline

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.

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.

Distant touch hydrodynamic imaging with an artificial lateral line.

PubMed

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

2006-12-12

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

Underwater Hearing in Turtles.

PubMed

Willis, Katie L

2016-01-01

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

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

Biomedical Support of U.S. Extravehicular Activity

NASA Technical Reports Server (NTRS)

Gernhardt, Michael L.; Dervay, J. P.; Gillis, D.; McMann, H. J.; Thomas, K. S.

2007-01-01

The world's first extravehicular activity (EVA) was performed by A. A. Leonov on March 18, 1965 during the Russian Voskhod-2 mission. The first US EVA was executed by Gemini IV astronaut Ed White on June 3, 1965, with an umbilical tether that included communications and an oxygen supply. A hand-held maneuvering unit (HHMU) also was used to test maneuverability during the brief EVA; however the somewhat stiff umbilical limited controlled movement. That constraint, plus difficulty returning through the vehicle hatch, highlighted the need for increased thermal control and improved EVA ergonomics. Clearly, requirements for a useful EVA were interrelated with the vehicle design. The early Gemini EVAs generated requirements for suits providing micro-meteor protection, adequate visual field and eye protection from solar visual and infrared radiation, gloves optimized for dexterity while pressurized, and thermal systems capable of protecting the astronaut while rejecting metabolic heat during high workloads. Subsequent Gemini EVAs built upon this early experience and included development of a portable environmental control and life support systems (ECLSS) and an astronaut maneuvering unit. The ECLSS provided a pressure vessel and controller with functional control over suit pressure, oxygen flow, carbon dioxide removal, humidity, and temperature control. Gemini EVA experience also identified the usefulness of underwater neutral buoyancy and altitude chamber task training, and the importance of developing reliable task timelines. Improved thermal management and carbon dioxide control also were required for high workload tasks. With the Apollo project, EVA activity was primarily on the lunar surface; and suit durability, integrated liquid cooling garments, and low suit operating pressures (3.75 pounds per square inch absolute [psia] or 25.8 kilopascal [kPa],) were required to facilitate longer EVAs with ambulation and significant physical workloads with average metabolic rates of 1000 BTU/hr and peaks of up to 2200 BTU/hr. Mobility was further augmented with the Lunar Roving Vehicle. The Apollo extravehicular mobility unit (EMU) was made up of over 15 components, ranging from a biomedical belt for capturing and transmitting biomedical data, urine and fecal containment systems, a liquid cooling garment, communications cap, a modular portable life support system (PLSS), a boot system, thermal overgloves, and a bubble helmet with eye protection. Apollo lunar astronauts performed successful EVAs on the lunar surface from a 5 psia (34.4 kPa) 100% oxygen environment in the Lunar Lander. A maximum of three EVAs were performed on any mission. For Skylab a modified A7LB suit, used for Apollo 15, was selected. The Skylab astronaut life support assembly (ALSA) provided umbilical support through the life support umbilical (LSU) and used open loop oxygen flow, rather than closed-loop as in Apollo missions. Thermal control was provided by liquid water circulated by spacecraft pumps and electrical power also was provided from the spacecraft via the umbilical. The cabin atmosphere of 5 psia (34.4 kPa), 70% oxygen, provided a normoxic atmosphere and because of the very low nitrogen partial pressures, no special protocols were required to protect against decompression sickness (DCS) as was the case with the Apollo spacecraft with a 5 psi, 100% oxygen environment.

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.

A historical perspective of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

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

Herndon, J.N.

1992-12-31

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. The technology which we recognize today as remote technology has evolved over the last 45 years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extended reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety.more » The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed largely due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Manipulation systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Viewing systems have included periscopes, shield windows, and television systems. Experience over the past 45 years indicates that maintenance system flexibility is essential to typical repair tasks because they are usually not repetitive, structured, or planned. Fully remote design (manipulation, task provisions, remote tooling, and facility synergy) is essential to work task efficiency. Work for space applications has been primarily research oriented with relatively few successful space applications, although the shuttle`s remote manipulator system has been quite successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus.« less

Influence of range-gated intensifiers on underwater imaging system SNR

NASA Astrophysics Data System (ADS)

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

2013-08-01

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

The Effects: Dead Zones and Harmful Algal Blooms

EPA Pesticide Factsheets

Excess nitrogen and phosphorus can cause algae blooms. The overgrowth of algae consumes oxygen and blocks sunlight from underwater plants. When the algae die, the oxygen in the water is consumed, making it impossible for aquatic life to survive.

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.

Underwater Facilities Inspection and Assessment at Magnetic Silencing Facility, Naval Submarine Base, Trident Support Site, Bangor, Washington.

DTIC Science & Technology

1980-10-01

failure was noted in any other area of the facility. :’.. - . - ..- UNDERWATER FACILITI ES INSPECTION AND ASSESSMENT AT S- MAGNETIC SILENCING FACILITY...piling were found to be in excellent condition. No damage or failure was noted in any other * area of the facility. EXECUTIVE SUI’IARY TABLE U Piling...5-1 LEGEND TO TABLES. .... ........... ........ T-1 - -TABLE 1: REMAINING CROSS-SECTIONAL AREA AND DESCRIPTION OF DAMAGE TO

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.

History of remote operations and robotics in nuclear facilities

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

Herndon, J.N.

1992-01-01

The field of remote technology is continuing to evolve to support man's efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith's tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle's remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less

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.

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

PubMed

Bannasch, R

1986-01-01

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

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.

SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots.

PubMed

Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

2017-03-11

In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning.

Outage analysis of relay-assisted underwater wireless optical communication systems

NASA Astrophysics Data System (ADS)

Tabeshnezhad, Azadeh; Pourmina, Mohammad Ali

2017-12-01

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

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

DTIC Science & Technology

2012-05-01

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

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

NASA Technical Reports Server (NTRS)

1983-01-01

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

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

PubMed

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

2016-03-11

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

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

PubMed Central

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

2016-01-01

This paper researches an AUV (Autonomous Underwater Vehicle) positioning method based on SINS (Strapdown Inertial Navigation System)/LBL (Long Base Line) tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy correlation peak problem of underwater LBL acoustic propagation multipath could be solved based on SINS positional information, thus improving LBL positional accuracy. Moreover, introduction of SINS-centered LBL locating information could compensate accumulative AUV position error effectively and regularly. Compared to loosely coupled algorithm, this tightly coupled algorithm can still provide accurate location information when there are fewer than four available hydrophones (or within the signal receiving range). Therefore, effective positional calibration area of tightly coupled system based on LBL array is wider and has higher reliability and fault tolerance than loosely coupled. It is more applicable to AUV positioning based on SINS/LBL. PMID:26978361

Magnetic gradiometer for underwater detection applications

NASA Astrophysics Data System (ADS)

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

2006-05-01

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

Study of opto-acoustic communication between air and underwater carrier

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

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.

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.

Extended mission life support systems

NASA Technical Reports Server (NTRS)

Quattrone, P. D.

1985-01-01

Extended manned space missions which include interplanetary missions require regenerative life support systems. Manned mission life support considerations are placed in perspective and previous manned space life support system technology, activities and accomplishments in current supporting research and technology (SR&T) programs are reviewed. The life support subsystem/system technologies required for an enhanced duration orbiter (EDO) and a space operations center (SOC), regenerative life support functions and technology required for manned interplanetary flight vehicles, and future development requirements are outlined. The Space Shuttle Orbiters (space transportation system) is space cabin atmosphere is maintained at Earth ambient pressure of 14.7 psia (20% O2 and 80% N2). The early Shuttle flights will be seven-day flights, and the life support system flight hardware will still utilize expendables.

Outstanding Science Trade Books for Children in 1991.

ERIC Educational Resources Information Center

Science and Children, 1992

1992-01-01

Presents an annotated bibliography listed under the following categories: (1) Animals; (2) Archaeology, Anthropology, and Paleontology; (3) Biography; (4) Environment and Conservation; (5) Nature and Life; (6) Physics, Technology, and Engineering; and (7) Underwater and Outer Space. Selection criteria are given. (MDH)

50 CFR 32.72 - Guam.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Contained Underwater Breathing Apparatus (SCUBA) to take fish or invertebrates. 6. We prohibit anchoring... Fisheries UNITED STATES FISH AND WILDLIFE SERVICE, DEPARTMENT OF THE INTERIOR (CONTINUED) THE NATIONAL.... [Reserved] C. Big Game Hunting. [Reserved] D. Sport Fishing. Anglers may fish and collect marine life on...

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.

Using underwater video imaging as an assessment tool for coastal condition

EPA Science Inventory

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

NREL and Sandia National Laboratories (SNL) Support of Ocean Renewable Power Company's TidGen™ Power System Technology Readiness Advancement Initiative Project

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

LiVecchi, Al

2015-05-07

This document summarizes the tasks identified for National Laboratory technical support of Ocean Renewable Power Corporation (ORPC) DOE grant awarded under the FY10 Industry Solicitation DE-FOA-0000293: Technology Readiness Advancement Initiative. The system ORPC will deploy in Cobscook Bay, ME is known as the TidGen™ Power System. The Turbine Generator Unit (TGU) each have a rated capacity of 150 to 175 kW, and they are mounted on bottom support frames and connected to an onshore substation using an underwater power and control cable. This system is designed for tidal energy applications in water depths from 60 to 150 feet. In fundingmore » provided separately by DOE, National Laboratory partners NREL and SNL will provide in-kind resources and technical expertise to help ensure that industry projects meet DOE WWPP (Wind and Water Power Program) objectives by reducing risk to these high value projects.« less

Physical Oceanography Report. Helicopter-Based STD Data from MIZEX 83 (Marginal Ice Zone Experiment).

DTIC Science & Technology

1984-09-01

platform /sonde-cradle support system was developed at Lamont to specifically conform to the passenger compartment ofI Unfortunately, the 202 underwater...NN o Ito~,O rd-toc,-t CD 0 000-0 N-10 6, )-0ooUo06oOo owo V 000000 WIX ; OAO. N AIN to.6uIND- 6ro"~ooo’o NK 6-ooW m 0 0 Lai 0 .NN NN I 0 Z M’%W~0~N

Automatic optical detection and classification of marine animals around MHK converters using machine vision

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

Brunton, Steven

Optical systems provide valuable information for evaluating interactions and associations between organisms and MHK energy converters and for capturing potentially rare encounters between marine organisms and MHK device. The deluge of optical data from cabled monitoring packages makes expert review time-consuming and expensive. We propose algorithms and a processing framework to automatically extract events of interest from underwater video. The open-source software framework consists of background subtraction, filtering, feature extraction and hierarchical classification algorithms. This principle classification pipeline was validated on real-world data collected with an experimental underwater monitoring package. An event detection rate of 100% was achieved using robustmore » principal components analysis (RPCA), Fourier feature extraction and a support vector machine (SVM) binary classifier. The detected events were then further classified into more complex classes – algae | invertebrate | vertebrate, one species | multiple species of fish, and interest rank. Greater than 80% accuracy was achieved using a combination of machine learning techniques.« less

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 .

Crystallization to polycrystalline silicon thin film and simultaneous inactivation of electrical defects by underwater laser annealing

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

Machida, Emi; Research Fellowships of the Japan Society for the Promotion of Science, Japan Society for the Promotion of Science, 1-8 Chiyoda, Tokyo 102-8472; Horita, Masahiro

2012-12-17

We propose a low-temperature laser annealing method of a underwater laser annealing (WLA) for polycrystalline silicon (poly-Si) films. We performed crystallization to poly-Si films by laser irradiation in flowing deionized-water where KrF excimer laser was used for annealing. We demonstrated that the maximum value of maximum grain size of WLA samples was 1.5 {mu}m, and that of the average grain size was 2.8 times larger than that of conventional laser annealing in air (LA) samples. Moreover, WLA forms poly-Si films which show lower conductivity and larger carrier life time attributed to fewer electrical defects as compared to LA poly-Si films.

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.

Space Station Freedom ECLSS: A step toward autonomous regenerative life support systems

NASA Technical Reports Server (NTRS)

Dewberry, Brandon S.

1990-01-01

The Environmental Control and Life Support System (ECLSS) is a Freedom Station distributed system with inherent applicability to extensive automation primarily due to its comparatively long control system latencies. These allow longer contemplation times in which to form a more intelligent control strategy and to prevent and diagnose faults. The regenerative nature of the Space Station Freedom ECLSS will contribute closed loop complexities never before encountered in life support systems. A study to determine ECLSS automation approaches has been completed. The ECLSS baseline software and system processes could be augmented with more advanced fault management and regenerative control systems for a more autonomous evolutionary system, as well as serving as a firm foundation for future regenerative life support systems. Emerging advanced software technology and tools can be successfully applied to fault management, but a fully automated life support system will require research and development of regenerative control systems and models. The baseline Environmental Control and Life Support System utilizes ground tests in development of batch chemical and microbial control processes. Long duration regenerative life support systems will require more active chemical and microbial feedback control systems which, in turn, will require advancements in regenerative life support models and tools. These models can be verified using ground and on orbit life support test and operational data, and used in the engineering analysis of proposed intelligent instrumentation feedback and flexible process control technologies for future autonomous regenerative life support systems, including the evolutionary Space Station Freedom ECLSS.

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.

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

Selfies of Imperial Cormorants (Phalacrocorax atriceps): What Is Happening Underwater?

PubMed Central

Gómez-Laich, Agustina; Yoda, Ken; Zavalaga, Carlos; Quintana, Flavio

2015-01-01

During the last few years, the development of animal-borne still cameras and video recorders has enabled researchers to observe what a wild animal sees in the field. In the present study, we deployed miniaturized video recorders to investigate the underwater foraging behavior of Imperial cormorants (Phalacrocorax atriceps). Video footage was obtained from 12 animals and 49 dives comprising a total of 8.1 h of foraging data. Video information revealed that Imperial cormorants are almost exclusively benthic feeders. While foraging along the seafloor, animals did not necessarily keep their body horizontal but inclined it downwards. The head of the instrumented animal was always visible in the videos and in the majority of the dives it was moved constantly forward and backward by extending and contracting the neck while travelling on the seafloor. Animals detected prey at very short distances, performed quick capture attempts and spent the majority of their time on the seafloor searching for prey. Cormorants foraged at three different sea bottom habitats and the way in which they searched for food differed between habitats. Dives were frequently performed under low luminosity levels suggesting that cormorants would locate prey with other sensory systems in addition to sight. Our video data support the idea that Imperial cormorants’ efficient hunting involves the use of specialized foraging techniques to compensate for their poor underwater vision. PMID:26367384

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.

Selfies of Imperial Cormorants (Phalacrocorax atriceps): What Is Happening Underwater?

PubMed

Gómez-Laich, Agustina; Yoda, Ken; Zavalaga, Carlos; Quintana, Flavio

2015-01-01

During the last few years, the development of animal-borne still cameras and video recorders has enabled researchers to observe what a wild animal sees in the field. In the present study, we deployed miniaturized video recorders to investigate the underwater foraging behavior of Imperial cormorants (Phalacrocorax atriceps). Video footage was obtained from 12 animals and 49 dives comprising a total of 8.1 h of foraging data. Video information revealed that Imperial cormorants are almost exclusively benthic feeders. While foraging along the seafloor, animals did not necessarily keep their body horizontal but inclined it downwards. The head of the instrumented animal was always visible in the videos and in the majority of the dives it was moved constantly forward and backward by extending and contracting the neck while travelling on the seafloor. Animals detected prey at very short distances, performed quick capture attempts and spent the majority of their time on the seafloor searching for prey. Cormorants foraged at three different sea bottom habitats and the way in which they searched for food differed between habitats. Dives were frequently performed under low luminosity levels suggesting that cormorants would locate prey with other sensory systems in addition to sight. Our video data support the idea that Imperial cormorants' efficient hunting involves the use of specialized foraging techniques to compensate for their poor underwater vision.

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)

Re-establishment of the IMS Hydroacoustic Station HA03, Robinson Crusoe Island, Chile

NASA Astrophysics Data System (ADS)

Haralabus, Georgios; Stanley, Jerry; Zampolli, Mario; Pautet, Lucie

2015-04-01

Water column hydrophone stations of the Comprehensive Nuclear-Test-Ban Treaty Organisation (CTBTO) International Monitoring System (IMS) comprise typically two triplets of moored hydrophones deployed on both sides of an island. Triplet distances vary approximately between 50 - 200 km from the island, with each triplet connected to the receiving shore equipment by fibre-optic submarine data cables. Once deployed, the systems relay underwater acoustic waveforms in the band 1 - 100 Hz in real time to Vienna via a shore based satellite link. The design life of hydroacoustic (HA) stations is at least 20 years, without need for any maintenance of the underwater system (UWS). The re-establishment of hydrophone station HA03 at Robinson Crusoe Island (670 km West of the Chilean mainland) is presented here. The station was destroyed in February 2010 by a Tsunami induced by an 8.8 magnitude earthquake. After a major engineering and logistical undertaking HA03 is now back in operation since April 2014. The main phases of the project are presented: (i) the installation of a shore facility for the reception of the hydrophone data from the UWS, which also relays the data back to the CTBTO International Data Center (IDC) in Vienna via a real-time satellite connection, (ii) the manufacturing and testing of the system to meet the stringent requirements of the Nuclear-Test-Ban Treaty, and (iii) the installation of the UWS with a state-of-the-art cable ship. Examples of data acquired by HA03 are also presented. These include hydroacoustic signals from the 1 April 2014 magnitude 8.2 earthquake in Northern Chile, bursting underwater bubbles from a submarine volcano near the Mariana Islands (15,000 Km away from the station), and vocalizations from the numerous marine mammals which transit in the vicinity of HA03. The use of CTBTO data for scientific purposes is possible via the virtual Data Exploitation Centre (vDEC), which is a platform that enables registered researchers to access archived monitoring data and processing software, or via the National Data Centres (NDCs).

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

Preliminary Monte Carlo calculations for the UNCOSS neutron-based explosive detector

NASA Astrophysics Data System (ADS)

Eleon, C.; Perot, B.; Carasco, C.

2010-07-01

The goal of the FP7 UNCOSS project (Underwater Coastal Sea Surveyor) is to develop a non destructive explosive detection system based on the associated particle technique, in view to improve the security of coastal area and naval infrastructures where violent conflicts took place. The end product of the project will be a prototype of a complete coastal survey system, including a neutron-based sensor capable of confirming the presence of explosives on the sea bottom. A 3D analysis of prompt gamma rays induced by 14 MeV neutrons will be performed to identify elements constituting common military explosives, such as C, N and O. This paper presents calculations performed with the MCNPX computer code to support the ongoing design studies performed by the UNCOSS collaboration. Detection efficiencies, time and energy resolutions of the possible gamma-ray detectors are compared, which show NaI(Tl) or LaBr 3(Ce) scintillators will be suitable for this application. The effect of neutron attenuation and scattering in the seawater, influencing the counting statistics and signal-to-noise ratio, are also studied with calculated neutron time-of-flight and gamma-ray spectra for an underwater TNT target.

Control and modeling of a CELSS (Controlled Ecological Life Support System)

NASA Technical Reports Server (NTRS)

Auslander, D. M.; Spear, R. C.; Babcock, P. S.; Nadel, M.

1983-01-01

Research topics that arise from the conceptualization of control for closed life support systems which are life support systems in which all or most of the mass is recycled are discussed. Modeling and control of uncertain and poorly defined systems, resource allocation in closed life support systems, and control structures or systems with delay and closure are emphasized.

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...

ORIGEN2 calculations supporting TRIGA irradiated fuel data package

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

Schmittroth, F.A.

ORIGEN2 calculations were performed for TRIGA spent fuel elements from the Hanford Neutron Radiography Facility. The calculations support storage and disposal and results include mass, activity,and decay heat. Comparisons with underwater dose-rate measurements were used to confirm and adjust the calculations.

Methods and Costs to Achieve Ultra Reliable Life Support

NASA Technical Reports Server (NTRS)

Jones, Harry W.

2012-01-01

A published Mars mission is used to explore the methods and costs to achieve ultra reliable life support. The Mars mission and its recycling life support design are described. The life support systems were made triply redundant, implying that each individual system will have fairly good reliability. Ultra reliable life support is needed for Mars and other long, distant missions. Current systems apparently have insufficient reliability. The life cycle cost of the Mars life support system is estimated. Reliability can be increased by improving the intrinsic system reliability, adding spare parts, or by providing technically diverse redundant systems. The costs of these approaches are estimated. Adding spares is least costly but may be defeated by common cause failures. Using two technically diverse systems is effective but doubles the life cycle cost. Achieving ultra reliability is worth its high cost because the penalty for failure is very high.

SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots

PubMed Central

Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

2017-01-01

In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning. PMID:28287468

Risk analysis for autonomous underwater vehicle operations in extreme environments.

PubMed

Brito, Mario Paulo; Griffiths, Gwyn; Challenor, Peter

2010-12-01

Autonomous underwater vehicles (AUVs) are used increasingly to explore hazardous marine environments. Risk assessment for such complex systems is based on subjective judgment and expert knowledge as much as on hard statistics. Here, we describe the use of a risk management process tailored to AUV operations, the implementation of which requires the elicitation of expert judgment. We conducted a formal judgment elicitation process where eight world experts in AUV design and operation were asked to assign a probability of AUV loss given the emergence of each fault or incident from the vehicle's life history of 63 faults and incidents. After discussing methods of aggregation and analysis, we show how the aggregated risk estimates obtained from the expert judgments were used to create a risk model. To estimate AUV survival with mission distance, we adopted a statistical survival function based on the nonparametric Kaplan-Meier estimator. We present theoretical formulations for the estimator, its variance, and confidence limits. We also present a numerical example where the approach is applied to estimate the probability that the Autosub3 AUV would survive a set of missions under Pine Island Glacier, Antarctica in January-March 2009. © 2010 Society for Risk Analysis.

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.

NASA Advanced Exploration Systems: Advancements in Life Support Systems

NASA Technical Reports Server (NTRS)

Shull, Sarah A.; Schneider, Walter F.

2016-01-01

The NASA Advanced Exploration Systems (AES) Life Support Systems (LSS) project strives to develop reliable, energy-efficient, and low-mass spacecraft systems to provide environmental control and life support systems (ECLSS) critical to enabling long duration human missions beyond low Earth orbit (LEO). Highly reliable, closed-loop life support systems are among the capabilities required for the longer duration human space exploration missions assessed by NASA’s Habitability Architecture Team.

Underwater audiogram of a false killer whale (Pseudorca crassidens).

PubMed

Thomas, J; Chun, N; Au, W; Pugh, K

1988-09-01

Underwater audiograms are available for only a few odontocete species. A false killer whale (Pseudorca crassidens) was trained at Sea Life Park in Oahu, Hawaii for an underwater hearing test using a go/no-go response paradigm. Over a 6-month period, auditory thresholds from 2-115 kHz were measured using an up/down staircase psychometric technique. The resulting audiogram showed hearing sensitivities below 64 kHz similar to those of belugas (Delphinapterus leucas) and Atlantic bottlenosed dolphins (Tursiops truncatus). Above 64 kHz, this Pseudorca had a rapid decrease in sensitivity of about 150 dB per octave. A similar decrease in sensitivity occurs at 32 kHz in the killer whale, at 50 kHz in the Amazon River dolphin, at 120 kHz in the beluga, at 140 kHz in the bottlenosed dolphin, and at 140 kHz in the harbor porpoise. The most sensitive range of hearing was from 16-64 kHz (a range of 10 dB from the maximum sensitivity). This range corresponds with the peak frequency of echolocation pulses recorded from captive Pseudorca.

Global patterns of changes in underwater sound transmission caused by ocean acidification

NASA Astrophysics Data System (ADS)

Ilyina, T.; Zeebe, R. E.; Brewer, P. G.

2009-04-01

Oceanic uptake of man-made CO2 leads to a decrease in the ocean pH and carbonate saturation state. This processes, known as ocean acidification is expected to have adverse effects on a variety of marine organisms. A surprising consequence of ocean acidification, which has gone widely unrecognized, is its effect on underwater sound transmission. Low-frequency sound absorption in the ocean occurs due to chemical relaxation of the pH-dependent boric acid-borate ion reaction. As ocean pH drops, sound absorption in the audible range decreases. The decreased sound absorption will amplify ambient noise levels, and enhance long distance sound transmission, although its exact environmental impact is uncertain. Changes in the underwater sound absorption will affect the operation of scientific, commercial, and naval applications that are based on ocean acoustics, with yet unknown consequences for marine life. We project these changes using a global biogeochemical model (HAMOCC), which is forced by the anthropogenic CO2 emissions during the years 1800-2300. Based on model projections, we quantify when and where in the ocean these ocean chemistry induced perturbations in sound absorption will occur.

A Novel Cross-Layer Routing Protocol Based on Network Coding for Underwater Sensor Networks.

PubMed

Wang, Hao; Wang, Shilian; Bu, Renfei; Zhang, Eryang

2017-08-08

Underwater wireless sensor networks (UWSNs) have attracted increasing attention in recent years because of their numerous applications in ocean monitoring, resource discovery and tactical surveillance. However, the design of reliable and efficient transmission and routing protocols is a challenge due to the low acoustic propagation speed and complex channel environment in UWSNs. In this paper, we propose a novel cross-layer routing protocol based on network coding (NCRP) for UWSNs, which utilizes network coding and cross-layer design to greedily forward data packets to sink nodes efficiently. The proposed NCRP takes full advantages of multicast transmission and decode packets jointly with encoded packets received from multiple potential nodes in the entire network. The transmission power is optimized in our design to extend the life cycle of the network. Moreover, we design a real-time routing maintenance protocol to update the route when detecting inefficient relay nodes. Substantial simulations in underwater environment by Network Simulator 3 (NS-3) show that NCRP significantly improves the network performance in terms of energy consumption, end-to-end delay and packet delivery ratio compared with other routing protocols for UWSNs.

A survey of life support system automation and control

NASA Technical Reports Server (NTRS)

Finn, Cory K.

1993-01-01

The level of automation and control necessary to support advanced life support systems for use in the manned space program is steadily increasing. As the length and complexity of manned missions increase, life support systems must be able to meet new space challenges. Longer, more complex missions create new demands for increased automation, improved sensors, and improved control systems. It is imperative that research in these key areas keep pace with current and future developments in regenerative life support technology. This paper provides an overview of past and present research in the areas of sensor development, automation, and control of life support systems for the manned space program, and it discusses the impact continued research in several key areas will have on the feasibility, operation, and design of future life support systems.

The Coral Reef Alphabet Book for American Samoa.

ERIC Educational Resources Information Center

Madrigal, Larry G.

This book, produced for the American Samoa Department of Education Marine Enhancement Program, presents underwater color photography of coral reef life in an alphabetical resource. The specimens are described in English, and some are translated into the Samoan language. A picture-matching learning exercise and a glossary of scientific and oceanic…

Saving the Manatee

ERIC Educational Resources Information Center

Quinn, Kelley

2012-01-01

The underwater ecosystem of the ocean is a topic that is explored extensively by first-grade students in the author's school. By engaging students in literature and science, the author was able to introduce the topic of endangered sea life and the ways students can make a difference to protect the oceans. (Contains 1 online resource.)

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.

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.

Advanced support systems development and supporting technologies for Controlled Ecological Life Support Systems (CELSS)

NASA Technical Reports Server (NTRS)

Simon, William E.; Li, Ku-Yen; Yaws, Carl L.; Mei, Harry T.; Nguyen, Vinh D.; Chu, Hsing-Wei

1994-01-01

A methyl acetate reactor was developed to perform a subscale kinetic investigation in the design and optimization of a full-scale metabolic simulator for long term testing of life support systems. Other tasks in support of the closed ecological life support system test program included: (1) heating, ventilation and air conditioning analysis of a variable pressure growth chamber, (2) experimental design for statistical analysis of plant crops, (3) resource recovery for closed life support systems, and (4) development of data acquisition software for automating an environmental growth chamber.

Multi-dimensional water quality assessment of an urban drinking water source elucidated by high resolution underwater towed vehicle mapping.

PubMed

Lock, Alan; Spiers, Graeme; Hostetler, Blair; Ray, James; Wallschläger, Dirk

2016-04-15

Spatial surveys of Ramsey Lake, Sudbury, Ontario water quality were conducted using an innovative underwater towed vehicle (UTV) equipped with a multi-parameter probe providing real-time water quality data. The UTV revealed underwater vent sites through high resolution monitoring of different spatial chemical characteristics using common sensors (turbidity, chloride, dissolved oxygen, and oxidation/reduction sensors) that would not be feasible with traditional water sampling methods. Multi-parameter probe vent site identification is supported by elevated alkalinity and silica concentrations at these sites. The identified groundwater vent sites appear to be controlled by bedrock fractures that transport water from different sources with different contaminants of concern. Elevated contaminants, such as, arsenic and nickel and/or nutrient concentrations are evident at the vent sites, illustrating the potential of these sources to degrade water quality. Copyright © 2016 Elsevier Ltd. All rights reserved.

NASA Advanced Life Support Technology Testing and Development

NASA Technical Reports Server (NTRS)

Wheeler, Raymond M.

2012-01-01

Prior to 2010, NASA's advanced life support research and development was carried out primarily under the Exploration Life Support Project of NASA's Exploration Systems Mission Directorate. In 2011, the Exploration Life Support Project was merged with other projects covering Fire Prevention/Suppression, Radiation Protection, Advanced Environmental Monitoring and Control, and Thermal Control Systems. This consolidated project was called Life Support and Habitation Systems, which was managed under the Exploration Systems Mission Directorate. In 2012, NASA re-organized major directorates within the agency, which eliminated the Exploration Systems Mission Directorate and created the Office of the Chief Technologist (OCT). Life support research and development is currently conducted within the Office of the Chief Technologist, under the Next Generation Life Support Project, and within the Human Exploration Operation Missions Directorate under several Advanced Exploration System projects. These Advanced Exploration Systems projects include various themes of life support technology testing, including atmospheric management, water management, logistics and waste management, and habitation systems. Food crop testing is currently conducted as part of the Deep Space Habitation (DSH) project within the Advanced Exploration Systems Program. This testing is focused on growing salad crops that could supplement the crew's diet during near term missions.

Use of Martian resources in a Controlled Ecological Life Support System (CELSS)

NASA Technical Reports Server (NTRS)

Smernoff, David T.; Macelroy, Robert D.

1989-01-01

Possibile crew life support systems for Mars are reviewed, focusing on ways to use Martian resources as life support materials. A system for bioregenerative life support using photosynthetic organisms, known as the Controlled Ecological Life Support System (CELSS), is examined. The possible use of higher plants or algae to produce oxygen on Mars is investigated. The specific requirements for a CELSS on Mars are considered. The exploitation of water, respiratory gases, and mineral nutrients on Mars is discussed.

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.

Generic Modeling of a Life Support System for Process Technology Comparison

NASA Technical Reports Server (NTRS)

Ferrall, J. F.; Seshan, P. K.; Rohatgi, N. K.; Ganapathi, G. B.

1993-01-01

This paper describes a simulation model called the Life Support Systems Analysis Simulation Tool (LiSSA-ST), the spreadsheet program called the Life Support Systems Analysis Trade Tool (LiSSA-TT), and the Generic Modular Flow Schematic (GMFS) modeling technique. Results of using the LiSSA-ST and the LiSSA-TT will be presented for comparing life support system and process technology options for a Lunar Base with a crew size of 4 and mission lengths of 90 and 600 days. System configurations to minimize the life support system weight and power are explored.

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

PubMed

Pedersen, Ole; Colmer, Timothy D

2012-03-01

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

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

PubMed

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

2016-01-01

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

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

PubMed Central

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

2016-01-01

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

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...

The Controlled Ecological Life Support Systems (CELSS) research program

NASA Technical Reports Server (NTRS)

Macelroy, Robert D.

1990-01-01

The goal of the Controlled Ecological Life Support Systems (CELSS) program is to develop systems composed of biological, chemical and physical components for purposes of human life support in space. The research activities supported by the program are diverse, but are focused on the growth of higher plants, food and waste processing, and systems control. Current concepts associated with the development and operation of a bioregenerative life support system will be discussed in this paper.

Bioregenerative Planetary Life Support Systems Test Complex (BIO-Plex): NASA's Next Human-Rated Testing Facility

NASA Technical Reports Server (NTRS)

Tri, Terry O.

1999-01-01

As a key component in its ground test bed capability, NASA's Advanced Life Support Program has been developing a large-scale advanced life support test facility capable of supporting long-duration evaluations of integrated bioregenerative life support systems with human test crews. This facility-targeted for evaluation of hypogravity compatible life support systems to be developed for use on planetary surfaces such as Mars or the Moon-is called the Bioregenerative Planetary Life Support Systems Test Complex (BIO-Plex) and is currently under development at the Johnson Space Center. This test bed is comprised of a set of interconnected chambers with a sealed internal environment which are outfitted with systems capable of supporting test crews of four individuals for periods exceeding one year. The advanced technology systems to be tested will consist of both biological and physicochemical components and will perform all required crew life support functions. This presentation provides a description of the proposed test "missions" to be supported by the BIO-Plex and the planned development strategy for the facility.

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.

Nekton Interaction Monitoring System

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

2017-03-15

The software provides a real-time processing system for sonar to detect and track animals, and to extract water column biomass statistics in order to facilitate continuous monitoring of an underwater environment. The Nekton Interaction Monitoring System (NIMS) extracts and archives tracking and backscatter statistics data from a real-time stream of data from a sonar device. NIMS also sends real-time tracking messages over the network that can be used by other systems to generate other metrics or to trigger instruments such as an optical video camera. A web-based user interface provides remote monitoring and control. NIMS currently supports three popular sonarmore » devices: M3 multi-beam sonar (Kongsberg), EK60 split-beam echo-sounder (Simrad) and BlueView acoustic camera (Teledyne).« less

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

DTIC Science & Technology

2016-08-05

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

Aided target recognition processing of MUDSS sonar data

NASA Astrophysics Data System (ADS)

Lau, Brian; Chao, Tien-Hsin

1998-09-01

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

Preliminary assessment of industrial needs for an advanced ocean technology

NASA Technical Reports Server (NTRS)

Mourad, A. G.; Maher, K. M.; Balon, J. E.; Coyle, A. G.; Henkener, J. A.

1979-01-01

A quick-look review of selected ocean industries is presented for the purpose of providing NASA OSTA with an assessment of technology needs and market potential. The size and growth potential, needs and problem areas, technology presently used and its suppliers, are given for industries involved in deep ocean mining, petrochemicals ocean energy conversion. Supporting services such as ocean bottom surveying; underwater transportation, data collection, and work systems; and inspection and diving services are included. Examples of key problem areas that are amenable to advanced technology solutions are included. Major companies are listed.

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

Platinum Nanoparticle Decorated SiO2 Microfibers as Catalysts for Micro Unmanned Underwater Vehicle Propulsion.

PubMed

Chen, Bolin; Garland, Nathaniel T; Geder, Jason; Pruessner, Marius; Mootz, Eric; Cargill, Allison; Leners, Anne; Vokshi, Granit; Davis, Jacob; Burns, Wyatt; Daniele, Michael A; Kogot, Josh; Medintz, Igor L; Claussen, Jonathan C

2016-11-16

Micro unmanned underwater vehicles (UUVs) need to house propulsion mechanisms that are small in size but sufficiently powerful to deliver on-demand acceleration for tight radius turns, burst-driven docking maneuvers, and low-speed course corrections. Recently, small-scale hydrogen peroxide (H 2 O 2 ) propulsion mechanisms have shown great promise in delivering pulsatile thrust for such acceleration needs. However, the need for robust, high surface area nanocatalysts that can be manufactured on a large scale for integration into micro UUV reaction chambers is still needed. In this report, a thermal/electrical insulator, silicon oxide (SiO 2 ) microfibers, is used as a support for platinum nanoparticle (PtNP) catalysts. The mercapto-silanization of the SiO 2 microfibers enables strong covalent attachment with PtNPs, and the resultant PtNP-SiO 2 fibers act as a robust, high surface area catalyst for H 2 O 2 decomposition. The PtNP-SiO 2 catalysts are fitted inside a micro UUV reaction chamber for vehicular propulsion; the catalysts can propel a micro UUV for 5.9 m at a velocity of 1.18 m/s with 50 mL of 50% (w/w) H 2 O 2 . The concomitance of facile fabrication, economic and scalable processing, and high performance-including a reduction in H 2 O 2 decomposition activation energy of 40-50% over conventional material catalysts-paves the way for using these nanostructured microfibers in modern, small-scale underwater vehicle propulsion systems.

A simulation based optimization approach to model and design life support systems for manned space missions

NASA Astrophysics Data System (ADS)

Aydogan, Selen

This dissertation considers the problem of process synthesis and design of life-support systems for manned space missions. A life-support system is a set of technologies to support human life for short and long-term spaceflights, via providing the basic life-support elements, such as oxygen, potable water, and food. The design of the system needs to meet the crewmember demand for the basic life-support elements (products of the system) and it must process the loads generated by the crewmembers. The system is subject to a myriad of uncertainties because most of the technologies involved are still under development. The result is high levels of uncertainties in the estimates of the model parameters, such as recovery rates or process efficiencies. Moreover, due to the high recycle rates within the system, the uncertainties are amplified and propagated within the system, resulting in a complex problem. In this dissertation, two algorithms have been successfully developed to help making design decisions for life-support systems. The algorithms utilize a simulation-based optimization approach that combines a stochastic discrete-event simulation and a deterministic mathematical programming approach to generate multiple, unique realizations of the controlled evolution of the system. The timelines are analyzed using time series data mining techniques and statistical tools to determine the necessary technologies, their deployment schedules and capacities, and the necessary basic life-support element amounts to support crew life and activities for the mission duration.

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.

[Habitability and life support systems].

PubMed

Nefedov, Iu G; Adamovich, B A

1988-01-01

This paper discusses various aspects of space vehicle habitability and life support systems. It describes variations in the chemical and microbial composition of an enclosed atmosphere during prolonged real and simulated flights. The paper gives a detailed description of life support systems and environmental investigations onboard the Mir station. It also outlines the development of space vehicle habitability and life support systems as related to future flights.

Don't Trust a Management Metric, Especially in Life Support

NASA Technical Reports Server (NTRS)

Jones, Harry W.

2014-01-01

Goodhart's law states that metrics do not work. Metrics become distorted when used and they deflect effort away from more important goals. These well-known and unavoidable problems occurred when the closure and system mass metrics were used to manage life support research. The intent of life support research should be to develop flyable, operable, reliable systems, not merely to increase life support system closure or to reduce its total mass. It would be better to design life support systems to meet the anticipated mission requirements and user needs. Substituting the metrics of closure and total mass for these goals seems to have led life support research to solve the wrong problems.

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.

KSC-04pd1509

NASA Image and Video Library

2004-07-11

KENNEDY SPACE CENTER, FLA. - In the water offshore from Key Largo, site of the NASA Extreme Environment Mission Operations 6 (NEEMO-6), are (left to right) Bill Todd, project lead, and Marc Reagan, mission lead. Todd and Lucas are also the underwater videographer and still photographer, respectively, for the mission. The NEEMO-6 team comprises John Herrington, commander, Tara Ruttley, a biomedical engineer, and astronauts Nick Patrick and Doug Wheelock. The NEEMO-6 mission involves exposing an astronaut/scientist crew to a real mission experience in an extreme environment - the NOAA undersea station Aquarius - to prepare for future space flight. Spacewalk-like diving excursions and field-tests on a variety of biomedical equipment are designed to help astronauts living aboard the International Space Station. To prepare for their 10-day stay, the team had dive training twice a day at the Life Support Buoy, anchored above Aquarius.

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.

jsc2013e030873

NASA Image and Video Library

2013-05-10

PHOTO DATE: 10 MAY 2013 LOCATION: Neutral Buoyancy Lab - Underwater SUBJECT: NBL EVA dive with Terry Virts and Samantha Cristoforetti in support of ISS ammonia leak trouble-shooting. PHOTOGRAPHER: NBL/Bill Brassard/Kelly Rives/Lauren Hansen

jsc2013e030874

NASA Image and Video Library

2013-05-10

PHOTO DATE: 10 MAY 2013 LOCATION: Neutral Buoyancy Lab - Underwater SUBJECT: NBL EVA dive with Terry Virts and Samantha Cristoforetti in support of ISS ammonia leak trouble-shooting. PHOTOGRAPHER: NBL/Bill Brassard/Kelly Rives/Lauren Hansen

jsc2013e030876

NASA Image and Video Library

2013-05-10

PHOTO DATE: 10 MAY 2013 LOCATION: Neutral Buoyancy Lab - Underwater SUBJECT: NBL EVA dive with Terry Virts and Samantha Cristoforetti in support of ISS ammonia leak trouble-shooting. PHOTOGRAPHER: NBL/Bill Brassard/Kelly Rives/Lauren Hansen

Design Rules for Life Support Systems

NASA Technical Reports Server (NTRS)

Jones, Harry

2002-01-01

This paper considers some of the common assumptions and engineering rules of thumb used in life support system design. One general design rule is that the longer the mission, the more the life support system should use recycling and regenerable technologies. A more specific rule is that, if the system grows more than half the food, the food plants will supply all the oxygen needed for the crew life support. There are many such design rules that help in planning the analysis of life support systems and in checking results. These rules are typically if-then statements describing the results of steady-state, "back of the envelope," mass flow calculations. They are useful in identifying plausible candidate life support system designs and in rough allocations between resupply and resource recovery. Life support system designers should always review the design rules and make quick steady state calculations before doing detailed design and dynamic simulation. This paper develops the basis for the different assumptions and design rules and discusses how they should be used. We start top-down, with the highest level requirement to sustain human beings in a closed environment off Earth. We consider the crew needs for air, water, and food. We then discuss atmosphere leakage and recycling losses. The needs to support the crew and to make up losses define the fundamental life support system requirements. We consider the trade-offs between resupplying and recycling oxygen, water, and food. The specific choices between resupply and recycling are determined by mission duration, presence of in-situ resources, etc., and are defining parameters of life support system design.

Biological life-support systems

NASA Technical Reports Server (NTRS)

Shepelev, Y. Y.

1975-01-01

The establishment of human living environments by biologic methods, utilizing the appropriate functions of autotrophic and heterotrophic organisms is examined. Natural biologic systems discussed in terms of modeling biologic life support systems (BLSS), the structure of biologic life support systems, and the development of individual functional links in biologic life support systems are among the factors considered. Experimental modeling of BLSS in order to determine functional characteristics, mechanisms by which stability is maintained, and principles underlying control and regulation is also discussed.

Platinum-paper micromotors: an urchin-like nanohybrid catalyst for green monopropellant bubble-thrusters.

PubMed

Claussen, Jonathan C; Daniele, Michael A; Geder, Jason; Pruessner, Marius; Mäkinen, Antti J; Melde, Brian J; Twigg, Mark; Verbarg, Jasenka M; Medintz, Igor L

2014-10-22

Platinum nanourchins supported on microfibrilated cellulose films (MFC) were fabricated and evaluated as hydrogen peroxide catalysts for small-scale, autonomous underwater vehicle (AUV) propulsion systems. The catalytic substrate was synthesized through the reduction of chloroplatinic acid to create a thick film of Pt coral-like microstructures coated with Pt urchin-like nanowires that are arrayed in three dimensions on a two-dimensional MFC film. This organic/inorganic nanohybrid displays high catalytic ability (reduced activation energy of 50-63% over conventional materials and 13-19% for similar Pt nanoparticle-based structures) during hydrogen peroxide (H2O2) decomposition as well as sufficient propulsive thrust (>0.5 N) from reagent grade H2O2 (30% w/w) fuel within a small underwater reaction vessel. The results demonstrate that these layered nanohybrid sheets are robust and catalytically effective for green, H2O2-based micro-AUV propulsion where the storage and handling of highly explosive, toxic fuels are prohibitive due to size-requirements, cost limitations, and close person-to-machine contact.

Optimal diving behaviour and respiratory gas exchange in birds.

PubMed

Halsey, Lewis G; Butler, Patrick J

2006-11-01

This review discusses the advancements in our understanding of the physiology and behaviour of avian diving that have been underpinned by optimal foraging theory and the testing of optimal models. To maximise their foraging efficiency during foraging periods, diving birds must balance numerous factors that are directly or indirectly related to the replenishment of the oxygen stores and the removal of excess carbon dioxide. These include (1) the time spent underwater (which diminishes the oxygen supply, increases carbon dioxide levels and may even include a build up of lactate due to anaerobic metabolism), (2) the time spent at the surface recovering from the previous dive and preparing for the next (including reloading their oxygen supply, decreasing their carbon dioxide levels and possibly also metabolising lactate) and (3) the trade-off between maximising oxygen reserves for consumption underwater by taking in more air to the respiratory system, and minimising the energy costs of positive buoyancy caused by this air, to maximise the time available underwater to forage. Due to its importance in avian diving, replenishment of the oxygen stores has become integral to models of optimal diving, which predict the time budgeting of animals foraging underwater. While many of these models have been examined qualitatively, such tests of predictive trends appear fallible and only quantifiable support affords strong evidence of their predictive value. This review describes how the quantification of certain optimal diving models, using tufted ducks, indeed demonstrates some predictive success. This suggests that replenishment of the oxygen stores and removal of excess carbon dioxide have significant influences on the duration of the surface period between dives. Nevertheless, present models are too simplistic to be robust predictors of diving behaviour for individual animals and it is proposed that they require refinement through the incorporation of other variables that also influence diving behaviour such as, perhaps, prey density and predator avoidance.

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.

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.

Advanced life support technology development for the Space Exploration Initiative

NASA Technical Reports Server (NTRS)

Evanich, Peggy L.; Voecks, Gerald E.; Seshan, P. K.

1990-01-01

An overview is presented of NASA's advanced life support technology development strategy for the Space Exploration Initiative. Three basic life support technology areas are discussed in detail: air revitalization, water reclamation, and solid waste management. It is projected that regenerative life support systems will become increasingly more complex as system closure is maximized. Advanced life support technology development will utilize three complementary elements, including the Research and Technology Program, the Regenerative Life Support Program, and the Technology Testbed Validations.

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.

Acoustic development of a neonatal beluga whale (Delphinapterus leucas) at the John G. Shedd Aquarium

NASA Astrophysics Data System (ADS)

Carneiro, Brooke Elizabeth

Beluga whales (Delphinapterus leucas) were one of the first marine mammals to be in captivity and currently, nine zoological institutions in North America house belugas (Robeck et al., 2005). Despite their accessibility within these facilities, very little research has been done on the beluga whale that is related to their acoustic development or communication sounds. A male beluga calf named "Nunavik" was born at the John G. Shedd Aquarium on 14 December 2009, which provided an opportunity to examine the ontogeny of underwater sounds by a neonatal beluga from the birth throughout the first year of life. The objectives of the study were to: 1) collect underwater sound recordings of the beluga pod prior to the birth of the calf, 2) collect underwater sound recordings of the neonate during the first year of life, 3) document when and what types of sounds were produced by the calf, 4) compare sounds produced by the calf during agonistic and non-agonistic interactions, and 5) compare the acoustic features of sounds produced by the calf to sounds from the mother, a male beluga calf born at the Vancouver Aquarium in 2002, and other belugas at the John G. Shedd Aquarium. The first recordings of the beluga calf took place six hours following the birth for a two hour period. Subsequent recordings were made daily for one hour for the first two weeks of the calf's life and then twice per week until the calf was about six months of age. Later recordings were done less frequently; about once every other week, with no recordings during a 2-month period due to equipment failure. In total, sixty hours of underwater recordings of the belugas were collected from 26 September 2009 to 27 December 2010. Sounds were audibly and visually examined using Raven Pro version 1.4, a real-time sound analysis software application (Cornell Laboratory of Ornithology), and categorized into three categories (tones, noise, and noise with tones) based on the characteristics of underwater sounds from the same adult beluga whales recorded by Melissa Kelly (2009) at the John G. Shedd Aquarium in 2008. The first recorded sound produced by the calf was a low frequency, pulsed signal which was extremely weak in amplitude and almost seven times lower in frequency compared to similar sounds from a male beluga calf born at the Vancouver Aquarium in 2002. As he grew, the calf steadily increased the complexity and adult-like characteristics in all sound types. He decreased the peak frequency of tones, but increased the peak frequency of noise and noise with tones sounds. Using analysis of variance, sounds produced during the younger age class (0 to 6 months) were significantly longer in duration than during the older age class (6 to 12 months). There was no statistical difference in peak frequency of tones or tones with noise between the two age groups. The peak frequencies of both tones and tones with noise were significantly higher during agonistic contexts compared to non-agonistic contexts. Finally, the age at which the calf was first recorded using echolocation was at about five months. Future studies on the underwater acoustic behavior of beluga whale calves are necessary to identify developmental milestones in their repertoire.

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.

Advanced Geophysical Classification with the Marine Towed Array

NASA Astrophysics Data System (ADS)

Steinhurst, D.; Harbaugh, G.; Keiswetter, D.; Bell, T. W.; Massey, G.; Wright, D.

2017-12-01

The Marine Towed Array, or MTA, is an underwater dual-mode sensor array that has been successfully deployed at multiple marine venues in support of Strategic Environmental Research and Development Program (SERDP) and Environmental Security Technology Certification Program (ESTCP) demonstrations beginning in 2004. It provided both marine electromagnetic and marine magnetic sensors for detection and mapping of underwater UXO. The EMI sensor array was based on older technology, which in several ESTCP demonstrations has not been able to support advanced geophysical classification (AGC). Under ESTCP funding, the U.S. Naval Research Laboratory is in the process of upgrading the MTA with modern, advanced electromagnetic (EMI) electronics and replacing the sensor array with a modern, multistatic array design. A half-scale version of the proposed array has been built and tested on land. Six tri-axial receiver cubes were placed inside two- and three- transmit coil configurations in equivalent positions to design locations for the MTA wing. The responses of a variety of munitions items and test spheres were measured over a range of target-to-array geometries and in both static and simulated dynamic data collection modes. The multi-transmit coil configuration was shown to provide enhanced single-pass classification performance over the original single coil design, particularly as a function of target location relative to the centerline. The ability to go beyond anomaly detection and additionally classify detected anomalies from survey data would dramatically improve the state of the art for underwater UXO remediation by reducing costs and improving the efficiency of these efforts. The results of our efforts to return the MTA to service and validating the new EMI array's design for UXO detection and classification in the underwater environment will be the focus of this presentation.

Controlled ecological life-support system - Use of plants for human life-support in space

NASA Technical Reports Server (NTRS)

Chamberland, D.; Knott, W. M.; Sager, J. C.; Wheeler, R.

1992-01-01

Scientists and engineers within NASA are conducting research which will lead to development of advanced life-support systems that utilize higher plants in a unique approach to solving long-term life-support problems in space. This biological solution to life-support, Controlled Ecological Life-Support System (CELSS), is a complex, extensively controlled, bioengineered system that relies on plants to provide the principal elements from gas exchange and food production to potable water reclamation. Research at John F. Kennedy Space Center (KSC) is proceeding with a comprehensive investigation of the individual parts of the CELSS system at a one-person scale in an approach called the Breadboard Project. Concurrently a relatively new NASA sponsored research effort is investigating plant growth and metabolism in microgravity, innovative hydroponic nutrient delivery systems, and use of highly efficient light emitting diodes for artificial plant illumination.

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.

Single- and multi-channel underwater acoustic communication channel capacity: a computational study.

PubMed

Hayward, Thomas J; Yang, T C

2007-09-01

Acoustic communication channel capacity determines the maximum data rate that can be supported by an acoustic channel for a given source power and source/receiver configuration. In this paper, broadband acoustic propagation modeling is applied to estimate the channel capacity for a time-invariant shallow-water waveguide for a single source-receiver pair and for vertical source and receiver arrays. Without bandwidth constraints, estimated single-input, single-output (SISO) capacities approach 10 megabitss at 1 km range, but beyond 2 km range they decay at a rate consistent with previous estimates by Peloquin and Leinhos (unpublished, 1997), which were based on a sonar equation calculation. Channel capacities subject to source bandwidth constraints are approximately 30-90% lower than for the unconstrained case, and exhibit a significant wind speed dependence. Channel capacity is investigated for single-input, multi-output (SIMO) and multi-input, multi-output (MIMO) systems, both for finite arrays and in the limit of a dense array spanning the entire water column. The limiting values of the SIMO and MIMO channel capacities for the modeled environment are found to be about four times higher and up to 200-400 times higher, respectively, than for the SISO case. Implications for underwater acoustic communication systems are discussed.

Twenty years of barrel-stave flextensional transducer technology in Canada

NASA Astrophysics Data System (ADS)

Jones, Dennis F.

2005-04-01

The barrel-stave flextensional transducer, a compact underwater sound source, was conceived at DRDC Atlantic in 1986 [G. W. McMahon and D. F. Jones, U.S. Patent No. 4,922,470 (1 May 1990); Canadian Patent No. 1,285,646 (2 July 1991)]. Over the years, five barrel-stave designs belonging to three flextensional classes were built and tested at DRDC Atlantic. Three Class I transducers with operating frequencies ranging from 800 to 1600 Hz were integrated into submarine communications buoys, low frequency active horizontal projector arrays, and a broadband sonar towbody. A high-power Class II and broadband (1-7 kHz) Class III transducer were deployed under the ice in the Lincoln Sea for research related to rapidly deployable surveillance systems. These barrel-stave flextensional transducers have also supported a variety of marine mammal studies including vocal mimicry in long-finned pilot whales, coda dialects in sperm whales, and the R&D of acoustic detection and tracking systems for endangered northern right whales. In August 2004 a barrel-stave transducer was used to lure a trapped juvenile humpback whale to the sluice gates of a tidal generating station on the Annapolis River in Nova Scotia by transmitting humpback whale calls underwater. The acoustic performance parameters for all 5 transducers will be presented.

Life Support Goals Including High Closure and Low Mass Should Be Reconsidered Using Systems Analysis

NASA Technical Reports Server (NTRS)

Jones, Harry W.

2017-01-01

Recycling space life support systems have been built and tested since the 1960s and have operated on the International Space Station (ISS) since the mid 2000s. The development of space life support has been guided by a general consensus focused on two important related goals, increasing system closure and reducing launch mass. High closure is achieved by recycling crew waste products such as carbon dioxide and condensed humidity. Recycling directly reduces the mass of oxygen and water for the crew that must be launched from Earth. The launch mass of life support can be further reduced by developing recycling systems with lower hardware mass and reduced power. The life support consensus has also favored using biological systems. The goal of increasing closure using biological systems suggests that food should be grown in space and that biological processors be used for air, water, and waste recycling. The goal of reducing launch mass led to use of Equivalent System Mass (ESM) in life support advocacy and technology selection. The recent consensus assumes that the recycling systems architecture developed in the 1960s and implemented on ISS will be used on all future long missions. NASA and other project organizations use the standard systems engineering process to guide hardware development. The systems process was used to develop ISS life support, but it has been less emphasized in planning future systems for the moon and Mars. Since such missions are far in the future, there has been less immediate need for systems engineering analysis to consider trade-offs, reliability, and Life Cycle Cost (LCC). Preliminary systems analysis suggests that the life support consensus concepts should be revised to reflect systems engineering requirements.

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

A portable life support system for use in mines

NASA Technical Reports Server (NTRS)

Zeller, S. S.

1972-01-01

The portable life support system described in this paper represents a potential increase in the probability of survival for miners who are trapped underground by a fire or explosion. The habitability and life support capability of the prototype shelter have proved excellent. Development of survival chamber life support systems for wide use in coal mines is definitely within the capabilities of current technology.

In-situ materials processing systems and bioregenerative life support systems interrelationships

NASA Technical Reports Server (NTRS)

Mignon, George V.; Frye, Robert J.

1992-01-01

The synergy and linkages between bioregenerative life support systems and the materials produced by in-situ materials processing systems was investigated. Such systems produce a broad spectrum of byproducts such as oxygen, hydrogen, processed soil material, ceramics, refractory, and other materials. Some of these materials may be utilized by bioregenerative systems either directly or with minor modifications. The main focus of this project was to investigate how these materials can be utilized to assist a bioregenerative life support system. Clearly the need to provide a sustainable bioregenerative life support system for long term human habitation of space is significant.

Hovercraft Underwater Noise Measurements in Alaska.

DOT National Transportation Integrated Search

2001-04-02

The United States Postal Service (USPS) is finishing a two-year demonstration project : examining the feasibility of mail delivery via hovercraft to remote Alaskan villages. Prior to this : demonstration project, and in support of the Environmental A...

Advanced life support systems in lunar and Martian environments utilizing a higher plant based engineering paradigm

NASA Technical Reports Server (NTRS)

Chamberland, Dennis

1992-01-01

The paper describes a higher-plant-based engineering paradigm for advanced life support in a Controlled Ecological Life Support System (CELSS) on the surface of the moon or Mars, called the CELSS Breadboard Project, designed at John F. Kennedy Space Center. Such a higher-plant-based system would use the plants for a direct food source, gas exchange, water reclamation, and plant residuals in a complex biological resource recovery scheme. The CELSS Breadboard Project utilizes a 'breadboard' approach of developing independent systems that are evaluated autonomously and are later interconnected. Such a scheme will enable evaluation of life support system methodologies tested for their efficiency in a life support system for habitats on the moon or Mars.

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.

(abstract) Generic Modeling of a Life Support System for Process Technology Comparisons

NASA Technical Reports Server (NTRS)

Ferrall, J. F.; Seshan, P. K.; Rohatgi, N. K.; Ganapathi, G. B.

1993-01-01

This paper describes a simulation model called the Life Support Systems Analysis Simulation Tool (LiSSA-ST), the spreadsheet program called the Life Support Systems Analysis Trade Tool (LiSSA-TT), and the Generic Modular Flow Schematic (GMFS) modeling technique. Results of using the LiSSA-ST and the LiSSA-TT will be presented for comparing life support systems and process technology options for a Lunar Base and a Mars Exploration Mission.

A Novel Cross-Layer Routing Protocol Based on Network Coding for Underwater Sensor Networks

PubMed Central

Wang, Hao; Wang, Shilian; Bu, Renfei; Zhang, Eryang

2017-01-01

Underwater wireless sensor networks (UWSNs) have attracted increasing attention in recent years because of their numerous applications in ocean monitoring, resource discovery and tactical surveillance. However, the design of reliable and efficient transmission and routing protocols is a challenge due to the low acoustic propagation speed and complex channel environment in UWSNs. In this paper, we propose a novel cross-layer routing protocol based on network coding (NCRP) for UWSNs, which utilizes network coding and cross-layer design to greedily forward data packets to sink nodes efficiently. The proposed NCRP takes full advantages of multicast transmission and decode packets jointly with encoded packets received from multiple potential nodes in the entire network. The transmission power is optimized in our design to extend the life cycle of the network. Moreover, we design a real-time routing maintenance protocol to update the route when detecting inefficient relay nodes. Substantial simulations in underwater environment by Network Simulator 3 (NS-3) show that NCRP significantly improves the network performance in terms of energy consumption, end-to-end delay and packet delivery ratio compared with other routing protocols for UWSNs. PMID:28786915

Fish kill from underwater explosions

USGS Publications Warehouse

Stuart, David J.

1962-01-01

The U.S. Geological Survey has used 23 different shotpoints during two seasons of field work in our seismic study of crustal structure in western United States. Without exception, it has been found that under-water shotpoints result in a more efficient conversion of explosive energy into seismic energy than do drilled-hole shotpoints. This experience, together with elimination of drilling costs, has led to the use of underwater shotpoints wherever possible. Three of the 23 shotpoints were in the Pacific Ocean, and for these we have no detailed information on the fish kill. Another six shotpoints were located in inland bodies of water. These are: * Soda Lake near Fallon, Nevada * Mono Lake near Lee Vining, California * Lake Mead near Boulder City, Nevada * Shasta Lake near Redding, California * C.J. Strike Reservoir near Bruneau, Idaho * Lucky Peak Reservoir near Boise, Idaho The 22 high-explosive charges, weighing a total of 95,100 pounds, that were fired in lakes containing fish life resulted in the known death of 2,413 game fish with a total weight of 759 pounds. The average mortality was 110 game fish or 34.5 pounds of game fish killed per average shot of 4,325 pounds of high-explosives.

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

Life Support System Technologies for NASA Exploration Missions

NASA Technical Reports Server (NTRS)

Ewert, Michael K.

2007-01-01

The Lunar Mars Life Support Test series successfully demonstrated integration and operation of advanced technologies for closed-loop life support systems, including physicochemical and biological subsystems. Increased closure was obtained when targeted technologies, such as brine dewatering subsystems, were added to further process life support system byproducts to recover resources. Physicochemical and biological systems can be integrated satisfactorily to achieve desired levels of closure. Imbalances between system components, such as differences in metabolic quotients between human crews and plants, must be addressed. Each subsystem or component that is added to increase closure will likely have added costs, ranging from initial launch mass, power, thermal, crew time, byproducts, etc., that must be factored into break even analysis. Achieving life support system closure while maintaining control of total mass and system complexity will be a challenge.

Life support for aquatic species - past; present; future

NASA Astrophysics Data System (ADS)

Slenzka, K.

Life Support is a basic issue since manned space flight began. Not only to support astronauts and cosmonauts with the essential things to live, however, also animals which were carried for research to space etc together with men need support systems to survive under space conditions. Most of the animals transported to space participate at the life support system of the spacecraft. However, aquatic species live in water as environment and thus need special developments. Research with aquatic animals has a long tradition in manned space flight resulting in numerous life support systems for them starting with simple plastic bags up to complex support hardware. Most of the recent developments have to be identified as part of a technological oriented system and can be described as small technospheres. As the importance arose to study our Earth as the extraordinary Biosphere we live in, the modeling of small ecosystems began as part of ecophysiological research. In parallel the investigations of Bioregenerative Life Support Systems were launched and identified as necessity for long-term space missions or traveling to Moon and Mars and beyond. This paper focus on previous developments of Life Support Systems for aquatic animals and will show future potential developments towards Bioregenerative Life Support which additionally strongly benefits to our Earth's basic understanding.

Human life support during interplanetary travel and domicile. I - System approach

NASA Technical Reports Server (NTRS)

Seshan, P. K.; Ferrall, Joseph; Rohatgi, Naresh

1989-01-01

The importance of mission-driven system definition and assessment for extraterrestrial human life support is examined. The tricotyledon theory for system engineering is applied to the physiochemical life support system of the Pathfinder project. The rationale and methodology for adopting the systems approach is discussed. The assessment of the system during technology development is considered.

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.

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.

Three Dimensional Underwater Sound Propagation Over Sloping Bottoms

NASA Astrophysics Data System (ADS)

Glegg, Stewart A. L.; Riley, J. M.

This article reviews the work which has been carried out over the past few years on three dimensional underwater sound propagation over sloping bottoms. When sound propagates across a slope three dimensional effects can cause shadow zones and mode cut off effects to occur, which could not be predicted by a two dimensional model. For many years the theory for this type of propagation over realistic ocean floors, which can support both compressional and shear waves, eluded workers in this field. Recently the complete solution for the acoustic field in a "wedge domain with penetrable boundaries" has been developed, and this has allowed for complete understanding of three dimensional bottom interacting sound propagation. These theories have been verified by a series of laboratory scale experiments and excellent agreement has been obtained. However only one full scale ocean experiment has been carried out on three dimensional, bottom interacting, acoustic propagation. This showed significant horizontal refraction of sound propagating across a continental slope and further verifies the importance of bottom slopes on underwater sound propagation.

CELSS Transportation Analysis

NASA Technical Reports Server (NTRS)

Olson, R. L.; Gustan, E. A.; Vinopal, T. J.

1985-01-01

Regenerative life support systems based on the use of biological material was considered for inclusion in manned spacecraft. Biological life support systems are developed in the controlled ecological life support system (CELSS) program. Because of the progress achieved in the CELSS program, it is determined which space missions may profit from use of the developing technology. Potential transportation cost savings by using CELSS technology for selected future manned space missions was evaluated. Six representative missions were selected which ranged from a low Earth orbit mission to those associated with asteroids and a Mars sortie. The crew sizes considered varied from four persons to five thousand. Other study parameters included mission duration and life support closure percentages, with the latter ranging from complete resupply of consumable life support materials to 97% closure of the life support system. The analytical study approach and the missions and systems considered, together with the benefits derived from CELSS when applicable are described.

DAWN (Design Assistant Workstation) for advanced physical-chemical life support systems

NASA Technical Reports Server (NTRS)

Rudokas, Mary R.; Cantwell, Elizabeth R.; Robinson, Peter I.; Shenk, Timothy W.

1989-01-01

This paper reports the results of a project supported by the National Aeronautics and Space Administration, Office of Aeronautics and Space Technology (NASA-OAST) under the Advanced Life Support Development Program. It is an initial attempt to integrate artificial intelligence techniques (via expert systems) with conventional quantitative modeling tools for advanced physical-chemical life support systems. The addition of artificial intelligence techniques will assist the designer in the definition and simulation of loosely/well-defined life support processes/problems as well as assist in the capture of design knowledge, both quantitative and qualitative. Expert system and conventional modeling tools are integrated to provide a design workstation that assists the engineer/scientist in creating, evaluating, documenting and optimizing physical-chemical life support systems for short-term and extended duration missions.

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.

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

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.

Advanced Life Support Research and Technology Development Metric: Fiscal Year 2003

NASA Technical Reports Server (NTRS)

Hanford, A. J.

2004-01-01

This document provides the official calculation of the Advanced Life Support (ALS) Research and Technology Development Metric (the Metric) for Fiscal Year 2003. As such, the values herein are primarily based on Systems Integration, Modeling, and Analysis (SIMA) Element approved software tools or reviewed and approved reference documents. The Metric is one of several measures employed by the National Aeronautics and Space Administration (NASA) to assess the Agency s progress as mandated by the United States Congress and the Office of Management and Budget. Because any measure must have a reference point, whether explicitly defined or implied, the Metric is a comparison between a selected ALS Project life support system and an equivalently detailed life support system using technology from the Environmental Control and Life Support System (ECLSS) for the International Space Station (ISS). More specifically, the Metric is the ratio defined by the equivalent system mass (ESM) of a life support system for a specific mission using the ISS ECLSS technologies divided by the ESM for an equivalent life support system using the best ALS technologies. As defined, the Metric should increase in value as the ALS technologies become lighter, less power intensive, and require less volume. For Fiscal Year 2003, the Advanced Life Support Research and Technology Development Metric value is 1.47 for an Orbiting Research Facility and 1.36 for an Independent Exploration Mission.

Development of fast wireless detection system for fixed offshore platform

NASA Astrophysics Data System (ADS)

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

2011-04-01

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

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.

European scientific notes. Volume 38. Number 1. Monthly publication

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

Shaffer, L.E.

1984-01-01

Topics include: Gender-mixed Crews on Dutch Combat Ships; Max-Planck-Institute for Psycholinguistics; Cancer Therapy with Magnetism; 9th European Underwater Biomedical Society Convention; International Center for Genetic Engineering and Biotechnology; Biotechnological Route to Polyphenylene; 2nd Romania-US Seminar on Polymer Chemistry; Statistical Climatology; A Code for Generating Dynamic Models of Robots; Fifth Generation Computing Systems; New Data Logger; Erosion by Liquid and Solid Impact, ELSI VI; Physical Chemistry of the Solid State -- Metals and alloys; NATO Buys a New Oceanographic Research Vessel; Oceanexpo/Oceantropigues 1984; Progress in Development of Wave Energy to Generate Electricity; IAPSO Symposia and Oceanography at the 18th IUGG; Newmore » Decision Support System; High Energy Channeling Research in Switzerland; Muon-Catalyzed Fusion; 2nd International Symposium on Acoustic Remote Sensing of the Atmosphere and Ocean; and Support of Science Research by the British Military.« less

The CELSS Antarctic Analog Project: An Advanced Life Support Testbed at the Amundsen-Scott South Pole Station, Antarctica

NASA Technical Reports Server (NTRS)

Straight, Christian L.; Bubenheim, David L.; Bates, Maynard E.; Flynn, Michael T.

1994-01-01

CELSS Antarctic Analog Project (CAAP) represents a logical solution to the multiple objectives of both the NASA and the National Science Foundation (NSF). CAAP will result in direct transfer of proven technologies and systems, proven under the most rigorous of conditions, to the NSF and to society at large. This project goes beyond, as it must, the generally accepted scope of CELSS and life support systems including the issues of power generation, human dynamics, community systems, and training. CAAP provides a vivid and starkly realistic testbed of Controlled Ecological Life Support System (CELSS) and life support systems and methods. CAAP will also be critical in the development and validation of performance parameters for future advanced life support systems.

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

Exploration Life Support Critical Questions for Future Human Space Missions

NASA Technical Reports Server (NTRS)

Kwert, Michael K.; Barta, Daniel J.; McQuillan, Jeff

2010-01-01

Exploration Life Support (ELS) is a current project under NASA's Exploration Systems Mission Directorate. The ELS Project plans, coordinates and implements the development of advanced life support technologies for human exploration missions in space. Recent work has focused on closed loop atmosphere and water systems for long duration missions, including habitats and pressurized rovers. But, what are the critical questions facing life support system developers for these and other future human missions? This paper explores those questions and how progress in the development of ELS technologies can help answer them. The ELS Project includes the following Elements: Atmosphere Revitalization Systems, Water Recovery Systems, Waste Management Systems, Habitation Engineering, Systems Integration, Modeling and Analysis, and Validation and Testing, which includes the Sub-Elements Flight Experiments and Integrated Testing. Systems engineering analysis by ELS seeks to optimize overall mission architectures by considering all the internal and external interfaces of the life support system and the potential for reduction or reuse of commodities. In particular, various sources and sinks of water and oxygen are considered along with the implications on loop closure and the resulting launch mass requirements. Systems analysis will be validated through the data gathered from integrated testing, which will demonstrate the interfaces of a closed loop life support system. By applying a systematic process for defining, sorting and answering critical life support questions, the ELS project is preparing for a variety of future human space missions

Simulating advanced life support systems to test integrated control approaches

NASA Astrophysics Data System (ADS)

Kortenkamp, D.; Bell, S.

Simulations allow for testing of life support control approaches before hardware is designed and built. Simulations also allow for the safe exploration of alternative control strategies during life support operation. As such, they are an important component of any life support research program and testbed. This paper describes a specific advanced life support simulation being created at NASA Johnson Space Center. It is a discrete-event simulation that is dynamic and stochastic. It simulates all major components of an advanced life support system, including crew (with variable ages, weights and genders), biomass production (with scalable plantings of ten different crops), water recovery, air revitalization, food processing, solid waste recycling and energy production. Each component is modeled as a producer of certain resources and a consumer of certain resources. The control system must monitor (via sensors) and control (via actuators) the flow of resources throughout the system to provide life support functionality. The simulation is written in an object-oriented paradigm that makes it portable, extensible and reconfigurable.

Self Righting Life Raft

NASA Technical Reports Server (NTRS)

1982-01-01

The Givens Buoy Raft was designed and manufactured for inventor Jim Givens of Givens Marine Survival Co. Inc., by RPR Industries, Inc. The Raft consists of a canopied topside and an underwater hemispheric ballast chamber. It has a heavy ballast stabilization system, adopted from NASA technology, which negates the capsizing problem. A "flapper valve" admits large amounts of water to the hemisphere chamber providing ballast to keep the center of gravity constant; stabilization system compensates for changes in wave angle and weight shifting of raft occupants. Mr. Givens has an exclusive patent license for use of the NASA technology. Produced in various sizes, capacities range from six to 20 persons. Raft is housed in a canister, available in several configurations. A pull on a line triggers the automatic inflation process, which takes 12 seconds. The raft has been credited with saving 230 lives in the last five years. It has found wide acceptance with operators of fishing boats, pleasure craft and other vessels. The Coast Guard is purchasing the rafts for use on its rescue helicopters and the Navy has a development program to adapt the system. The Coast Guard last year announced a proposed amendment of its regulations that would require large ballast chambers on inflatable life rafts.

Research on Life Science and Life Support Engineering Problems of Manned Deep Space Exploration Mission

NASA Astrophysics Data System (ADS)

Qi, Bin; Guo, Linli; Zhang, Zhixian

2016-07-01

Space life science and life support engineering are prominent problems in manned deep space exploration mission. Some typical problems are discussed in this paper, including long-term life support problem, physiological effect and defense of varying extraterrestrial environment. The causes of these problems are developed for these problems. To solve these problems, research on space life science and space medical-engineering should be conducted. In the aspect of space life science, the study of space gravity biology should focus on character of physiological effect in long term zero gravity, co-regulation of physiological systems, impact on stem cells in space, etc. The study of space radiation biology should focus on target effect and non-target effect of radiation, carcinogenicity of radiation, spread of radiation damage in life system, etc. The study of basic biology of space life support system should focus on theoretical basis and simulating mode of constructing the life support system, filtration and combination of species, regulation and optimization method of life support system, etc. In the aspect of space medical-engineering, the study of bio-regenerative life support technology should focus on plants cultivation technology, animal-protein production technology, waste treatment technology, etc. The study of varying gravity defense technology should focus on biological and medical measures to defend varying gravity effect, generation and evaluation of artificial gravity, etc. The study of extraterrestrial environment defense technology should focus on risk evaluation of radiation, monitoring and defending of radiation, compound prevention and removal technology of dust, etc. At last, a case of manned lunar base is analyzed, in which the effective schemes of life support system, defense of varying gravity, defense of extraterrestrial environment are advanced respectively. The points in this paper can be used as references for intensive study on key technologies.

Advanced Life Support

NASA Technical Reports Server (NTRS)

Chambliss, Joe

2004-01-01

Viewgraphs on Advanced Life Support (ALS) Systems are presented. The topics include: 1) Fundamental Need for Advanced Life Support; 2) ALS organization; 3) Requirements and Rationale; 4) Past Integrated tests; 5) The need for improvements in life support systems; 6) ALS approach to meet exploration goals; 7) ALS Projects showing promise to meet exploration goals; and 9) GRC involvement in ALS.

From Apollo to Cognac

NASA Technical Reports Server (NTRS)

1980-01-01

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

Department of the Navy FY 1990/FY 1991 Biennial Budget Estimates. Military Construction and Family Housing Program FY 1990. Justification Data Submitted to Congress

DTIC Science & Technology

1989-01-01

Center, Panama City 314 Diver Training Building Addition 4,300 4 ,300 50 180 Subtotal 4,300 4,300 Navy Experimental Diving Unit 182 Panama City 347 ...Air Force 001 Security Training Center 4,500 4,500 100 345 Subtotal .4,500 4,500 TOTAL FOR TAS 28,220 28,220 Virginia Naval SecuritY Goui Activity 347 ...Building Addition 4,300 C NEDU Panama City, FL 347 Underwater Equipment Support Complex 2,900 C NPWC Pensacola, FL 109 Wastewater Transfer System 2,100 C

Numerical Modelling of circulation and internal tides on the Crozet plateau in support of the IMS/CTBTO hydroacoustic installation HA04

NASA Astrophysics Data System (ADS)

Lyard, Florent Henri; Zampolli, Mario; Marsaleix, Patrick

2014-05-01

Hydrophone stations of the Comprehensive Nuclear-Test-Ban Organisation (CTBTO) International Monitoring System (IMS), with the exception of one in Australia, comprise two triplets of submerged moored hydrophones, one North and one South of the island from which the respective system is deployed. Triplet distances vary approximately between 50 - 100 km kilometres from the island, with each triplet connected to the receiving shore equipment by fibre-optic submarine data cables. Once deployed, the systems relay underwater acoustic waveforms in the band 1 - 100 Hz in real time to Vienna via a shore based satellite link. The design life of hydroacoustic stations is at least 20 years, without need for any maintenance of the underwater system. The re-establishment of hydrophone monitoring station HA04 at Crozet (French Southern and Antarctic Territories) in the South-Western Indian Ocean is currently being investigated. The highly dynamic ocean environment at Crozet is governed by strong winds and generally high sea states at the surface, local circulation emanating from the sub-Antarctic front (SAF) and the Agulhas return current (ARC), moderate surface tides and strong internal tides. Deploying the submarine cables and triplets in such an environment requires careful evaluation of all risks and in particular the minimization of the exposure of the deployed system to excessively strong currents. This issue has been addressed by two studies which are briefly introduced here. In the first study, a linear spectral model was used to study and characterize the barotropic tide-driven currents on the Crozet plateau in three spatial dimensions. The M2 semi-diurnal component was shown to dominate in the area, driving sizeable internal tides. The estimate was quantitatively and spatially refined in the second study, in which a time stepping model was used taking into account the local ocean climatology and stratification, as well as the interplay between the seasonally varying local circulation and the internal tides. The numerical result showed a counter-clockwise circulation around Ile de la Possession and Ile de l'Est (Crozet Islands), with a strong component in the South. Internal waves propagating downslope in the near-bottom layers can be particularly intense South of the two islands, while the regions to the North appear to be more calm. The results from the studies are compared to a set of limited current measurements acquired during a survey campaign in 1998.

Mathematical Modeling Of Life-Support Systems

NASA Technical Reports Server (NTRS)

Seshan, Panchalam K.; Ganapathi, Balasubramanian; Jan, Darrell L.; Ferrall, Joseph F.; Rohatgi, Naresh K.

1994-01-01

Generic hierarchical model of life-support system developed to facilitate comparisons of options in design of system. Model represents combinations of interdependent subsystems supporting microbes, plants, fish, and land animals (including humans). Generic model enables rapid configuration of variety of specific life support component models for tradeoff studies culminating in single system design. Enables rapid evaluation of effects of substituting alternate technologies and even entire groups of technologies and subsystems. Used to synthesize and analyze life-support systems ranging from relatively simple, nonregenerative units like aquariums to complex closed-loop systems aboard submarines or spacecraft. Model, called Generic Modular Flow Schematic (GMFS), coded in such chemical-process-simulation languages as Aspen Plus and expressed as three-dimensional spreadsheet.

Fallout from the Shuttle Arm

NASA Technical Reports Server (NTRS)

1990-01-01

Vadeko International, Inc., Mississauga, Ontario developed for the Canadian National Railways (CN) the Robotic Paint Application System. The robotic paint shop has two parallel paint booths, allowing simultaneous painting of two hopper cars. Each booth has three robots, two that move along wall-mounted rails to spray-paint the exterior, a third that is lowered through a hatch in the railcar's top to paint the interior. A fully computerized system controls the movement of the robots and the painting process. The robots can do in four hours a job that formerly took 32 hours. The robotic system applies a more thorough coating and CN expects that will double the useful life of its hoppers and improve cost efficiency. Human painters no longer have to handle the difficult and hazardous job. CN paint shop employees have been retrained to operate the computer system that controls the robots. In addition to large scale robotic systems, Vadeko International is engaged in such other areas of technology as flexible automation, nuclear maintenance, underwater vehicles, thin film deposition and wide band monitoring.

KSC-04pd1507

NASA Image and Video Library

2004-07-11

KENNEDY SPACE CENTER, FLA. - Ready for another dive to the NOAA undersea station Aquarius, offshore from Key Largo, the site of the NASA Extreme Environment Mission Operations 6 (NEEMO-6), are (left to right) Monike Schultz, CB Office lead; Bill Todd, project lead; Marc Reagan, mission lead; and Michele Lucas, OPS planner. Todd and Lucas are also the underwater videographer and still photographer, respectively, for the mission. The NEEMO-6 team comprises John Herrington, commander, Tara Ruttley, a biomedical engineer, and astronauts Nick Patrick and Doug Wheelock. The NEEMO-6 mission involves exposing an astronaut/scientist crew to a real mission experience in an extreme environment - Aquarius - to prepare for future space flight. Spacewalk-like diving excursions and field-tests on a variety of biomedical equipment are designed to help astronauts living aboard the International Space Station. To prepare for their 10-day stay, the team had dive training twice a day at the Life Support Buoy, anchored above Aquarius.

KSC-04pd1500

NASA Image and Video Library

2004-07-07

KENNEDY SPACE CENTER, FLA. - After their return from a practice dive at the NOAA Aquarius underwater station offshore at Key Largo, John Herrington and Tara Ruttley look over their dive gear. Herrington is mission commander and Ruttley, a biomedical engineer, is a member of the crew on the NASA Extreme Environment Mission Operations 6 (NEEMO-6) mission. The NEEMO-6 mission involves exposing an astronaut/scientist crew to a real mission experience in an extreme environment - the NOAA undersea station Aquarius offshore from Key Largo - to prepare for future space flight. Spacewalk-like diving excursions and field-tests on a variety of biomedical equipment are designed to help astronauts living aboard the International Space Station. Other team members are astronauts Doug Wheelock and Nick Patrick. To prepare for their 10-day stay, the team had dive training twice a day at the Life Support Buoy, anchored above Aquarius.

YIP: Generic Environment Models (GEMs) for Agile Marine Autonomy

DTIC Science & Technology

2013-09-30

2012, and spring 2013, SC for a related NSF project: “Mechanisms of nutrient input at the shelf margin supporting persistent winter phytoplankton blooms...the Shelf Margin Supporting Persistent Winter Phytoplankton Blooms Downstream of the Charleston Bump. We will deploy underwater gliders in Long Bay...SC to study mechanisms of nutrient input at the shelf margin supporting persistent winter phytoplankton blooms downstream of the Charleston Bump. GEM

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.

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.

Technical assessment of Mir-1 life support hardware for the international space station

NASA Technical Reports Server (NTRS)

Mitchell, K. L.; Bagdigian, R. M.; Carrasquillo, R. L.; Carter, D. L.; Franks, G. D.; Holder, D. W., Jr.; Hutchens, C. F.; Ogle, K. Y.; Perry, J. L.; Ray, C. D.

1994-01-01

NASA has been progressively learning the design and performance of the Russian life support systems utilized in their Mir space station. In 1992, a plan was implemented to assess the benefits of the Mir-1 life support systems to the Freedom program. Three primary tasks focused on: evaluating the operational Mir-1 support technologies and understanding if specific Russian systems could be directly utilized on the American space station and if Russian technology design information could prove useful in improving the current design of the planned American life support equipment; evaluating the ongoing Russian life support technology development activities to determine areas of potential long-term application to the U.S. space station; and utilizing the expertise of their space station life support systems to evaluate the benefits to the current U.S. space station program which included the integration of the Russian Mir-1 designs with the U.S. designs to support a crew of six.

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.

A new InterRidge Working Group : Biogeochemical Interactions at Deep-sea Vents

NASA Astrophysics Data System (ADS)

Le Bris, N.; Boetius, A.; Tivey, M. K.; Luther, G. W.; German, C. R.; Wenzhoefer, F.; Charlou, J.; Seyfried, W. E.; Fortin, D.; Ferris, G.; Takai, K.; Baross, J. A.

2004-12-01

A new Working Group on `Biogeochemical Interactions at deep-sea vents' has been created at the initiative of the InterRidge programme. This interdisciplinary group comprises experts in chemistry, geochemistry, biogeochemistry, and microbial ecology addressing questions of biogeochemical interactions in different MOR and BAB environments. The past decade has raised major issues concerning the interactions between biotic and abiotic compartments of deep-sea hydrothermal environments and the role they play in the microbial turnover of C, S, N, Fe, fluxes from the geosphere to hydrosphere, the formation of biominerals, the functioning of vent ecosystems and life in extreme environments, the deep-biosphere, and the origin of life. Recent multidisciplinary studies have provided some new insights to these issues. Results of some of these studies will be presented here. They point out the variability and complexity of geobiological systems at vents in space and time and highlight the need for interactions across the fields of chemistry, geochemistry, biogeochemistry, and microbial ecology of hydrothermal environments. Limitation for advances in these fields include the availability of seafloor observation/experimentation time, and of underwater instrumentation allowing quantitative, in situ measurements of chemical and biological fluxes, as well as physical and chemical sensing and sampling along small scale gradients and repeated observation of study sites. The aim of this new Working Group is to strengthen the scientific exchange among chemists, geochemists, biogeochemists and microbial ecologists to favor collaboration in field studies including intercomparison of methods and planning of integrated experiments. The Biogeochemical Interactions working group will also foster development of underwater instrumentation for in situ biogeochemical measurements and microscale sampling, and promote exchange and collaboration with students and scientists of neighboring disciplines, particularly with vent biologists, ecologists and geologists .

Developing Sustainable Life Support System Concepts

NASA Technical Reports Server (NTRS)

Thomas, Evan A.

2010-01-01

Sustainable spacecraft life support concepts may allow the development of more reliable technologies for long duration space missions. Currently, life support technologies at different levels of development are not well evaluated against each other, and evaluation methods do not account for long term reliability and sustainability of the hardware. This paper presents point-of-departure sustainability evaluation criteria for life support systems, that may allow more robust technology development, testing and comparison. An example sustainable water recovery system concept is presented.

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.

Engineering stategies and implications of using higher plants for throttling gas and water exchange in a controlled ecological life support system

NASA Technical Reports Server (NTRS)

Chamberland, Dennis; Wheeler, Raymond M.; Corey, Kenneth A.

1993-01-01

Engineering stategies for advanced life support systems to be used on Lunar and Mars bases involve a wide spectrum of approaches. These range from purely physical-chemical life support strategies to purely biological approaches. Within the context of biological based systems, a bioengineered system can be devised that would utilize the metabolic mechanisms of plants to control the rates of CO2 uptake and O2 evolution (photosynthesis) and water production (transpiration). Such a mechanism of external engineering control has become known as throttling. Research conducted at the John F. Kennedy Space Center's Controlled Ecological Life Support System Breadboard Project has demonstrated the potential of throttling these fluxes by changing environmental parameters affecting the plant processes. Among the more effective environmental throttles are: light and CO2 concentration for controllingthe rate of photsynthesis and humidity and CO2 concentration for controlling transpiration. Such a bioengineered strategy implies control mechanisms that in the past have not been widely attributed to life support systems involving biological components and suggests a broad range of applications in advanced life support system design.

14 CFR 460.11 - Environmental control and life support systems.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 4 2010-01-01 2010-01-01 false Environmental control and life support... Crew § 460.11 Environmental control and life support systems. (a) An operator must provide atmospheric conditions adequate to sustain life and consciousness for all inhabited areas within a vehicle. The operator...

14 CFR 460.11 - Environmental control and life support systems.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 4 2013-01-01 2013-01-01 false Environmental control and life support... Crew § 460.11 Environmental control and life support systems. (a) An operator must provide atmospheric conditions adequate to sustain life and consciousness for all inhabited areas within a vehicle. The operator...

Nonregenerative life-support systems for flights of short and moderate duration

NASA Technical Reports Server (NTRS)

Adamovich, B. A.

1975-01-01

The basic requirements for crew life support systems of flights of up to 30 days are described. Food products, drinking water, oxygen for breathing, and sanitary-technical facilities are among the factors considered. Life support systems utilized on Vostok, Voskhod, Soyuz, Gemini, Mercury, and Apollo are discussed.

Advanced Life Support Research and Technology Development Metric

NASA Technical Reports Server (NTRS)

Hanford, A. J.

2004-01-01

The Metric is one of several measures employed by the NASA to assess the Agency s progress as mandated by the United States Congress and the Office of Management and Budget. Because any measure must have a reference point, whether explicitly defined or implied, the Metric is a comparison between a selected ALS Project life support system and an equivalently detailed life support system using technology from the Environmental Control and Life Support System (ECLSS) for the International Space Station (ISS). This document provides the official calculation of the Advanced Life Support (ALS) Research and Technology Development Metric (the Metric) for Fiscal Year 2004. The values are primarily based on Systems Integration, Modeling, and Analysis (SIMA) Element approved software tools or reviewed and approved reference documents. For Fiscal Year 2004, the Advanced Life Support Research and Technology Development Metric value is 2.03 for an Orbiting Research Facility and 1.62 for an Independent Exploration Mission.

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

BLSS: a contribution to future life support.

PubMed

Skoog, A I

1984-01-01

For extended duration missions in space the supply of basic life-supporting ingredients represents a formidable logistics problem. Storage volume and launch weight of water, oxygen and food in a conventional non-regenerable life support system are directly proportional to the crew size and the length of the mission. In view of spacecraft payload limitations this will require that the carbon, or food, recycling loop, the third and final part in the life support system, be closed to further reduce logistics cost. This will be practical only if advanced life support systems can be developed in which metabolic waste products are regenerated and food is produced. Biological Life Support Systems (BLSS) satisfy the space station environmental control functions and close the food cycle. A Biological Life Support System has to be a balanced ecological system, biotechnical in nature and consisting of some combination of human beings, animals, plants and microorganisms integrated with mechanical and physico-chemical hardware. Numerous scientific space experiments have been delineated in recent years, the results of which are applicable to the support of BLSS concepts. Furthermore ecological life support systems have become subject to intensified studies and experiments both in the U.S. and the U.S.S.R. The Japanese have also conducted detailed preliminary studies. Dornier System has in recent years undertaken an effort to define requirements and concepts and to analyse the feasibility of BLSS for space applications. Analyses of the BLSS energy-mass relation have been performed, and the possibilities to influence it to achieve advantages for the BLSS (compared with physico-chemical systems) have been determined. The major problem areas which need immediate attention have been defined, and a programme for the development of BLSS has been proposed.

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

All about Fish. Animal Life for Children. [Videotape].

ERIC Educational Resources Information Center

2000

There is a completely new world to discover in the oceans, lakes, and rivers--a world filled with an amazing variety of fish. While all fish live and breathe underwater, each type looks very different and develops its own unique living habits. In this videotape, students learn more about the body structures of fish as well as how they reproduce…

Introduction to Life Support Systems

NASA Technical Reports Server (NTRS)

Perry, Jay

2017-01-01

This course provides an introduction to the design and development of life support systems to sustain humankind in the harsh environment of space. The life support technologies necessary to provide a respirable atmosphere and clean drinking water are emphasized in the course. A historical perspective, beginning with open loop systems employed aboard the earliest crewed spacecraft through the state-of-the-art life support technology utilized aboard the International Space Station today, will provide a framework for students to consider applications to possible future exploration missions and destinations which may vary greatly in duration and scope. Development of future technologies as well as guiding requirements for designing life support systems for crewed exploration missions beyond low-Earth orbit are also considered in the course.

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.

Underwater hearing and sound localization with and without an air interface.

PubMed

Shupak, Avi; Sharoni, Zohara; Yanir, Yoav; Keynan, Yoav; Alfie, Yechezkel; Halpern, Pinchas

2005-01-01

Underwater hearing acuity and sound localization are improved by the presence of an air interface around the pinnae and inside the external ear canals. Hearing threshold and the ability to localize sound sources are reduced underwater. The resonance frequency of the external ear is lowered when the external ear canal is filled with water, and the impedance-matching ability of the middle ear is significantly reduced due to elevation of the ambient pressure, the water-mass load on the tympanic membrane, and the addition of a fluid-air interface during submersion. Sound lateralization on land is largely explained by the mechanisms of interaural intensity differences and interaural temporal or phase differences. During submersion, these differences are largely lost due to the increase in underwater sound velocity and cancellation of the head's acoustic shadow effect because of the similarity between the impedance of the skull and the surrounding water. Ten scuba divers wearing a regular opaque face mask or an opaque ProEar 2000 (Safe Dive, Ltd., Hofit, Israel) mask that enables the presence of air at ambient pressure in and around the ear made a dive to a depth of 3 m in the open sea. Four underwater speakers arranged on the horizontal plane at 90-degree intervals and at a distance of 5 m from the diver were used for testing pure-tone hearing thresholds (PTHT), the reception threshold for the recorded sound of a rubber-boat engine, and sound localization. For sound localization, the sound of the rubber boat's engine was randomly delivered by one speaker at a time at 40 dB HL above the recorded sound of a rubber-boat engine, and the diver was asked to point to the sound source. The azimuth was measured by the diver's companion using a navigation board. Underwater PTHT with both masks were significantly higher for frequencies of 250 to 6000 Hz when compared with the thresholds on land (p <0.0001). No differences were found in the PTHT or the reception threshold for the recorded sound of a rubber-boat engine for dry or wet ear conditions. There was no difference in the sound localization error between the regular mask and the ProEar 2000 mask. The presence of air around the pinna and inside the external ear canal did not improve underwater hearing sensitivity or sound localization. These results support the argument that bone conduction plays the main role in underwater hearing.

Towards a Mars base - Critical steps for life support on the moon and beyond

NASA Technical Reports Server (NTRS)

Rummel, John D.

1992-01-01

In providing crew life support for future exploration missions, overall exploration objectives will drive the life support solutions selected. Crew size, mission tasking, and exploration strategy will determine the performance required from life support systems. Human performance requirements, for example, may be offset by the availability of robotic assistance. Once established, exploration requirements for life support will be weighed against the financial and technical risks of developing new technologies and systems. Other considerations will include the demands that a particular life support strategy will make on planetary surface site selection, and the availability of precursor mission data to support EVA and in situ resource recovery planning. As space exploration progresses, the diversity of life support solutions that are implemented is bound to increase.

BLSS: A Contribution to Future Life Support

NASA Technical Reports Server (NTRS)

Skoog, A. I.

1985-01-01

The problem of the supply of basic life supporting ingredients was analyzed. Storage volume and launch weight of water, oxygen and food in a conventional nonregenerable life support system are directly proportional to the crew size and the length of the mission. Because of spacecraft payload limitations this requires that the carbon, or food, recycling loop, the third and final part in the life support system, be closed to further reduce logistics cost. Advanced life support systems need to be developed in which metabolic waste products are regenerated and food is produced. Biological life support systems (BLSS) satisfy the space station environmental control functions and close the food cycle. Numerous scientific space experiments were delineated, the results of which are applicable to the support of BLSS concepts. Requirements and concepts are defined and the feasibility of BLSS for space application are analyzed. The BLSS energy mass relation, and the possibilities to influence it to achieve advantages for the BLSS are determined. A program for the development of BLSS is proposed.

Publications of the NASA Controlled Ecological Life Support System (CELSS) Program, 1979-1989

NASA Technical Reports Server (NTRS)

Wallace, Janice S.; Powers, Janet V.

1990-01-01

Publications of research sponsored by the NASA Controlled Ecological Life Support System (CELSS) Program from 1979 to 1989 are listed. The CELSS Program encompasses research and technology with the goal of developing an autonomous bioregenerative life support system that continually recycles the solid, liquid, and gaseous materials essential for human life. The bibliography is divided into four major subject areas: food production, nutritional requirements, waste management, and systems management and control.

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.

1991 NASA Life Support Systems Analysis workshop

NASA Technical Reports Server (NTRS)

Evanich, Peggy L.; Crabb, Thomas M.; Gartrell, Charles F.

1992-01-01

The 1991 Life Support Systems Analysis Workshop was sponsored by NASA Headquarters' Office of Aeronautics and Space Technology (OAST) to foster communication among NASA, industrial, and academic specialists, and to integrate their inputs and disseminate information to them. The overall objective of systems analysis within the Life Support Technology Program of OAST is to identify, guide the development of, and verify designs which will increase the performance of the life support systems on component, subsystem, and system levels for future human space missions. The specific goals of this workshop were to report on the status of systems analysis capabilities, to integrate the chemical processing industry technologies, and to integrate recommendations for future technology developments related to systems analysis for life support systems. The workshop included technical presentations, discussions, and interactive planning, with time allocated for discussion of both technology status and time-phased technology development recommendations. Key personnel from NASA, industry, and academia delivered inputs and presentations on the status and priorities of current and future systems analysis methods and requirements.

How to Establish a Bioregenerative Life Support System for Long-Term Crewed Missions to the Moon or Mars.

PubMed

Fu, Yuming; Li, Leyuan; Xie, Beizhen; Dong, Chen; Wang, Mingjuan; Jia, Boyang; Shao, Lingzhi; Dong, Yingying; Deng, Shengda; Liu, Hui; Liu, Guanghui; Liu, Bojie; Hu, Dawei; Liu, Hong

2016-12-01

To conduct crewed simulation experiments of bioregenerative life support systems on the ground is a critical step for human life support in deep-space exploration. An artificial closed ecosystem named Lunar Palace 1 was built through integrating efficient higher plant cultivation, animal protein production, urine nitrogen recycling, and bioconversion of solid waste. Subsequently, a 105-day, multicrew, closed integrative bioregenerative life support systems experiment in Lunar Palace 1 was carried out from February through May 2014. The results show that environmental conditions as well as the gas balance between O 2 and CO 2 in the system were well maintained during the 105-day experiment. A total of 21 plant species in this system kept a harmonious coexistent relationship, and 20.5% nitrogen recovery from urine, 41% solid waste degradation, and a small amount of insect in situ production were achieved. During the 105-day experiment, oxygen and water were recycled, and 55% of the food was regenerated. Key Words: Bioregenerative life support systems (BLSS)-Space agriculture-Space life support-Waste recycle-Water recycle. Astrobiology 16, 925-936.

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

Recycling and source reduction for long duration space habitation

NASA Technical Reports Server (NTRS)

Hightower, T. M.

1992-01-01

A direct mathematical approach has been established for characterizing the performance of closed-loop life support systems. The understanding that this approach gives clearly illustrates the options available for increasing the performance of a life support system by changing various parameters. New terms are defined and utilized, such as Segregation Factor, Resource Recovery Efficiency, Overall Reclamation Efficiency, Resupply Reduction Factor, and Life Support Extension Factor. The effects of increases in expendable system supplies required due to increases in life support system complexity are shown. Minimizing resupply through increased recycling and source reduction is illustrated. The effects of recycling upon resupply launch cost is also shown. Finally, material balance analyses have been performed based on quantity and composition data for both supplies and wastes, to illustrate the use of this approach by comparing ten different closed-loop life support system cases.

Space shuttle environmental and thermal control/life support system study

NASA Technical Reports Server (NTRS)

Rousseau, J.

1973-01-01

The study of the space shuttle environmental and thermal control/life support system is summarized. Design approaches, system descriptions, maintenance requirements, testing requirements, instrumentation, and ground support equipment requirements are discussed.

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

NASA Technical Reports Server (NTRS)

Stoker, Carol R.

1993-01-01

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

A Preliminary Research Plan for Development of a Photosynthetic Link in a Closed Ecological Life Support System

NASA Technical Reports Server (NTRS)

Morgan, P. W.

1979-01-01

The use of higher plants in a closed ecological life support system for long duration space missions involving large numbers of people is considered. The approach to planning and developing both the habitat for a long term space mission and closed ecological life support systems are discussed with emphasis on environmental compatibility and integrated systems design. The requirements of photosynthetic processes are summarized and evaluated in terms of their availability within a closed ecological life support environment. Specific references are recommended as a data base for future research on this topic.

Need for Cost Optimization of Space Life Support Systems

NASA Technical Reports Server (NTRS)

Jones, Harry W.; Anderson, Grant

2017-01-01

As the nation plans manned missions that go far beyond Earth orbit to Mars, there is an urgent need for a robust, disciplined systems engineering methodology that can identify an optimized Environmental Control and Life Support (ECLSS) architecture for long duration deep space missions. But unlike the previously used Equivalent System Mass (ESM), the method must be inclusive of all driving parameters and emphasize the economic analysis of life support system design. The key parameter for this analysis is Life Cycle Cost (LCC). LCC takes into account the cost for development and qualification of the system, launch costs, operational costs, maintenance costs and all other relevant and associated costs. Additionally, an effective methodology must consider system technical performance, safety, reliability, maintainability, crew time, and other factors that could affect the overall merit of the life support system.

Additional deployment of ocean bottom gravity meter and ocean bottom electro-magnetic meter for the multidisciplinary cabled observation in Sagami Bay, Japan

NASA Astrophysics Data System (ADS)

Mitsuzawa, K.; Goto, T.; Araki, E.; Watanabe, T.; Sugioka, H.; Kasaya, T.; Sayanagi, K.; Mikada, H.; Fujimoto, H.; Nagao, T.; Koizumi, K.; Asakawa, K.

2005-12-01

Western part of the Sagami Bay central Pacific side of Japan, is known as one of the high active tectonic areas. In this area, Teishi Knoll, volcanic seamount, erupted in 1989 and the earthquake swarms occurs repeatedly every few years in the eastern coast of the Izu Peninsula. The real-time deep sea floor observatory was deployed about 7 km off Hatsushima Island, Sagami Bay, at a depth of 1174 m in 1993 to monitor seismic activities, underwater pressure, water temperature and deep currents. The video camera and lights were also mounted in the observatory to monitor the relations among biological activities associated with the tectonic activities. The observation system including submarine electro-optical cable with a length of 8 km was completely renewed in 2000. The several underwater-mateable connectors are installed in the new observatory for additional observation instruments. A precise pressure sensor, ocean bottom gravity meter and ocean bottom electro-magnetic meter were installed using ROV Hyper-Dolphin in the cruise of R/V Natsushima from January 9 to 14, 2005. We start to operate them at February 10, 2005 after checking those of data qualities. We also installed an underwater internet interface, which is called Linux Box, as a prototype of underwater network system which was operated by Linux operating system. The Linux Box is a key network system for multidisciplinary observation network. It will be able to connect much kind of observation instruments as using internet connection. We put the precise pressure sensor as a sensor of the Linux Box in this experiment.

Visual training improves underwater vision in children.

PubMed

Gislén, Anna; Warrant, Eric J; Dacke, Marie; Kröger, Ronald H H

2006-10-01

Children in a tribe of sea-gypsies from South-East Asia have been found to have superior underwater vision compared to European children. In this study, we show that the improved underwater vision of these Moken children is not due to better contrast sensitivity in general. We also show that European children can achieve the same underwater acuity as the Moken children. After 1 month of underwater training (11 sessions) followed by 4 months with no underwater activities, European children showed improved underwater vision and distinct bursts of pupil constriction. When tested 8 months after the last training session in an outdoor pool in bright sunlight-comparable to light environments in South-East Asia-the children had attained the same underwater acuity as the sea-gypsy children. The achieved performance can be explained by the combined effect of pupil constriction and strong accommodation.

An Underwater Color Image Quality Evaluation Metric.

PubMed

Yang, Miao; Sowmya, Arcot

2015-12-01

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

Life support systems for Mars transit

NASA Technical Reports Server (NTRS)

Macelroy, R. D.; Kliss, M.; Straight, C.

1992-01-01

The structural elements of life-support systems are reviewed in order to assess the suitability of specific features for use during a Mars mission. Life-support requirements are estimated by means of an approximate input/output analysis, and the advantages are listed relating to the use of recycling and regeneration techniques. The technological options for regeneration are presented in categories such as CO2 reduction, organics removal, polishing, food production, and organics oxidation. These data form the basis of proposed mission requirements and constraints as well as the definition of what constitutes an adequate reserve. Regenerative physical/chemical life-support systems are championed based exclusively on the mass savings inherent in the technology. The resiliency and 'soft' failure modes of bioregenerative life-support systems are identified as areas of investigation.

Performance of an underwater acoustic volume array using time-reversal focusing.

PubMed

Root, Joseph A; Rogers, Peter H

2002-11-01

Time reversal permits acoustic focusing and beam forming in inhomogeneous and/or high-scattering environments. A volumetric array geometry can suppress back lobes and can fit a large, powerful array of elements into small spaces, like the free-water spaces on submarines. This research investigates applying the time-reversal method to an underwater acoustic volume array. The experiments evaluate the focusing performance of a 27-element volume array when different scattering structures are present within the volume of the array. The array is arranged in a 3x3x3 cubic matrix configuration with 18.75-cm vertical and horizontal element spacing. The system utilizes second-derivative Gaussian pulses to focus on a point 30 cm from the array. Results include a comparison between time-reversal focusing and standard focusing, an evaluation of the volume array's ability to suppress back lobes, and an analysis of how different scattering environments affect focal region size. Potential underwater applications for a volume array using time reversal include acoustic imaging, naval mine hunting, sonar, and underwater communications.

Performance of an underwater acoustic volume array using time-reversal focusing

NASA Astrophysics Data System (ADS)

Root, Joseph A.; Rogers, Peter H.

2002-11-01

Time reversal permits acoustic focusing and beam forming in inhomogeneous and/or high-scattering environments. A volumetric array geometry can suppress back lobes and can fit a large, powerful array of elements into small spaces, like the free-water spaces on submarines. This research investigates applying the time-reversal method to an underwater acoustic volume array. The experiments evaluate the focusing performance of a 27-element volume array when different scattering structures are present within the volume of the array. The array is arranged in a 3 x3 x3 cubic matrix configuration with 18.75-cm vertical and horizontal element spacing. The system utilizes second-derivative Gaussian pulses to focus on a point 30 cm from the array. Results include a comparison between time-reversal focusing and standard focusing, an evaluation of the volume array's ability to suppress back lobes, and an analysis of how different scattering environments affect focal region size. Potential underwater applications for a volume array using time reversal include acoustic imaging, naval mine hunting, sonar, and underwater communications. copyright 2002 Acoustical Society of America.

Underwater sound radiation patterns of contemporary merchant ships

NASA Astrophysics Data System (ADS)

Gassmann, M.; Wiggins, S. M.; Hildebrand, J. A.

2016-12-01

Merchant ships radiate underwater sound as an unintended by-product of their operation and as consequence contribute significantly to low-frequency, man-made noise in the ocean. Current measurement standards for the description of underwater sound from ships (ISO 17208-1:2016 and ANSI S12.64-2009) require nominal hydrophone depths of 15°, 30° and 45° at the starboard and portside of the test vessel.To opportunistically study the underwater sound of contemporary merchant ships that were tracked by the Automatic Identification System (AIS), an array of seven high-frequency acoustic recording packages (HARPs) with a sampling frequency of 200 kHz was deployed in the Santa Barbara Channel in the primary outgoing shipping lane for the port of Los Angeles and Long Beach. The vertical and horizontal aperture of the array allowed for starboard and portside measurements at all standard-required nominal hydrophone depths in addition to measurements taken at the keel aspect. Based on these measurements, frequency-dependent radiation patterns of contemporary merchant ships were estimated and used to evaluate current standards for computing ship source levels.

A Chemical Monitoring Program of the Explosion Products in Underwater Explosion Tests

DTIC Science & Technology

1975-04-04

CLASSIFICATION QF THIS PAGE- (When Date Entered) UNCLASSIFIED tL,URJTY CLASSIFICATION OF THIS PAGE(Then Data Entered) 20.and determination of various explosion...to institute a chemical monitoring program of the explosion products in underwater explosion tests, to determine monitoring parameters, and to...27 3.2.3 Samplers 28 3.2.4 Storage of Sediment Samples 32 IV. DETERMINATION OF EXPLOSION PRODUCTS 32 4.1 DESIGN OF MEASUREMENT SYSTEM 32 4.1.1

Analysis and Application of an Underwater Optical-Ranging System

DTIC Science & Technology

1992-09-01

sin 20 (3.2) 0 2 2 The direction in which this is maximized or minimized is found by differentiating with respect to 0 and setting to zero _ = 0 (3.3...H.O. Torsen , K. Thoresen, "Laser Imaging Technology for Subsea Inspection: Principles and Applications," IRMI/ROV90 Coiference, November 1990. [6...J.O. Klepsvik, H.O. Torsen , "Recent Advances in Accurate Underwater Mapping and Inspection Techniques," International Ocean Technology Congress, January

Underwater Simultaneous EMI and Magnetometer System (USEMS)

DTIC Science & Technology

2011-02-01

advantages over other marine metal detectors . The first is that, because the sensors are affixed via a rigid boom instead of towed with a cable...Island free of metallic clutter, emplaced a test plot with 14 pipes ranging from 1.5 to 4 inches in diameter, measured the locations of items in it with... metallic contamination. 2.3 REGULATORY DRIVERS The primary driver is the continued need to develop tools to detect underwater MEC. The documented use

The Shock and Vibration Bulletin. Part 4. Underwater Problems, Environments and Measurements

DTIC Science & Technology

1974-08-01

6585th Test Group, Holloman AFB, New Mexico FLOW-INDUCED VIBRATIONS OF A GLASS-REINFORCED PLASTIC SONAR DOME D.A. King, Rockwell International...Bolts plasticity 10 Fig 13b Fig. 13 - Underwater Explosion Experimental Results on 2.5 t Mass (Nun Linear Mount) y Energy transfer calculation...makes it possible to access the stress level which is reached in every part of the fixture system in- cluding the region of plasticity . VI

Comparison and validation of point spread models for imaging in natural waters.

PubMed

Hou, Weilin; Gray, Deric J; Weidemann, Alan D; Arnone, Robert A

2008-06-23

It is known that scattering by particulates within natural waters is the main cause of the blur in underwater images. Underwater images can be better restored or enhanced with knowledge of the point spread function (PSF) of the water. This will extend the performance range as well as the information retrieval from underwater electro-optical systems, which is critical in many civilian and military applications, including target and especially mine detection, search and rescue, and diver visibility. A better understanding of the physical process involved also helps to predict system performance and simulate it accurately on demand. The presented effort first reviews several PSF models, including the introduction of a semi-analytical PSF given optical properties of the medium, including scattering albedo, mean scattering angles and the optical range. The models under comparison include the empirical model of Duntley, a modified PSF model by Dolin et al, as well as the numerical integration of analytical forms from Wells, as a benchmark of theoretical results. For experimental results, in addition to that of Duntley, we validate the above models with measured point spread functions by applying field measured scattering properties with Monte Carlo simulations. Results from these comparisons suggest it is sufficient but necessary to have the three parameters listed above to model PSFs. The simplified approach introduced also provides adequate accuracy and flexibility for imaging applications, as shown by examples of restored underwater images.

An overview: recycling nutrients from crop residues for space applications.

PubMed

Strayer, R F; Atkinson, C F

1997-01-01

Without some form of regenerative life support system, long duration space habitation or travel will be limited severely by the prohibitive costs of resupplying air, water, and food from Earth. Components under consideration for inclusion in a regenerative life support system are based on either physicochemical or biological processes. Physicochemical systems would use filtration and elemental phase changes to convert waste materials into usable products, while biological systems would use higher plants and bioreactors to supply crew needs. Neither a purely biological nor strictly a physicochemical approach can supply all crew needs, thus, the best each approach can offer will be combined into a hybrid regenerative life support system. Researchers at Kennedy Space Center (KSC) Advanced Life Support Breadboard Project have taken the lead on bioregenerative aspects of space life support. The major focus has been on utilization of higher plants for production of food, oxygen, and clean water. However, a key to any regenerative life support system is recycling and recovery of resources (wastes). In keeping with the emphasis at KSC on bioregenerative systems and with the focus on plants, this paper focuses on research with biologically-based options for resource recovery from inedible crop residues.

An overview: recycling nutrients from crop residues for space applications

NASA Technical Reports Server (NTRS)

Strayer, R. F.; Atkinson, C. F.

1997-01-01

Without some form of regenerative life support system, long duration space habitation or travel will be limited severely by the prohibitive costs of resupplying air, water, and food from Earth. Components under consideration for inclusion in a regenerative life support system are based on either physicochemical or biological processes. Physicochemical systems would use filtration and elemental phase changes to convert waste materials into usable products, while biological systems would use higher plants and bioreactors to supply crew needs. Neither a purely biological nor strictly a physicochemical approach can supply all crew needs, thus, the best each approach can offer will be combined into a hybrid regenerative life support system. Researchers at Kennedy Space Center (KSC) Advanced Life Support Breadboard Project have taken the lead on bioregenerative aspects of space life support. The major focus has been on utilization of higher plants for production of food, oxygen, and clean water. However, a key to any regenerative life support system is recycling and recovery of resources (wastes). In keeping with the emphasis at KSC on bioregenerative systems and with the focus on plants, this paper focuses on research with biologically-based options for resource recovery from inedible crop residues.

Advanced Systems for Monitoring Underwater Sounds

NASA Technical Reports Server (NTRS)

Lane, Michael; Van Meter, Steven; Gilmore, Richard Grant; Sommer, Keith

2007-01-01

The term "Passive Acoustic Monitoring System" (PAMS) describes a developmental sensing-and-data-acquisition system for recording underwater sounds. The sounds (more precisely, digitized and preprocessed versions from acoustic transducers) are subsequently analyzed by a combination of data processing and interpretation to identify and/or, in some cases, to locate the sources of those sounds. PAMS was originally designed to locate the sources such as fish of species that one knows or seeks to identify. The PAMS unit could also be used to locate other sources, for example, marine life, human divers, and/or vessels. The underlying principles of passive acoustic sensing and analyzing acoustic-signal data in conjunction with temperature and salinity data are not new and not unique to PAMS. Part of the uniqueness of the PAMS design is that it is the first deep-sea instrumentation design to provide a capability for studying soniferous marine animals (especially fish) over the wide depth range described below. The uniqueness of PAMS also lies partly in a synergistic combination of advanced sensing, packaging, and data-processing design features with features adapted from proven marine instrumentation systems. This combination affords a versatility that enables adaptation to a variety of undersea missions using a variety of sensors. The interpretation of acoustic data can include visual inspection of power-spectrum plots for identification of spectral signatures of known biological species or artificial sources. Alternatively or in addition, data analysis could include determination of relative times of arrival of signals at different acoustic sensors arrayed at known locations. From these times of arrival, locations of acoustic sources (and errors in those locations) can be estimated. Estimates of relative locations of sources and sensors can be refined through analysis of the attenuation of sound in the intervening water in combination with water-temperature and salinity data acquired by instrumentation systems other than PAMS. A PAMS is packaged as a battery-powered unit, mated with external sensors, that can operate in the ocean at any depth from 2 m to 1 km. A PAMS includes a pressure housing, a deep-sea battery, a hydrophone (which is one of the mating external sensors), and an external monitor and keyboard box. In addition to acoustic transducers, external sensors can include temperature probes and, potentially, underwater cameras. The pressure housing contains a computer that includes a hard drive, DC-to- DC power converters, a post-amplifier board, a sound card, and a universal serial bus (USB) 4-port hub.

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

Environmental Control and Life Support Systems and Power Systems ...

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

Environmental Control and Life Support Systems and Power Systems - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

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.

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.

Cave Pearl Data Logger: A Flexible Arduino-Based Logging Platform for Long-Term Monitoring in Harsh Environments.

PubMed

Beddows, Patricia A; Mallon, Edward K

2018-02-09

A low-cost data logging platform is presented that provides long-term operation in remote or submerged environments. Three premade "breakout boards" from the open-source Arduino ecosystem are assembled into the core of the data logger. Power optimization techniques are presented which extend the operational life of this module-based design to >1 year on three alkaline AA batteries. Robust underwater housings are constructed for these loggers using PVC fittings. Both the logging platform and the enclosures, are easy to build and modify without specialized tools or a significant background in electronics. This combination turns the Cave Pearl data logger into a generalized prototyping system and this design flexibility is demonstrated with two field studies recording drip rates in a cave and water flow in a flooded cave system. This paper describes a complete DIY solution, suitable for a wide range of challenging deployment conditions.

Cave Pearl Data Logger: A Flexible Arduino-Based Logging Platform for Long-Term Monitoring in Harsh Environments

PubMed Central

Mallon, Edward K.

2018-01-01

A low-cost data logging platform is presented that provides long-term operation in remote or submerged environments. Three premade “breakout boards” from the open-source Arduino ecosystem are assembled into the core of the data logger. Power optimization techniques are presented which extend the operational life of this module-based design to >1 year on three alkaline AA batteries. Robust underwater housings are constructed for these loggers using PVC fittings. Both the logging platform and the enclosures, are easy to build and modify without specialized tools or a significant background in electronics. This combination turns the Cave Pearl data logger into a generalized prototyping system and this design flexibility is demonstrated with two field studies recording drip rates in a cave and water flow in a flooded cave system. This paper describes a complete DIY solution, suitable for a wide range of challenging deployment conditions. PMID:29425185

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

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.

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.

International Space Station Environmental Control and Life Support System On-Orbit Station Development Test Objective Status

NASA Technical Reports Server (NTRS)

Williams, David E.; Lewis, John F.; Gentry, Gregory

2003-01-01

The International Space Station (ISS) Environmental Control and Life Support (ECLS) system includes regenerative and non-regenerative technologies that provide the basic life support functions to support the crew, while maintaining a safe and habitable shirtsleeve environment. This paper provides a summary of the ECLS System On-Orbit Station Development Test Objective (SDTO) status from the start of assembly until the end of February 2003.

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.

Human Support Technology Research to Enable Exploration

NASA Technical Reports Server (NTRS)

Joshi, Jitendra

2003-01-01

Contents include the following: Advanced life support. System integration, modeling, and analysis. Progressive capabilities. Water processing. Air revitalization systems. Why advanced CO2 removal technology? Solid waste resource recovery systems: lyophilization. ISRU technologies for Mars life support. Atmospheric resources of Mars. N2 consumable/make-up for Mars life. Integrated test beds. Monitoring and controlling the environment. Ground-based commercial technology. Optimizing size vs capability. Water recovery systems. Flight verification topics.

Life Support Systems Microbial Challenges

NASA Technical Reports Server (NTRS)

Roman, Monserrate C.

2009-01-01

This viewgraph presentation reviews the current microbial challenges of environmental control and life support systems. The contents include: 1) Environmental Control and Life Support Systems (ECLSS) What is it?; 2) A Look Inside the International Space Station (ISS); 3) The Complexity of a Water Recycling System; 4) ISS Microbiology Acceptability Limits; 5) Overview of Current Microbial Challenges; 6) In a Perfect World What we Would like to Have; and 7) The Future.

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.

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 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.

Ontogenetic investigation of underwater hearing capabilities in loggerhead sea turtles (Caretta caretta) using a dual testing approach.

PubMed

Lavender, Ashley L; Bartol, Soraya M; Bartol, Ian K

2014-07-15

Sea turtles reside in different acoustic environments with each life history stage and may have different hearing capacity throughout ontogeny. For this study, two independent yet complementary techniques for hearing assessment, i.e. behavioral and electrophysiological audiometry, were employed to (1) measure hearing in post-hatchling and juvenile loggerhead sea turtles Caretta caretta (19-62 cm straight carapace length) to determine whether these migratory turtles exhibit an ontogenetic shift in underwater auditory detection and (2) evaluate whether hearing frequency range and threshold sensitivity are consistent in behavioral and electrophysiological tests. Behavioral trials first required training turtles to respond to known frequencies, a multi-stage, time-intensive process, and then recording their behavior when they were presented with sound stimuli from an underwater speaker using a two-response forced-choice paradigm. Electrophysiological experiments involved submerging restrained, fully conscious turtles just below the air-water interface and recording auditory evoked potentials (AEPs) when sound stimuli were presented using an underwater speaker. No significant differences in behavior-derived auditory thresholds or AEP-derived auditory thresholds were detected between post-hatchling and juvenile sea turtles. While hearing frequency range (50-1000/1100 Hz) and highest sensitivity (100-400 Hz) were consistent in audiograms pooled by size class for both behavior and AEP experiments, both post-hatchlings and juveniles had significantly higher AEP-derived than behavior-derived auditory thresholds, indicating that behavioral assessment is a more sensitive testing approach. The results from this study suggest that post-hatchling and juvenile loggerhead sea turtles are low-frequency specialists, exhibiting little differences in threshold sensitivity and frequency bandwidth despite residence in acoustically distinct environments throughout ontogeny. © 2014. Published by The Company of Biologists Ltd.

Re-establishment of the IMS Hydroacoustic Station HA04, Crozet Islands, France.

NASA Astrophysics Data System (ADS)

Haralabus, Georgios; Stanley, Jerry; Zampolli, Mario; Grenard, Patrick; Nielsen, Peter; Le Bras, Ronan; Brown, David; Bittner, Paulina; Wang, Haijun; Gore, Jane; Amir, Menachem; Bereza, Slava

2017-04-01

The incorporation of the hydroacoustic station HA04, Crozet Islands, France, into the International Monitoring System (IMS) of the Comprehensive Nuclear-Test-Ban Treaty Organisation (CTBTO) is a 17 year saga that had a happy ending on 29 December 2016. On that day, following a major engineering and logistical undertaking, the station was successfully installed. While still in its initial testing phase, HA04 sends continuously quality data at the International Data Centre (IDC), pending official certification and promotion to mainstream operational status. Similarly to most other cabled hydroacoustic stations in the IMS, HA04 is comprised of two triplets of moored hydrophones deployed on both sides of Possession Island (Crozet Islands) sending uninterrupted data to a shore facility via submarine fiber optic cables. The designed frequency pass-band is 1 - 100 Hz. Data are relayed to Vienna via a shore based satellite link in real time. According to CTBTO's standard requirements, the design life of HA04 is at least 20 years, maintenance-free for the underwater system. An outline of the main phases of this project, highlights from the installation operations and examples of received hydroacoustic signals associated with recent underwater seismic activity in the Indian Ocean as well as vocalizations from marine mammals acquired by the new HA04 are presented here. HA04 is scheduled to be fully integrated into the operational platform of IDC in the next six months, which will enable registered researchers to access archived monitoring data and processing software, or via the National Data Centres (NDCs).

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.

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

Nanomaterials for Advanced Life Support in Advanced Life Support in Space systems

NASA Technical Reports Server (NTRS)

Allada, Rama Kumar; Moloney, Padraig; Yowell, Leonard

2006-01-01

A viewgraph presentation describing nanomaterial research at NASA Johnson Space Center with a focus on advanced life support in space systems is shown. The topics include: 1) Introduction; 2) Research and accomplishments in Carbon Dioxide Removal; 3) Research and Accomplishments in Water Purification; and 4) Next Steps

Human impacts of the motorways of the sea

NASA Astrophysics Data System (ADS)

March, David; Gómara, Sonia; Tintoré, Joaquin

2014-05-01

Maritime transport plays an important role in the world trade and economics development. In Europe the "motorways on the sea" concept has been an important issue since the launch of the EU Transport white paper (EC 2001). An enclosed sea such as the Mediterranean is particularly vulnerable to ship-associated pressures due to a high-volume of shipping routes, long history of use, and sensitive shallow and deep-sea habitats. Negative impacts associated to maritime traffic include biodiversity loss, introduction of alien species, pollution, marine litter and underwater noise among others. The monitoring and characterization of the spatio-temporal patterns of marine traffic constitutes an important element for the effective management and assessment of environmental impacts of this activity. Monitoring of real-time ship locations can be achieved through the Automated Identification System (AIS). The AIS is a VHF transmitter that broadcast the ship position, as well as additional information (eg. timestamp, speed, heading, boat type). All ocean-going commercial traffic >300 gross tons, or carrying more than 165 passengers, as well as tug/tows, are required to carry AIS transmitters (IALA 2004). In addition, the rest of the ships are able to carry on these transmitters on a voluntary basis. In this work we present the development of an information system designed to store, manage, analyze and visualize historical AIS data based on open-source components. We analyse such data to assess and map multiple anthropogenic pressures. For example, segmented regression on speed distribution is carried out to identify and map fishing activity, whereas neighbourhood statistics and GIS methods are used to generate underwater noise maps. We will illustrate these products within the context of risk assessment on marine ecosystems at the Western Mediterranean Sea. The information provided in this study can be incorporated into Decision Support Systems (DSS) for supporting the implementation of European and national policies for the assessment of environmental impacts and the interactions among human activities as well.

Developing Web-based Tools for Collaborative Science and Public Outreach

NASA Astrophysics Data System (ADS)

Friedman, A.; Pizarro, O.; Williams, S. B.

2016-02-01

With the advances in high bandwidth communications and the proliferation of social media tools, education & outreach activities have become commonplace on ocean-bound research cruises. In parallel, advances in underwater robotics & other data collecting platforms, have made it possible to collect copious amounts of oceanographic data. This data then typically undergoes laborious, manual processing to transform it into quantitative information, which normally occurs post cruise resulting in significant lags between collecting data and using it for scientific discovery. This presentation discusses how appropriately designed software systems, can be used to fulfill multiple objectives and attempt to leverage public engagement in order to compliment science goals. We will present two software platforms: the first is a web browser based tool that was developed for real-time tracking of multiple underwater robots and ships. It was designed to allow anyone on board to view or control it on any device with a web browser. It opens up the possibility of remote teleoperation & engagement and was easily adapted to enable live streaming over the internet for public outreach. While the tracking system provided context and engaged people in real-time, it also directed interested participants to Squidle, another online system. Developed for scientists, Squidle supports data management, exploration & analysis and enables direct access to survey data reducing the lag in data processing. It provides a user-friendly streamlined interface that integrates advanced data management & online annotation tools. This system was adapted to provide a simplified user interface, tutorial instructions and a gamified ranking system to encourage "citizen science" participation. These examples show that through a flexible design approach, it is possible to leverage the development effort of creating science tools to facilitate outreach goals, opening up the possibility for acquiring large volumes of crowd-sourced data without compromising science objectives.

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

Exploration Life Support Critical Questions for Future Human Space Missions

NASA Technical Reports Server (NTRS)

Ewert, Michael K.; Barta, Daniel J.; McQuillan, Jeff

2009-01-01

Exploration Life Support (ELS) is a project under NASA s Exploration Technology Development Program. The ELS Project plans, coordinates and implements the development of advanced life support technologies for human exploration missions in space. Recent work has focused on closed loop atmosphere and water systems for a lunar outpost, including habitats and pressurized rovers. But, what are the critical questions facing life support system developers for these and other future human missions? This paper explores those questions and discusses how progress in the development of ELS technologies can help answer them. The ELS Project includes Atmosphere Revitalization Systems (ARS), Water Recovery Systems (WRS), Waste Management Systems (WMS), Habitation Engineering, Systems Integration, Modeling and Analysis (SIMA), and Validation and Testing, which includes the sub-elements Flight Experiments and Integrated Testing. Systems engineering analysis by ELS seeks to optimize the overall mission architecture by considering all the internal and external interfaces of the life support system and the potential for reduction or reuse of commodities. In particular, various sources and sinks of water and oxygen are considered along with the implications on loop closure and the resulting launch mass requirements.

NASA's Advanced Life Support Systems Human-Rated Test Facility

NASA Technical Reports Server (NTRS)

Henninger, D. L.; Tri, T. O.; Packham, N. J.

1996-01-01

Future NASA missions to explore the solar system will be long-duration missions, requiring human life support systems which must operate with very high reliability over long periods of time. Such systems must be highly regenerative, requiring minimum resupply, to enable the crews to be largely self-sufficient. These regenerative life support systems will use a combination of higher plants, microorganisms, and physicochemical processes to recycle air and water, produce food, and process wastes. A key step in the development of these systems is establishment of a human-rated test facility specifically tailored to evaluation of closed, regenerative life supports systems--one in which long-duration, large-scale testing involving human test crews can be performed. Construction of such a facility, the Advanced Life Support Program's (ALS) Human-Rated Test Facility (HRTF), has begun at NASA's Johnson Space Center, and definition of systems and development of initial outfitting concepts for the facility are underway. This paper will provide an overview of the HRTF project plan, an explanation of baseline configurations, and descriptive illustrations of facility outfitting concepts.

Process control integration requirements for advanced life support systems applicable to manned space missions

NASA Technical Reports Server (NTRS)

Spurlock, Paul; Spurlock, Jack M.; Evanich, Peggy L.

1991-01-01

An overview of recent developments in process-control technology which might have applications in future advanced life support systems for long-duration space operations is presented. Consideration is given to design criteria related to control system selection and optimization, and process-control interfacing methodology. Attention is also given to current life support system process control strategies, innovative sensors, instrumentation and control, and innovations in process supervision.

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.

Business and life in space

NASA Technical Reports Server (NTRS)

Allen, Joseph

1990-01-01

The life support systems in the machine called the Space Shuttle is discussed and later about life support systems in a little cocoon that is far smaller than the shuttle; the more common term is a space suit.

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.

Overview of NASA's Environmental Control and Life Support Systems

NASA Technical Reports Server (NTRS)

Roman, Monserrate

2009-01-01

This viewgraph presentation reviews NASA's Environmental Control and Life Support Systems (ECLSS) on the International Space Station. A look inside of the International Space Station detailing ECLSS processes of controlling atmospheric pressure, conditioning the atmosphere, responding to emergency conditions, controlling internal carbon dioxide and contaminants and providing water are described. A detailed description of ISS Regenerative Environmental Control and Life Support System is also presented.

Survey and Recording Technologies in Italian Underwater Cultural Heritage: Research and Public Access Within the Framework of the 2001 UNESCO Convention

NASA Astrophysics Data System (ADS)

Secci, Massimiliano

2017-08-01

The 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage is slowly but peremptorily becoming a standard reference tool for underwater archaeology and underwater cultural heritage management. The many provisions included within the Convention touch on many aspects that are key to an effective protection and promotion of the underwater cultural heritage. Within the web of these provisions many aspects are gaining consideration and driving research in underwater archaeology worldwide. These provisions, when seen within a wider frame of social, economical and technological dynamics, pinpoint many aspects requiring further scrutiny from the disciplinary circle. In the framework of the 2001 UNESCO Convention, this article will analyze the path traveled in technological acquisition in the practice of Italian underwater archaeology and how this has affected the approach to underwater cultural heritage management, particularly highlighting how this process has been further influenced by the adoption in 2001 of the Convention and Italy's ratification of it in 2010.

Single underwater image enhancement based on color cast removal and visibility restoration

NASA Astrophysics Data System (ADS)

Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian

2016-05-01

Images taken under underwater condition usually have color cast and serious loss of contrast and visibility. Degraded underwater images are inconvenient for observation and analysis. In order to address these problems, an underwater image-enhancement method is proposed. A simple yet effective underwater image color cast removal algorithm is first presented based on the optimization theory. Then, based on the minimum information loss principle and inherent relationship of medium transmission maps of three color channels in an underwater image, an effective visibility restoration algorithm is proposed to recover visibility, contrast, and natural appearance of degraded underwater images. To evaluate the performance of the proposed method, qualitative comparison, quantitative comparison, and color accuracy test are conducted. Experimental results demonstrate that the proposed method can effectively remove color cast, improve contrast and visibility, and recover natural appearance of degraded underwater images. Additionally, the proposed method is comparable to and even better than several state-of-the-art methods.

Controlled Ecological Life Support Systems: Natural and Artificial Ecosystems

NASA Technical Reports Server (NTRS)

Macelroy, Robert D. (Editor); Thompson, Brad G. (Editor); Tibbitts, Theodore W. (Editor); Volk, Tyler (Editor)

1989-01-01

The scientists supported by the NASA sponsored Controlled Ecological Life Support Systems (CELSS) program have played a major role in creating a Committee on Space Research (COSPAR) section devoted to the development of bioregenerative life support for use in space. The series of 22 papers were sponsored by Subcommission F.4. The papers deal with many of the diverse aspects of life support, and with outgrowth technologies that may have commercial applications in fields such as biotechnology and bioengineering. Papers from researchers in France, Canada, Japan and the USSR are also presented.

Learning to Control Advanced Life Support Systems

NASA Technical Reports Server (NTRS)

Subramanian, Devika

2004-01-01

Advanced life support systems have many interacting processes and limited resources. Controlling and optimizing advanced life support systems presents unique challenges. In particular, advanced life support systems are nonlinear coupled dynamical systems and it is difficult for humans to take all interactions into account to design an effective control strategy. In this project. we developed several reinforcement learning controllers that actively explore the space of possible control strategies, guided by rewards from a user specified long term objective function. We evaluated these controllers using a discrete event simulation of an advanced life support system. This simulation, called BioSim, designed by Nasa scientists David Kortenkamp and Scott Bell has multiple, interacting life support modules including crew, food production, air revitalization, water recovery, solid waste incineration and power. They are implemented in a consumer/producer relationship in which certain modules produce resources that are consumed by other modules. Stores hold resources between modules. Control of this simulation is via adjusting flows of resources between modules and into/out of stores. We developed adaptive algorithms that control the flow of resources in BioSim. Our learning algorithms discovered several ingenious strategies for maximizing mission length by controlling the air and water recycling systems as well as crop planting schedules. By exploiting non-linearities in the overall system dynamics, the learned controllers easily out- performed controllers written by human experts. In sum, we accomplished three goals. We (1) developed foundations for learning models of coupled dynamical systems by active exploration of the state space, (2) developed and tested algorithms that learn to efficiently control air and water recycling processes as well as crop scheduling in Biosim, and (3) developed an understanding of the role machine learning in designing control systems for advanced life support.

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

NASA Astrophysics Data System (ADS)

Sahu, Sanjay Kumar; Shanmugam, Palanisamy

2018-02-01

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

Enhancing swimming pool safety by the use of range-imaging cameras

NASA Astrophysics Data System (ADS)

Geerardyn, D.; Boulanger, S.; Kuijk, M.

2015-05-01

Drowning is the cause of death of 372.000 people, each year worldwide, according to the report of November 2014 of the World Health Organization.1 Currently, most swimming pools only use lifeguards to detect drowning people. In some modern swimming pools, camera-based detection systems are nowadays being integrated. However, these systems have to be mounted underwater, mostly as a replacement of the underwater lighting. In contrast, we are interested in range imaging cameras mounted on the ceiling of the swimming pool, allowing to distinguish swimmers at the surface from drowning people underwater, while keeping the large field-of-view and minimizing occlusions. However, we have to take into account that the water surface of a swimming pool is not a flat, but mostly rippled surface, and that the water is transparent for visible light, but less transparent for infrared or ultraviolet light. We investigated the use of different types of 3D cameras to detect objects underwater at different depths and with different amplitudes of surface perturbations. Specifically, we performed measurements with a commercial Time-of-Flight camera, a commercial structured-light depth camera and our own Time-of-Flight system. Our own system uses pulsed Time-of-Flight and emits light of 785 nm. The measured distances between the camera and the object are influenced through the perturbations on the water surface. Due to the timing of our Time-of-Flight camera, our system is theoretically able to minimize the influence of the reflections of a partially-reflecting surface. The combination of a post image-acquisition filter compensating for the perturbations and the use of a light source with shorter wavelengths to enlarge the depth range can improve the current commercial cameras. As a result, we can conclude that low-cost range imagers can increase swimming pool safety, by inserting a post-processing filter and the use of another light source.

Lunar Outpost Life Support Trade Studies

NASA Technical Reports Server (NTRS)

Lange, Kevin E.; Anderson, Molly S.; Ewert, Michael K.; Barta, Daniel J.

2008-01-01

Engineering trade-off studies of life support system architecture and technology options were conducted for potential lunar surface mission scenarios within NASA's Constellation Program. The scenarios investigated are based largely on results of the NASA Lunar Architecture Team (LAT) Phase II study. In particular, the possibility of Hosted Sortie missions, the high cost of power during eclipse periods, and the potential to reduce life support consumables through scavenging, in-situ resources, and alternative EVA technologies were all examined. These trade studies were performed within the Systems Integration, Modeling and Analysis (SIMA) element of NASA's Exploration Life Support (ELS) technology development project. The tools and methodology used in the study are described briefly, followed by a discussion of mission scenarios, life support technology options and results presented in terms of equivalent system mass for various regenerative life support technologies and architectures. Three classes of repeated or extended lunar surface missions were investigated in this study along with several life support resource scenarios for each mission class. Individual mission durations of 14 days, 90 days and 180 days were considered with 10 missions assumed for each at a rate of 2 missions per year. The 14-day missions represent a class of Hosted Sortie missions where a pre-deployed and potentially mobile habitat provides life support for multiple crews at one or more locations. The 90-day and 180-day missions represent lunar outpost expeditions with a larger fixed habitat. The 180-day missions assume continuous human presence and must provide life support through eclipse periods of up to 122 hours while the 90-day missions are planned for best-case periods of nearly continuous sunlight. This paper investigates system optimization within the assumptions of each scenario and addresses how the scenario selected drives the life support system to different designs. Subsequently, these analysis results can be used to determine which technologies may be good choices throughout a broad range of architectures.

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