An adaptive OFDMA-based MAC protocol for underwater acoustic wireless sensor networks.

PubMed

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

2012-01-01

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

Astro Stars Camp features underwater robotics

NASA Image and Video Library

2010-06-29

Ian Tonglet, 13, (left) and Seth Malley, 13, both of Picayune, Miss., and both participants in the 2010 Astro Stars session at Stennis Space Center, work with an underwater robot during a camp activity June 29. NASA joined with the U.S. Navy for the underwater robotics exercise involving Sea Perch robots, which are simple, remotely operated underwater vehicles made from PVC pipe and other inexpensive, easily available materials. During the Stennis exercise, students used robots constructed earlier in the day to maneuver underwater and collect plastic rings, as seen to the left of Tonglet. Astro STARS (Spaceflight, Technology, Astronomy & Robotics @ Stennis) is a science and technology camp for 13-15 year olds.

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.

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

29 CFR 1926.912 - Underwater blasting.

Code of Federal Regulations, 2014 CFR

2014-07-01

... Underwater blasting. (a) A blaster shall conduct all blasting operations, and no shot shall be fired without... herein on handling and storing explosives. (h) When more than one charge is placed under water, a float...

29 CFR 1926.912 - Underwater blasting.

Code of Federal Regulations, 2012 CFR

2012-07-01

... Underwater blasting. (a) A blaster shall conduct all blasting operations, and no shot shall be fired without... herein on handling and storing explosives. (h) When more than one charge is placed under water, a float...

29 CFR 1926.912 - Underwater blasting.

Code of Federal Regulations, 2011 CFR

2011-07-01

... Underwater blasting. (a) A blaster shall conduct all blasting operations, and no shot shall be fired without... herein on handling and storing explosives. (h) When more than one charge is placed under water, a float...

29 CFR 1926.912 - Underwater blasting.

Code of Federal Regulations, 2010 CFR

2010-07-01

... Underwater blasting. (a) A blaster shall conduct all blasting operations, and no shot shall be fired without... herein on handling and storing explosives. (h) When more than one charge is placed under water, a float...

29 CFR 1926.912 - Underwater blasting.

Code of Federal Regulations, 2013 CFR

2013-07-01

... Underwater blasting. (a) A blaster shall conduct all blasting operations, and no shot shall be fired without... herein on handling and storing explosives. (h) When more than one charge is placed under water, a float...

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.

Efficient Use of AUVs in the Maritime Environment

NASA Astrophysics Data System (ADS)

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

2017-06-01

Autonomous underwater vehicle (AUV) a.k.a. underwater drones are subsea vehicles which operate in the underwater environment independently of direct human input. There is a growing interest in underwater data collection by using autonomous underwater vehicles within the oceanographic research community. In this paper, the Iver 2 AUV is examined to accomplish accurate side-scan data while executing well planned missions. Therefore, this papers goal is to establish the optimal use conditions for the AUV that RCN has so that we maximize the detection probability of sea bottom objects that can be risk factors and at the same time to cover a surface as large as possible during a single mission.

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.

Biogeography-based combinatorial strategy for efficient autonomous underwater vehicle motion planning and task-time management

NASA Astrophysics Data System (ADS)

Zadeh, S. M.; Powers, D. M. W.; Sammut, K.; Yazdani, A. M.

2016-12-01

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance underwater vehicle's mission performance by completing maximum number of highest priority tasks in a limited time through a large scale waypoint cluttered operating field, and ensuring safe deployment during the mission. The proposed combinatorial route-path planner model takes the advantages of the Biogeography-Based Optimization (BBO) algorithm toward satisfying objectives of both higher-lower level motion planners and guarantees maximization of the mission productivity for a single vehicle operation. The performance of the model is investigated under different scenarios including the particular cost constraints in time-varying operating fields. To show the reliability of the proposed model, performance of each motion planner assessed separately and then statistical analysis is undertaken to evaluate the total performance of the entire model. The simulation results indicate the stability of the contributed model and its feasible application for real experiments.

Automated Detection and Classification in High-Resolution Sonar Imagery for Autonomous Underwater Vehicle Operations

DTIC Science & Technology

2008-12-01

n. , ’>, ,. Australian Government Department of Defence Defence Science and Technology Organisation Automated Detection and Classification in... Organisation DSTO-GD-0537 ABSTRACT Autonomous Underwater Vehicles (AUVs) are increasingly being used by military forces to acquire high-resolution sonar...release Published by Maritime Operations Division DsTO Defrnce sdence and Technology Organisation PO Box 1500 Edinburgh South Australia 5111 Australia

Diver Relative UUV Navigation for Joint Human-Robot Operations

DTIC Science & Technology

2013-09-01

loop response: (10) where Kej is the gain that scales the position error to force . Substituting the measured values for ζ and ων as well as the...Underwater Vehicle; Tethered ; Hovering; Autonomous Underwater Vehicle; Joint human-robot operations; dynamic, uncertain environments 15. NUMBER OF PAGES...4   Figure 3.   The SeaBotix vLBV300 tethered AUV platform (left), and the planar vectored thruster

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.

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.

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.

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.

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

Journal of Special Operations Medicine, Volume 6, Edition 1, Winter 2006

DTIC Science & Technology

2006-01-01

Mark A. Antonacci, MD; Paul L. Link, NC Stress Fracture and Attrition in Basic Underwater Demolition SEAL Trainees Daniel W. Trone, MA; Adriana ...Special Operations Medicine32 Stress Fracture and Attrition in Basic Underwater Demolition SEAL Trainees Daniel W. Trone, MA; Adriana Villaseñor, MPH...effects of physical activity, with a focus on functional decline and injuries in recreational and military populations. Adriana Villaseñor, MPH, is

36 CFR 3.18 - May I snorkel or underwater dive in park waters?

Code of Federal Regulations, 2011 CFR

2011-07-01

..., DEPARTMENT OF THE INTERIOR BOATING AND WATER USE ACTIVITIES § 3.18 May I snorkel or underwater dive in park... open to the use of vessels, a diver must prominently display a dive flag during dive operations. A dive...

36 CFR 3.18 - May I snorkel or underwater dive in park waters?

Code of Federal Regulations, 2010 CFR

2010-07-01

..., DEPARTMENT OF THE INTERIOR BOATING AND WATER USE ACTIVITIES § 3.18 May I snorkel or underwater dive in park... open to the use of vessels, a diver must prominently display a dive flag during dive operations. A dive...

First results from the NEMO Test Site

NASA Astrophysics Data System (ADS)

Riccobene, Giorgio; NEMO Collaboration

2007-03-01

The NEMO (NEutrino Mediterranean Observatory) Collaboration is constructing, 25 km E from Catania (Sicily) at 2000 m depth, an underwater test site to perform long-term tests of prototypes and new technologies for an underwater high energy neutrino detector in the Mediterranean Sea. In this framework the collaboration deployed and operated an experimental apparatus for on-line monitoring of deep-sea noise. The station is equipped with 4 hydrophones operational in the range 30 Hz - 40 kHz. This interval of frequencies matches the range suitable for acoustic detection of high energy neutrino-induced showers in water. Hydrophone signals are digitized underwater at 96 kHz sampling frequency and 24 bits resolution. A custom software was developed to record data on high resolution 4-channels PCM .le. Data are used to model underwater acoustic noise as a function of frequency and time, a mandatory parametre for future acoustic neutrino detectors. Results indicate that the average noise in the site is compatible with noise produced in condition of sea surface agitation (sea state.)

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

A curved electrode electrostatic actuator designed for large displacement and force in an underwater environment

NASA Astrophysics Data System (ADS)

Preetham, B. S.; Lake, Melinda A.; Hoelzle, David J.

2017-09-01

There is a need for the development of large displacement (O (10-6) m) and force (O (10-6) N) electrostatic actuators with low actuation voltages (<  ±8 V) for underwater bio-MEMS applications. In this paper, we present the design, fabrication, and characterization of a curved electrode electrostatic actuator in a clamped-clamped beam configuration meant to operate in an underwater environment. Our curved electrode actuator is unique in that it operates in a stable manner past the pull-in instability. Models based on the Rayleigh-Ritz method accurately predict the onset of static instability and the displacement versus voltage function, as validated by quasistatic experiments. We demonstrate that the actuator is capable of achieving a large peak-to-peak displacement of 19.5 µm and force of 43 µN for a low actuation voltage of less than  ±8 V and is thus appropriate for underwater bio-MEMS applications.

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.

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

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

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.

Unmanned Instrument Platform for Undersea Exploration

NASA Technical Reports Server (NTRS)

Paine, G.; Hansen, G. R.; Gulizia, R. W.; Paluzzi, P.

1984-01-01

Instruments accommodated on moving underwater platform. Towable underwater platform 3.2 meters long, 1.2 meters wide, 1.4 meters high and has mass of about 1,250 kilogram. Platform remotely operated and unmanned. Serves as test bed for development of ocean-measuring instruments and sonars at depths to 20,000 feet.

Underwater Robots Surface in Utah

ERIC Educational Resources Information Center

Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

2015-01-01

Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…

JSC Features and Web Stories Photos of the International Underwater ROV Competition

NASA Image and Video Library

2006-06-24

View of students participating in the International Underwater Remotely Operated Vehicle (ROV) competition, organized by the Marine Advanced Technology Education Center (MATE), at the Sonny Carter Training Facility (SCTF) Neutral Buoyancy Laboratory (NBL). Photos taken for Johnson Space Center (JSC) Features and Web stories.

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

Underwater hydrophone location survey

NASA Technical Reports Server (NTRS)

Cecil, Jack B.

1993-01-01

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

Upgrade of ROV Super GNOME Pro for Underwater Monitoring in the Caspian Sea

NASA Astrophysics Data System (ADS)

Rozman, B. Ya.; Elkin, A. V.; Kaptsov, A. S.; Ermakov, I. D.; Ermakov, D. I.; Krasnov, V. G.; Kondrashov, L. S.

2018-01-01

A description and characteristics of the small-size remotely operated underwater vehicle Super GNOME pro are given. The main technical innovations and upgrades of the vehicle are considered along with the reasons and aims of these improvements. The innovations were evaluated during expedition work in northern Caspian Sea in 2016, which demonstrated good results. Further upgrades include installation of a sediment-penetrating thermometer for measuring the thermal background of benthonic soil and an underwater dosimeter/radiometer for assessing the radiation background of water areas.

Artificial gills for robots: MFC behaviour in water.

PubMed

Ieropoulos, Ioannis; Melhuish, Chris; Greenman, John

2007-09-01

This paper reports on the first stage in developing microbial fuel cells (MFCs) which can operate underwater by utilizing dissolved oxygen. In this context, the cathodic half-cell is likened to an artificial gill. Such an underwater power generator has obvious potential for autonomous underwater robots. The electrical power from these devices increased proportionately with water flow rate, temperature and salinity. The current output at ambient temperature (null condition) was 32 microA and this increased by 200% (approximately 100 microA) as a result of a corresponding temperature increase (DeltaT) of 52 degrees C. Similarly, the effect of increasing the water flow rate resulted in an increase in the MFC output ranging from 135% to 150%. Furthermore, the same positive effect was recorded when artificial seawater was used instead, in which case the increase in the MFC current output was >100% (from 32 to 65 microA). There was a distinct difference in the MFC performance when operated under low turbulent as opposed to high turbulent flow rates. These findings can be advantageous in the design of underwater autonomous robots.

Long-term measurements of acoustic background noise in very deep sea

NASA Astrophysics Data System (ADS)

Riccobene, G.; NEMO Collaboration

2009-06-01

The NEMO (NEutrino Mediterranean Observatory) Collaboration installed, 25 km E offshore the port of Catania (Sicily) at 2000 m depth, an underwater laboratory to perform long-term tests of prototypes and new technologies for an underwater high energy neutrino km-scale detector in the Mediterranean Sea. In this framework the Collaboration deployed and successfully operated for about two years, starting from January 2005, an experimental apparatus for on-line monitoring of deep-sea noise. The station was equipped with four hydrophones and it is operational in the range 30 Hz-43 kHz. This interval of frequencies matches the range suitable for the proposed acoustic detection technique of high energy neutrinos. Hydrophone signals were digitized underwater at 96 kHz sampling frequency and 24 bits resolution. The stored data library, consisting of more than 2000 h of recordings, is a unique tool to model underwater acoustic noise at large depth, to characterize its variations as a function of environmental parameters, biological sources and human activities (ship traffic, etc.), and to determine the presence of cetaceans in the area.

Performance study of the application of Artificial Neural Networks to the completion and prediction of data retrieved by underwater sensors.

PubMed

Baladrón, Carlos; Aguiar, Javier M; Calavia, Lorena; Carro, Belén; Sánchez-Esguevillas, Antonio; Hernández, Luis

2012-01-01

This paper presents a proposal for an Artificial Neural Network (ANN)-based architecture for completion and prediction of data retrieved by underwater sensors. Due to the specific conditions under which these sensors operate, it is not uncommon for them to fail, and maintenance operations are difficult and costly. Therefore, completion and prediction of the missing data can greatly improve the quality of the underwater datasets. A performance study using real data is presented to validate the approach, concluding that the proposed architecture is able to provide very low errors. The numbers show as well that the solution is especially suitable for cases where large portions of data are missing, while in situations where the missing values are isolated the improvement over other simple interpolation methods is limited.

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...

Underwater vehicle propulsion and power generation

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Enhancing the Reliability of Head Nodes in Underwater Sensor Networks

PubMed Central

Min, Hong; Cho, Yookun; Heo, Junyoung

2012-01-01

Underwater environments are quite different from terrestrial environments in terms of the communication media and operating conditions associated with those environments. In underwater sensor networks, the probability of node failure is high because sensor nodes are deployed in harsher environments than ground-based networks. The sensor nodes are surrounded by salt water and moved around by waves and currents. Many studies have focused on underwater communication environments in an effort to improve the data transmission throughput. In this paper, we present a checkpointing scheme for the head nodes to quickly recover from a head node failure. Experimental results show that the proposed scheme enhances the reliability of the networks and makes them more efficient in terms of energy consumption and the recovery latency compared to the previous scheme without checkpointing. PMID:22438707

AlGaInN laser diode technology for GHz high-speed visible light communication through plastic optical fiber and water

NASA Astrophysics Data System (ADS)

Najda, Stephen P.; Perlin, Piotr; Suski, Tadek; Marona, Lucja; Leszczyński, Mike; Wisniewski, Przemek; Czernecki, Robert; Kucharski, Robert; Targowski, Grzegorz; Watson, Malcolm A.; White, Henry; Watson, Scott; Kelly, Antony E.

2016-02-01

AlGaInN ridge waveguide laser diodes are fabricated to achieve single-mode operation with optical powers up to 100 mW at ˜420 nm for visible free-space, underwater, and plastic optical fiber communication. We report high-frequency operation of AlGaInN laser diodes with data transmission up to 2.5 GHz for free-space and underwater communication and up to 1.38 GHz through 10 m of plastic optical fiber.

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.

Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations. PMID:29642396

Collision Detection for Underwater ROV Manipulator Systems.

PubMed

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

2018-04-06

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

I-AUV Docking and Panel Intervention at Sea

PubMed Central

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

2016-01-01

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

I-AUV Docking and Panel Intervention at Sea.

PubMed

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

2016-10-12

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

Underwater Sensor System 2009 Field Trial Report

DTIC Science & Technology

2011-03-01

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

Smart Acoustic Network Using Combined FSK-PSK, Adaptive Beamforming and Equalization

DTIC Science & Technology

2002-09-30

sonar data transmission from underwater vehicle during mission. The two-year objectives for the high-reliability acoustic network using multiple... sonar laboratory) and used for acoustic networking during underwater vehicle operation. The joint adaptive coherent path beamformer method consists...broadband communications transducer, while the low noise preamplifier conditions received signals for analog to digital conversion. External user

Smart Acoustic Network Using Combined FSK-PSK, Adaptive, Beamforming and Equalization

DTIC Science & Technology

2001-09-30

sonar data transmission from underwater vehicle during mission. The two-year objectives for the high-reliability acoustic network using multiple... sonar laboratory) and used for acoustic networking during underwater vehicle operation. The joint adaptive coherent path beamformer method consists...broadband communications transducer, while the low noise preamplifier conditions received signals for analog to digital conversion. External user

Underwater Robot Task Planning Using Multi-Objective Meta-Heuristics

PubMed Central

Landa-Torres, Itziar; Manjarres, Diana; Bilbao, Sonia; Del Ser, Javier

2017-01-01

Robotics deployed in the underwater medium are subject to stringent operational conditions that impose a high degree of criticality on the allocation of resources and the schedule of operations in mission planning. In this context the so-called cost of a mission must be considered as an additional criterion when designing optimal task schedules within the mission at hand. Such a cost can be conceived as the impact of the mission on the robotic resources themselves, which range from the consumption of battery to other negative effects such as mechanic erosion. This manuscript focuses on this issue by devising three heuristic solvers aimed at efficiently scheduling tasks in robotic swarms, which collaborate together to accomplish a mission, and by presenting experimental results obtained over realistic scenarios in the underwater environment. The heuristic techniques resort to a Random-Keys encoding strategy to represent the allocation of robots to tasks and the relative execution order of such tasks within the schedule of certain robots. The obtained results reveal interesting differences in terms of Pareto optimality and spread between the algorithms considered in the benchmark, which are insightful for the selection of a proper task scheduler in real underwater campaigns. PMID:28375160

Underwater Robot Task Planning Using Multi-Objective Meta-Heuristics.

PubMed

Landa-Torres, Itziar; Manjarres, Diana; Bilbao, Sonia; Del Ser, Javier

2017-04-04

Robotics deployed in the underwater medium are subject to stringent operational conditions that impose a high degree of criticality on the allocation of resources and the schedule of operations in mission planning. In this context the so-called cost of a mission must be considered as an additional criterion when designing optimal task schedules within the mission at hand. Such a cost can be conceived as the impact of the mission on the robotic resources themselves, which range from the consumption of battery to other negative effects such as mechanic erosion. This manuscript focuses on this issue by devising three heuristic solvers aimed at efficiently scheduling tasks in robotic swarms, which collaborate together to accomplish a mission, and by presenting experimental results obtained over realistic scenarios in the underwater environment. The heuristic techniques resort to a Random-Keys encoding strategy to represent the allocation of robots to tasks and the relative execution order of such tasks within the schedule of certain robots. The obtained results reveal interesting differences in terms of Pareto optimality and spread between the algorithms considered in the benchmark, which are insightful for the selection of a proper task scheduler in real underwater campaigns.

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

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.

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.

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.

L2-LBMT: A Layered Load Balance Routing Protocol for underwater multimedia data transmission

NASA Astrophysics Data System (ADS)

Lv, Ze; Tang, Ruichun; Tao, Ye; Sun, Xin; Xu, Xiaowei

2017-12-01

Providing highly efficient underwater transmission of mass multimedia data is challenging due to the particularities of the underwater environment. Although there are many schemes proposed to optimize the underwater acoustic network communication protocols, from physical layer, data link layer, network layer to transport layer, the existing routing protocols for underwater wireless sensor network (UWSN) still cannot well deal with the problems in transmitting multimedia data because of the difficulties involved in high energy consumption, low transmission reliability or high transmission delay. It prevents us from applying underwater multimedia data to real-time monitoring of marine environment in practical application, especially in emergency search, rescue operation and military field. Therefore, the inefficient transmission of marine multimedia data has become a serious problem that needs to be solved urgently. In this paper, A Layered Load Balance Routing Protocol (L2-LBMT) is proposed for underwater multimedia data transmission. In L2-LBMT, we use layered and load-balance Ad Hoc Network to transmit data, and adopt segmented data reliable transfer (SDRT) protocol to improve the data transport reliability. And a 3-node variant of tornado (3-VT) code is also combined with the Ad Hoc Network to transmit little emergency data more quickly. The simulation results show that the proposed protocol can balance energy consumption of each node, effectively prolong the network lifetime and reduce transmission delay of marine multimedia data.

Time-of-flight range imaging for underwater applications

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

OPERATION HARDTACK. Project 3.5. Loading and Response of Submarine Hulls from Underwater Bursts

DTIC Science & Technology

1985-09-01

Bursts H. L. Rich, Project Officer F. Weinberger E. T. Habib R. L. Bor W. J. Sette David Taylor Model Basin Washington, DC 15 December 1960 NOTICE: This...Hulls from Underwater Bursts, Extracted Version 12. PERSONAL AUTHOR(S) Rich, H.L., Project Officer; Weinberger, F.; Habib , E.T.; Bort, R.L.; Sette, W.J...SLO A D IN G oa n d R E S P O N S E o f S U B M A R IN E tULLS from UNDERWATER BURSTS H. L. Rich, Project Officer F. Weinberger E.T. Habib R.L. Bort W

Biological Response to the Dynamic Spectral-Polarized Underwater Light Field

DTIC Science & Technology

2012-09-30

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

Towards Enhanced Underwater Lidar Detection via Source Separation

NASA Astrophysics Data System (ADS)

Illig, David W.

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

Measurement of Underwater Operational Noise Emitted by Wave and Tidal Stream Energy Devices.

PubMed

Lepper, Paul A; Robinson, Stephen P

2016-01-01

The increasing international growth in the development of marine and freshwater wave and tidal energy harvesting systems has been followed by a growing requirement to understand any associated underwater impact. Radiated noise generated during operation is dependent on the device's physical properties, the sound-propagation environment, and the device's operational state. Physical properties may include size, distribution in the water column, and mechanics/hydrodynamics. The sound-propagation environment may be influenced by water depth, bathymetry, sediment type, and water column acoustic properties, and operational state may be influenced by tidal cycle and wave height among others This paper discusses some of the challenges for measurement of noise characteristics from these devices as well as a case study of the measurement of radiated noise from a full-scale wave energy converter.

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.

Advanced underwater lift device

NASA Technical Reports Server (NTRS)

Flanagan, David T.; Hopkins, Robert C.

1993-01-01

Flexible underwater lift devices ('lift bags') are used in underwater operations to provide buoyancy to submerged objects. Commercially available designs are heavy, bulky, and awkward to handle, and thus are limited in size and useful lifting capacity. An underwater lift device having less than 20 percent of the bulk and less than 10 percent of the weight of commercially available models was developed. The design features a dual membrane envelope, a nearly homogeneous envelope membrane stress distribution, and a minimum surface-to-volume ratio. A proof-of-concept model of 50 kg capacity was built and tested. Originally designed to provide buoyancy to mock-ups submerged in NASA's weightlessness simulators, the device may have application to water-landed spacecraft which must deploy flotation upon impact, and where launch weight and volume penalties are significant. The device may also be useful for the automated recovery of ocean floor probes or in marine salvage applications.

Underwater photogrammetric theoretical equations and technique

NASA Astrophysics Data System (ADS)

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

2011-12-01

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

An energy-harvesting power supply for underwater bridge scour monitoring sensors

NASA Astrophysics Data System (ADS)

Wang, Yuli; Li, Yingjie; He, Longzhuang; Shamsi, Pourya; Zheng, Yahong R.

2018-03-01

The natural force of scouring has become one of the most critical risk endangering the endurance of bridges, thus leading to the necessity of deploying underwater monitoring sensors to actively detect potential scour holes under bridges. Due to the difficulty in re-charging batteries for underwater sensors, super capacitors with energy harvesting (EH) means are exploited to prolong the sustainability of underwater sensors. In this paper, an energy harvesting power supply based on a helical turbine is proposed to power underwater monitoring sensors. A small helical turbine is designed to convert water flow energy to electrical energy with favorable environmental robustness. A 3-inch diameter, 2.5-inch length and 3-bladed helical turbine was designed with two types of waterproof coupling with the sensor housing. Both designs were prototyped and tested under different flow conditions and we get valid voltage around 0.91 V which is enough to power monitoring sensor. The alternating current (AC) electrical energy generated by the helical turbine is then rectified and boosted to drive a DC charger for efficiently charging one super capacitor. The charging circuit was designed, prototyped and tested thoroughly with the helical turbine harvester. The results were promising, that the overall power supply can power an underwater sensor node with wireless transceivers for long-term operations

Implementation and Testing of the JANUS Standard with SSC Pacific’s Software-Defined Acoustic Modem

DTIC Science & Technology

2017-10-01

Communications Outpost (FDECO) Innovative Naval Prototype (INP) Program by the Advanced Photonic Technologies Branch (Code 55360), Space and Naval Warfare...underwater acoustic communication operations with NATO and non-NATO military and civilian maritime assets. iv ACRONYMS SPAWAR Space and Naval Warfare...the center frequency [1]. The ease of implementation and proven robustness in harsh underwater acoustic communication channels paved the way for

Biological Response to the Dynamic Spectral-Polarized Underwater Light Field

DTIC Science & Technology

2013-09-30

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

OPERATION WIGWAM. Scientific Director’s Summary Report

DTIC Science & Technology

1980-02-01

Base, Albuquerque, N. Mex. 1. Objectives Measure air pressures from the deep underwater nuclear explosion at the surface and at altitudes approaching...arrangpd as to take advan- tap of opportunities to obtain the effects of atomic explosives against ground and air tairgett and to acquire sclentific...atomic explosives in air and water; target response to underwater explosives ; and model scaling techniques. 3. Dr. W. 0. Penney of the Armament Research

Comparison of different classification algorithms for underwater target discrimination.

PubMed

Li, Donghui; Azimi-Sadjadi, Mahmood R; Robinson, Marc

2004-01-01

Classification of underwater targets from the acoustic backscattered signals is considered here. Several different classification algorithms are tested and benchmarked not only for their performance but also to gain insight to the properties of the feature space. Results on a wideband 80-kHz acoustic backscattered data set collected for six different objects are presented in terms of the receiver operating characteristic (ROC) and robustness of the classifiers wrt reverberation.

Ocean Variability Effects on Underwater Acoustic Communications

DTIC Science & Technology

2007-09-30

sea surface was rougher. To recover the transmitted symbols which have been passed through the time-varying multi-path acoustic channels, a new ...B is about 6 dB higher than that during enviromental case A. Due to the large aperture and deployment range of the MPL array, the channel impulse...environmental fluctuations and the performance of coherent underwater acoustic communications presents new insights into the operational effectiveness of

Eddy-current non-inertial displacement sensing for underwater infrasound measurements.

PubMed

Donskoy, Dimitri M; Cray, Benjamin A

2011-06-01

A non-inertial sensing approach for an Acoustic Vector Sensor (AVS), which utilizes eddy-current displacement sensors and operates well at Ultra-Low Frequencies (ULF), is described here. In the past, most ULF measurements (from mHertz to approximately 10 Hertz) have been conducted using heavy geophones or seismometers that must be installed on the seafloor; these sensors are not suitable for water column measurements. Currently, there are no readily available compact and affordable underwater AVS that operate within this frequency region. Test results have confirmed the validity of the proposed eddy-current AVS design and have demonstrated high acoustic sensitivity. © 2011 Acoustical Society of America

Underwater electro-optical system for mine identification

NASA Astrophysics Data System (ADS)

Strand, Michael P.

1995-06-01

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

Underwater 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.

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

NASA Astrophysics Data System (ADS)

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

2017-04-01

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

Behavioural Response Thresholds in New Zealand Crab Megalopae to Ambient Underwater Sound

PubMed Central

Stanley, Jenni A.; Radford, Craig A.; Jeffs, Andrew G.

2011-01-01

A small number of studies have demonstrated that settlement stage decapod crustaceans are able to detect and exhibit swimming, settlement and metamorphosis responses to ambient underwater sound emanating from coastal reefs. However, the intensity of the acoustic cue required to initiate the settlement and metamorphosis response, and therefore the potential range over which this acoustic cue may operate, is not known. The current study determined the behavioural response thresholds of four species of New Zealand brachyuran crab megalopae by exposing them to different intensity levels of broadcast reef sound recorded from their preferred settlement habitat and from an unfavourable settlement habitat. Megalopae of the rocky-reef crab, Leptograpsus variegatus, exhibited the lowest behavioural response threshold (highest sensitivity), with a significant reduction in time to metamorphosis (TTM) when exposed to underwater reef sound with an intensity of 90 dB re 1 µPa and greater (100, 126 and 135 dB re 1 µPa). Megalopae of the mud crab, Austrohelice crassa, which settle in soft sediment habitats, exhibited no response to any of the underwater reef sound levels. All reef associated species exposed to sound levels from an unfavourable settlement habitat showed no significant change in TTM, even at intensities that were similar to their preferred reef sound for which reductions in TTM were observed. These results indicated that megalopae were able to discern and respond selectively to habitat-specific acoustic cues. The settlement and metamorphosis behavioural response thresholds to levels of underwater reef sound determined in the current study of four species of crabs, enables preliminary estimation of the spatial range at which an acoustic settlement cue may be operating, from 5 m to 40 km depending on the species. Overall, these results indicate that underwater sound is likely to play a major role in influencing the spatial patterns of settlement of coastal crab species. PMID:22163314

Miniature Wireless Sensors Size Up to Big Applications

NASA Technical Reports Server (NTRS)

2006-01-01

Like the environment of space, the undersea world is a hostile, alien place for humans to live. But far beneath the waves near Key Largo, Florida, an underwater laboratory called Aquarius provides a safe harbor for scientists to live and work for weeks at a time. Aquarius is the only undersea laboratory in the world. It is owned by the National Oceanic and Atmospheric Administration (NOAA), administered by NOAA s National Undersea Research Program, and operated by the National Undersea Research Center at the University of North Carolina at Wilmington. Aquarius was first deployed in underwater operations in 1988 and has since hosted more than 200 scientists representing more than 90 organizations from around the world. For NASA, Aquarius provides an environment that is analogous to the International Space Station (ISS) and the space shuttle. As part of its NASA Extreme Environment Mission Operations (NEEMO) program, the Agency sends personnel to live in the underwater laboratory for up to 2 weeks at a time, some of whom are crew members or "aquanauts" who are subjected to the same tasks and challenges underwater that they would face in space. In fact, many participants have found the deep-sea diving experience to be much akin to spacewalking. To maintain Aquarius, the ISS, and the space shuttle as safe, healthy living/research habitats for its personnel, while keeping costs in mind, NASA, in 1997, recruited the help of Conroe, Texas-based Invocon, Inc., to develop wireless sensor technology that monitors and measures various environmental and structural parameters inside these facilities.

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.

Experimental demonstration of remote, passive acousto-optic sensing.

PubMed

Antonelli, Lynn; Blackmon, Fletcher

2004-12-01

Passively detecting underwater sound from the air can allow aircraft and surface vessels to monitor the underwater acoustic environment. Experimental research into an optical hydrophone is being conducted for remote, aerial detection of underwater sound. A laser beam is directed onto the water surface to measure the velocity of the vibrations occurring as the underwater acoustic signal reaches the water surface. The acoustically generated surface vibrations modulate the phase of the laser beam. Sound detection occurs when the laser is reflected back towards the sensor. Therefore, laser alignment on the specularly reflecting water surface is critical. As the water surface moves, the laser beam is reflected away from the photodetector and no signal is obtained. One option to mitigate this problem is to continually steer the laser onto a spot on the water surface that provides a direct back-reflection. Results are presented from a laboratory test that investigates the feasibility of the acousto-optic sensor detection on hydrostatic and hydrodynamic surfaces using a laser Doppler vibrometer in combination with a laser-based, surface normal glint tracker for remotely detecting underwater sound. This paper outlines the acousto-optic sensor and tracker concepts and presents experimental results comparing sensor operation under various sea surface conditions.

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

Underwater wireless optical communication using a lens-free solar panel receiver

NASA Astrophysics Data System (ADS)

Kong, Meiwei; Sun, Bin; Sarwar, Rohail; Shen, Jiannan; Chen, Yifei; Qu, Fengzhong; Han, Jun; Chen, Jiawang; Qin, Huawei; Xu, Jing

2018-11-01

In this paper, we first propose that self-powered solar panels featuring large receiving area and lens-free operation have great application prospect in underwater vehicles or underwater wireless sensor networks (UWSNs) for data collection. It is envisioned to solve the problem of link alignment. The low-cost solar panel used in the experiment has a large receiving area of 5 cm2 and a receiving angle of 20°. Over a 1-m air channel, a 16-quadrature amplitude modulation (QAM) orthogonal frequency division multiplexing (OFDM) signal at a data rate of 20.02 Mb/s is successfully transmitted within the receiving angle of 20°. Over a 7-m tap water channel, we achieve data rates of 20.02 Mb/s using 16-QAM, 18.80 Mb/s using 32-QAM and 22.56 Mb/s using 64-QAM, respectively. By adding different quantities of Mg(OH)2 powders into the water, the impact of water turbidity on the solar panel-based underwater wireless optical communication (UWOC) is also investigated.

Characterization of Underwater Sounds Produced by Trailing Suction Hopper Dredges During Sand Mining and Pump-out Operations

DTIC Science & Technology

2014-03-01

origin and potential impacts on aquatic organisms including marine mammals (e.g., whales and seals), sea turtles , and fishes. Until recently these...species of whales and sea turtles , as well as many species of fish. Exposure to underwater sound may potentially affect communication, foraging...the audible range of several species of marine mammals such as whales and dolphins as well as sea turtles . Right (Eubalaena glacialis), humpback

Status of Research in Underwater Physiology

DTIC Science & Technology

1956-03-01

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

STS-48 MS Gemar dons EMU with technicians' assistance prior to JSC WETF dive

NASA Technical Reports Server (NTRS)

1991-01-01

STS-48 Mission Specialist (MS) Charles D. Gemar, wearing an extravehicular mobility unit (EMU) and communications carrier assembly (CCA), smiles as he watches technicians adjust his sleeves prior to donning his EMU gloves. Gemar is preparing for an underwater extravehicular activity (EVA) training session in JSC's Weightless Environment Training Facility (WETF) Bldg 29. Once underwater, Gemar will practice contingency EVA operations for his upcoming mission aboard Discovery, Orbiter Vehicle (OV) 103.

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

Software architecture of biomimetic underwater vehicle

NASA Astrophysics Data System (ADS)

Praczyk, Tomasz; Szymak, Piotr

2016-05-01

Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.

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

NASA Astrophysics Data System (ADS)

Partridge, William J.; Therrien, Charles W.

1989-06-01

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

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.

Underwater Intruder Detection Sonar for Harbour Protection: State of the Art Review and Implications

DTIC Science & Technology

2006-10-01

intruder would appear as a small moving “ blob ” of energetic echo in the echograph, and the operator could judge whether the contact is a threat that calls...visually then as a small fluctuating “ blob ” against a fluctuating background of sound clutter and reverberation, making it difficult to visually...4. Non-random false alarms caused by genuine underwater contacts that happened not to be intruders—by large fish , or schools of fish , or marine

The value of closed-circuit rebreathers for biological research

USGS Publications Warehouse

Pyle, Richrad L.; Lobel, Phillip S.; Tomoleoni, Joseph

2016-01-01

Closed-circuit rebreathers have been used for underwater biological research since the late 1960s, but have only started to gain broader application within scientific diving organizations within the past two decades. Rebreathers offer certain specific advantages for such research, especially for research involving behavior and surveys that depend on unobtrusive observers or for a stealthy approach to wildlife for capture and tagging, research that benefits from extended durations underwater, and operations requiring access to relatively deep (>50 m) environments (especially in remote locations). Although many institutions have been slow to adopt rebreather technology within their diving programs, recent developments in rebreather technology that improve safety, standardize training requirements, and reduce costs of equipment and maintenance, will likely result in a trend of increasing utilization of rebreathers for underwater biological research.

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2017-05-04

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

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.

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

PubMed

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

2015-01-01

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

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

PubMed Central

Yao, Yiqing

2017-01-01

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

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.

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.

NBL Pistol Grip Tool for Underwater Training of Astronauts

NASA Technical Reports Server (NTRS)

Liszka, Michael; Ashmore, Matthew; Behnke, Mark; Smith, Walter; Waterman, Tod

2011-01-01

A document discusses a lightweight, functional mockup of the Pistol Grip Tool for use during underwater astronaut training. Previous training tools have caused shoulder injuries. This new version is more than 50 percent lighter [in water, weight is 2.4 lb (=1.1 kg)], and can operate for a six-hour training session after 30 minutes of prep for submersion. Innovations in the design include the use of lightweight materials (aluminum and Delrin(Registered TradeMark)), creating a thinner housing, and the optimization of internal space with the removal of as much excess material as possible. This reduces tool weight and maximizes buoyancy. Another innovation for this tool is the application of a vacuum that seats the Orings in place and has shown to be reliable in allowing underwater usage for up to six hours.

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

Discovery and Characterization of Cold Seep Vents Using a Mass Spectrometer Operating aboard an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Camilli, R.; Macelloni, L.; Asper, V.; Woolsey, M.; Williams, J.; Diercks, A.; Lutken, C. B.; Sleeper, K.

2009-12-01

A chemical and bathymetric survey was conducted in June 2009 at a known gas hydrate site approximately 900 meters deep in the Gulf of Mexico Mississippi Canyon 118 block. This survey used the EagleRay autonomous underwater vehicle equipped with a TETHYS in-situ mass spectrometer and EM 2000 multibeam sonar. Results indicate previously unobserved active sea floor methane seeps that correlate with bathymetric depressions and a geologic fault. These data suggest linkage of the methane cold seeps to an underlying thermogenic hydrocarbon reservoir.

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.

14 CFR 125.227 - Cockpit voice recorders.

Code of Federal Regulations, 2013 CFR

2013-01-01

... Requirements § 125.227 Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine... external surface to facilitate its location under water; and (iii) Have an approved underwater locating... may operate a large turbine engine powered airplane or a large pressurized airplane with four...

14 CFR 125.227 - Cockpit voice recorders.

Code of Federal Regulations, 2010 CFR

2010-01-01

... Requirements § 125.227 Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine... external surface to facilitate its location under water; and (iii) Have an approved underwater locating... may operate a large turbine engine powered airplane or a large pressurized airplane with four...

14 CFR 125.227 - Cockpit voice recorders.

Code of Federal Regulations, 2012 CFR

2012-01-01

... Requirements § 125.227 Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine... external surface to facilitate its location under water; and (iii) Have an approved underwater locating... may operate a large turbine engine powered airplane or a large pressurized airplane with four...

14 CFR 125.227 - Cockpit voice recorders.

Code of Federal Regulations, 2011 CFR

2011-01-01

... Requirements § 125.227 Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine... external surface to facilitate its location under water; and (iii) Have an approved underwater locating... may operate a large turbine engine powered airplane or a large pressurized airplane with four...

14 CFR 125.227 - Cockpit voice recorders.

Code of Federal Regulations, 2014 CFR

2014-01-01

... Requirements § 125.227 Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine... external surface to facilitate its location under water; and (iii) Have an approved underwater locating... may operate a large turbine engine powered airplane or a large pressurized airplane with four...

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.

Natural hydrocarbon seeps observation with underwater gliders and UV fluorescence sensor

NASA Astrophysics Data System (ADS)

Rochet, V.

2016-02-01

Hydrocarbons may leak to the near-surface from subsurface accumulations, from mature source rock, or by buoyancy along major cross-strata routes. The presence of migrating near-surface hydrocarbons can provide strong evidence for the presence of a working petroleum system, as well as valuable information on source, maturity, and migration pathways. Detection and characterization of hydrocarbons in the water column may then help to de-risk hydrocarbon plays at a very preliminary stage of an exploration program. In order to detect hydrocarbons in the water column, an underwater glider survey was conducted in an offshore frontier area. Driven by buoyancy variation, underwater gliders enable collecting data autonomously along the water column for weeks to months. Underwater gliders are regularly piloted from shore by satellite telemetry and do not require a surface supervising vessel resulting in substantial operational costs savings. The data compiled, over 700m depth of the water column, included temperature, salinity, pressure, dissolved oxygen and hydrocarbon components (phenanthrene and naphthalene) measured by "MINIFLUO" sensors to particularly target representative crude oil compounds Two gliders were deployed at sea, one from coast in shallow water and the other one offshore on the survey area. Both accurately squared the survey area following pre-defined lines and cross lines. Data files were transmitted by satellite telemetry in near real time during the performance of the mission for real time observations and appropriate re-positioning of the gliders. Using rechargeable underwater gliders increased reliability reducing the risk of leakage and associated logistics during operation at sea. Despite strong evidences of seabed seepages such as pockmarks, faults, etc, over the area of interest, no hydrocarbon indices were detected in the water column, which was confirmed later by seabed sample analysis. The use of glider platforms for hydrocarbon detection has been demonstrated, and they can nowadays be utilized as a proven and efficient technology for hydrocarbon exploration purposes beyond their classical oceanology uses.

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

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.

Push/Push Fastener

NASA Technical Reports Server (NTRS)

Jackson, Steven A.

1996-01-01

Modified version of Nylatch (or equivalent) commerical quick-connect/quick-disconnect fastener for joining flat panels. Fastener tightened by pushing on knob on one side and loosened by pushing on knob on other side. Push/push operation of fastener advantageous in cold or otherwise hostile environments where gloves worn, in underwater operations, or if person handicapped.

14 CFR 121.359 - Cockpit voice recorders.

Code of Federal Regulations, 2013 CFR

2013-01-01

... Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine powered airplane or... its location under water; and (iii) Have an approved underwater locating device on or adjacent to the... person may operate a multiengine, turbine-powered airplane having a passenger seat configuration of 10-19...

14 CFR 121.359 - Cockpit voice recorders.

Code of Federal Regulations, 2011 CFR

2011-01-01

... Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine powered airplane or... its location under water; and (iii) Have an approved underwater locating device on or adjacent to the... person may operate a multiengine, turbine-powered airplane having a passenger seat configuration of 10-19...

14 CFR 121.359 - Cockpit voice recorders.

Code of Federal Regulations, 2010 CFR

2010-01-01

... Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine powered airplane or... its location under water; and (iii) Have an approved underwater locating device on or adjacent to the... person may operate a multiengine, turbine-powered airplane having a passenger seat configuration of 10-19...

14 CFR 121.359 - Cockpit voice recorders.

Code of Federal Regulations, 2014 CFR

2014-01-01

... Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine powered airplane or... its location under water; and (iii) Have an approved underwater locating device on or adjacent to the... person may operate a multiengine, turbine-powered airplane having a passenger seat configuration of 10-19...

14 CFR 121.359 - Cockpit voice recorders.

Code of Federal Regulations, 2012 CFR

2012-01-01

... Cockpit voice recorders. (a) No certificate holder may operate a large turbine engine powered airplane or... its location under water; and (iii) Have an approved underwater locating device on or adjacent to the... person may operate a multiengine, turbine-powered airplane having a passenger seat configuration of 10-19...

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.

Inertial sensor self-calibration in a visually-aided navigation approach for a micro-AUV.

PubMed

Bonin-Font, Francisco; Massot-Campos, Miquel; Negre-Carrasco, Pep Lluis; Oliver-Codina, Gabriel; Beltran, Joan P

2015-01-16

This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo cameras and a pressure sensor. The data given by the sensors are fused, adjusted and corrected in a multiplicative error state Kalman filter (MESKF), which returns a single vector with the pose and twist of the vehicle and the biases of the inertial sensors (the accelerometer and the gyroscope). The inclusion of these biases in the state vector permits their self-calibration and stabilization, improving the estimates of the robot orientation. Experiments in controlled underwater scenarios and in the sea have demonstrated a satisfactory performance and the capacity of the vehicle to operate in real environments and in real time.

Development of tools and techniques for monitoring underwater artifacts

NASA Astrophysics Data System (ADS)

Lazar, Iulian; Ghilezan, Alin; Hnatiuc, Mihaela

2016-12-01

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

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.

Prospects for using sonar for underwater archeology on the Yenisei: surveying a 19th century shipwreck

NASA Astrophysics Data System (ADS)

Goncharov, A. E.; Mednikov, D. M.; Karelin, N. M.; Nasyrov, I. R.

2016-11-01

Current progress in underwater archeology is based on a rich arsenal of high-tech appliances, among which sonar technology plays a key role; it enables scientists not only to detect submerged archeological objects, but to examine them in high definition without having to conduct diving operations or use expensive underwater unmanned vehicles. While the majority of sensational scientific discoveries using sonar have been made in saltwater environments, freshwater ones, rivers in particular, have seen limited activity. The river Yenisei in central Siberia contains an unrecorded number of shipwrecks that await being discovered and studied. In this article we focus on the peculiarities of using sonar for detecting archeological sites on the Yenisei. This article is based on the results of the 2016 expedition, which has determined the location of Thames, a 19th century British steam schooner which was wrecked on the Yenisei.

Inertial Sensor Self-Calibration in a Visually-Aided Navigation Approach for a Micro-AUV

PubMed Central

Bonin-Font, Francisco; Massot-Campos, Miquel; Negre-Carrasco, Pep Lluis; Oliver-Codina, Gabriel; Beltran, Joan P.

2015-01-01

This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo cameras and a pressure sensor. The data given by the sensors are fused, adjusted and corrected in a multiplicative error state Kalman filter (MESKF), which returns a single vector with the pose and twist of the vehicle and the biases of the inertial sensors (the accelerometer and the gyroscope). The inclusion of these biases in the state vector permits their self-calibration and stabilization, improving the estimates of the robot orientation. Experiments in controlled underwater scenarios and in the sea have demonstrated a satisfactory performance and the capacity of the vehicle to operate in real environments and in real time. PMID:25602263

Fusion and Gaussian mixture based classifiers for SONAR data

NASA Astrophysics Data System (ADS)

Kotari, Vikas; Chang, KC

2011-06-01

Underwater mines are inexpensive and highly effective weapons. They are difficult to detect and classify. Hence detection and classification of underwater mines is essential for the safety of naval vessels. This necessitates a formulation of highly efficient classifiers and detection techniques. Current techniques primarily focus on signals from one source. Data fusion is known to increase the accuracy of detection and classification. In this paper, we formulated a fusion-based classifier and a Gaussian mixture model (GMM) based classifier for classification of underwater mines. The emphasis has been on sound navigation and ranging (SONAR) signals due to their extensive use in current naval operations. The classifiers have been tested on real SONAR data obtained from University of California Irvine (UCI) repository. The performance of both GMM based classifier and fusion based classifier clearly demonstrate their superior classification accuracy over conventional single source cases and validate our approach.

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

Underwater inverse LIBS (iLIBS) for marine archaeology

NASA Astrophysics Data System (ADS)

Asmus, J.; Magde, M.; Elford, J.; Magde, D.; Parfenov, V.

2013-05-01

In recent years there have been enormous advances in nautical archaeology through developments in SONAR technologies as well as in manned and robotic submersible vehicles. The number of sunken vessel discoveries has escalated in many of the seas of the world in response to the widespread application of these and other new tools. Customarily, surviving artifacts within the debris field of a wreck are collected and then moved to laboratories, centers, or institutions for analyses and possible conservation. Frequently, the conservation phase involves chemical treatments to stabilize an artefact to standard temperature, pressure, and humidity instead of an undersea environment. Many of the artefacts encountered at an underwater site are now characterized and restored in-situ in accordance with modern trends in art conservation. Two examples of this trend are exemplified by the resting place of the wreck of the Titanic in the Atlantic and the Cancun Underwater Park in the Caribbean Sea. These two debris fields have been turned into museums for diving visitors. Several research groups have investigated the possibility of adapting the well-established analytical tool Laser Induced Breakdown Spectroscopy (LIBS) to in-situ elemental analyses of underwater cultural, historic, and archaeological artefacts where discovered, rather than as a phase of a salvage operation. As the underwater laser ablation associated with LIBS generates a "snowplough" shockwave within the aqueous matrix, the atomic emission spectrum is usually severely attenuated in escaping from the target. Consequently, probative experiments to date generally invoke a submerged air chamber or air jet to isolate water from the interaction zone as well as employ more complex double-pulse lasers. These measures impose severe logistical constraints on the examination of widely dispersed underwater artefacts. In order to overcome this constraint we report on water-immersion LIBS experiments performed with oblique laser irradiation and spectral detection at the complementary angle so as to view emission from behind the shockwave. Targets of silver, gold, and copper have been studied. It is found that this approach enables LIBS detection in water both in emission and in absorption. It appears that underwater inverse LIBS may be especially useful in underwater archaeology.

New Polish occupational health and safety regulations for underwater works.

PubMed

Kot, Jacek; Sićko, Zdzisław

2007-01-01

In Poland, the new regulation of the Ministry of Health on Occupational Health for Underwater Works (dated 2007) pursuant to the Act on Underwater Works (dated 2003) has just been published. It is dedicated for commercial, non-military purposes. It defines health requirements for commercial divers and candidates for divers, medical assessment guide with a list of specific medical tests done on initial and periodical medical examination in order for a diver or a candidate for diver to be recognised fit for work, health surveillance during diving operations, compression and decompression procedures, list of content for medical equipment to be present at any diving place, formal qualifications for physicians conducting medical assessment of divers, requirements for certifications confirming the medical status of divers and candidates for divers. Decompression tables cover divings up to 120 meters of depth using compressed air, oxygen, nitrox and heliox as breathing mixtures. There are also decompression tables for repetitive diving, altitude diving and diving in the high-density waters (mud diving). It this paper, general description of health requirements for divers, as well as decompression tables that are included in the new Regulation on Occupational Health for Underwater Works are presented.

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.

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.

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

NASA Astrophysics Data System (ADS)

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

2015-03-01

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

Operation and testing of Mark 10 Mod 3 underwater breathing apparatus

NASA Technical Reports Server (NTRS)

Milwee, W. I., Jr.

1972-01-01

Performance tests on a closed circuit, mixed gas underwater breathing apparatus are reported. The equipment is designed to provide a minimum diving duration of four hours at 1500 ft below sea surface; it senses oxygen partial pressure in the breathing gas mix and controls oxygen content of the breathing gas within narrow limits about a preset value. The breathing circuit subsystem provides respirable gas to the diver and removes carbon dioxide and moisture from the expired gas. Test results indicate undesirable variations in oxygen partial pressure with oxygen addition and insufficient carbon dioxide absorption.

STS-48 MS Buchli dons EMU with technicians' assistance prior to JSC WETF dive

NASA Technical Reports Server (NTRS)

1991-01-01

STS-48 Mission Specialist (MS) James F. Buchli, wearing an extravehicular mobility unit (EMU) and communications carrier assembly (CCA), smiles as he listens to a technician's instructions prior to an underwater extravehicular activity (EMU) session in JSC's Weightless Environment Training Facility (WETF) Bldg 29. Buchli is fully suited with the exception of his helmet as he stands on the WETF platform. He will be lowered into the WETF's 25-foot deep pool and once underwater he will practice contingency EVA operations for his upcoming mission aboard Discovery, Orbiter Vehicle (OV) 103.

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.

SERDP/Office of Naval Research Workshop on Acoustic Detection and Classification of UXO in the Underwater Environment

DTIC Science & Technology

2013-09-01

of combat operations A maritime wreck An artificial reef The Navy considers munitions located in waters between high and low tides terrestrial...e.g., operational areas, beach assess). UXO are cleared to provide for civilian safety (e.g., fisheries, diving , cable and pipeline laying

Development of a 2 MHz Sonar Sensor for Inspection of Bridge Substructures.

PubMed

Park, Chul; Kim, Youngseok; Lee, Heungsu; Choi, Sangsik; Jung, Haewook

2018-04-16

Hydraulic factors account for a large part of the causes of bridge collapse. Due to the nature of the underwater environment, quick and accurate inspection is required when damage occurs. In this study, we developed a 2 MHz side scan sonar sensor module and effective operation technique by improving the limitations of existing sonar. Through field tests, we analyzed the correlation of factors affecting the resolution of the sonar data such as the angle of survey, the distance from the underwater structure and the water depth. The effect of the distance and the water depth and the structure on the survey angle was 66~82%. We also derived the relationship between these factors as a regression model for effective operating techniques. It is considered that application of the developed 2 MHz side scan sonar and its operation method could contribute to prevention of bridge collapses and disasters by quickly and accurately checking the damage of bridge substructures due to hydraulic factors.

Development of a 2 MHz Sonar Sensor for Inspection of Bridge Substructures

PubMed Central

Park, Chul; Lee, Heungsu; Choi, Sangsik; Jung, Haewook

2018-01-01

Hydraulic factors account for a large part of the causes of bridge collapse. Due to the nature of the underwater environment, quick and accurate inspection is required when damage occurs. In this study, we developed a 2 MHz side scan sonar sensor module and effective operation technique by improving the limitations of existing sonar. Through field tests, we analyzed the correlation of factors affecting the resolution of the sonar data such as the angle of survey, the distance from the underwater structure and the water depth. The effect of the distance and the water depth and the structure on the survey angle was 66~82%. We also derived the relationship between these factors as a regression model for effective operating techniques. It is considered that application of the developed 2 MHz side scan sonar and its operation method could contribute to prevention of bridge collapses and disasters by quickly and accurately checking the damage of bridge substructures due to hydraulic factors. PMID:29659557

Relationship between container ship underwater noise levels and ship design, operational and oceanographic conditions

PubMed Central

McKenna, Megan F.; Wiggins, Sean M.; Hildebrand, John A.

2013-01-01

Low-frequency ocean ambient noise is dominated by noise from commercial ships, yet understanding how individual ships contribute deserves further investigation. This study develops and evaluates statistical models of container ship noise in relation to design characteristics, operational conditions, and oceanographic settings. Five-hundred ship passages and nineteen covariates were used to build generalized additive models. Opportunistic acoustic measurements of ships transiting offshore California were collected using seafloor acoustic recorders. A 5–10 dB range in broadband source level was found for ships depending on the transit conditions. For a ship recorded multiple times traveling at different speeds, cumulative noise was lowest at 8 knots, 65% reduction in operational speed. Models with highest predictive power, in order of selection, included ship speed, size, and time of year. Uncertainty in source depth and propagation affected model fit. These results provide insight on the conditions that produce higher levels of underwater noise from container ships.

Characterizing large river sounds: Providing context for understanding the environmental effects of noise produced by hydrokinetic turbines

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

Bevelhimer, Mark S.; Deng, Z. Daniel; Scherelis, Constantin

2016-01-01

Underwater noise associated with the installation and operation of hydrokinetic turbines in rivers and tidal zones presents a potential environmental concern for fish and marine mammals. Comparing the spectral quality of sounds emitted by hydrokinetic turbines to natural and other anthropogenic sound sources is an initial step at understanding potential environmental impacts. Underwater recordings were obtained from passing vessels of different sizes and other underwater sound sources in both static and flowing waters. Static water measurements were taken in a lake with minimal background noise. Flowing water measurements were taken at a previously proposed deployment site for hydrokinetic turbines onmore » the Mississippi River, where the sound of flowing water is included in background measurements. The size of vessels measured ranged from a small fishing boat with a 60 HP outboard motor to an 18-unit barge train being pushed upstream by tugboat. As expected, large vessels with large engines created the highest sound levels, and when compared to the sound created by an operating HK turbine were many times greater. A comparison of sound levels from the same sources at different distances using both spherical and cylindrical sound attenuation functions suggests that spherical model results more closely approximate observed values.« less

Characterizing large river sounds: Providing context for understanding the environmental effects of noise produced by hydrokinetic turbines.

PubMed

Bevelhimer, Mark S; Deng, Z Daniel; Scherelis, Constantin

2016-01-01

Underwater noise associated with the installation and operation of hydrokinetic turbines in rivers and tidal zones presents a potential environmental concern for fish and marine mammals. Comparing the spectral quality of sounds emitted by hydrokinetic turbines to natural and other anthropogenic sound sources is an initial step at understanding potential environmental impacts. Underwater recordings were obtained from passing vessels and natural underwater sound sources in static and flowing waters. Static water measurements were taken in a lake with minimal background noise. Flowing water measurements were taken at a previously proposed deployment site for hydrokinetic turbines on the Mississippi River, where sounds created by flowing water are part of all measurements, both natural ambient and anthropogenic sources. Vessel sizes ranged from a small fishing boat with 60 hp outboard motor to an 18-unit barge train being pushed upstream by tugboat. As expected, large vessels with large engines created the highest sound levels, which were, on average, 40 dB greater than the sound created by an operating hydrokinetic turbine. A comparison of sound levels from the same sources at different distances using both spherical and cylindrical sound attenuation functions suggests that spherical model results more closely approximate observed sound attenuation.

Passenger carrying submersibles : system safety analysis

DOT National Transportation Integrated Search

1989-08-01

During the past few years, several private companies have been using passenger carrying submersibles to conduct underwater sightseeing tours for tourists. For submersible operations under U.S. jurisdiction, the Coast Guard is required by law to estab...

Experiential Education: Understanding the Impact of Remotely Operated Vehicles on At-Risk Student Learning

ERIC Educational Resources Information Center

Kelly, James E.

2014-01-01

How do educators engage students in the curriculum? State and Common Core Standards determine what to teach; how those standards are taught varies. This research examined a group of at-risk elementary and secondary students using underwater Remotely Operated Vehicles (ROVs) as part of an experiential education program in a rural Michigan school…

Evaluation of Computational Codes for Underwater Hull Analysis Model Applications

DTIC Science & Technology

2014-02-05

desirable that the code can be run on a Windows operating system on the laptop, desktop, or workstation. The focus on Windows machines allows for...transition to such systems as operated on the Navy-Marine Corp Internet (NMCI). For each code the initial cost and yearly maintenance are identified...suggestions for reducing this burden to Department of Defense, Washington Headquarters Services, Directorate for Information Operations and Reports

Procedures manual for compressed air diving (scuba mode).

DOT National Transportation Integrated Search

1980-01-01

The Virginia Department of Highways and Transportation conducts underwater inspection, maintenance, and salvage activities as part of its routine operations. These activities are carried out by divers from the private sector working on a contract bas...

The Design of an Autonomous Underwater Vehicle for Water Quality Monitoring

NASA Astrophysics Data System (ADS)

Li, Yulong; Liu, Rong; Liu, Shujin

2018-01-01

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

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.

Diel patterns in underwater sounds produced by beluga whales and Pacific white-sided dolphins at John G. Shedd Aquarium

NASA Astrophysics Data System (ADS)

Brickman, Jon; Tanchez, Erin; Thomas, Jeanette

2005-09-01

Diel patterns in underwater sounds from five beluga whales (Delphinapterus leucas) and five Pacific white-sided dolphins (Lagenorhynchus obliquidens) housed at John G. Shedd Aquarium in Chicago, IL were studied. Underwater sounds were sampled systematically over 24-h periods by using a battery-operated cassette recorder and an Ithaco 605C hydrophone controlled by a digital timer, which activated every hour and then shut off after 2.5 min. Belugas had 14 sounds and Pacific white-sided dolphins produced 5 sounds. For each species, the use of some sounds was correlated with other sounds. The diel pattern for both species was similar and mostly affected by the presence of humans. Sounds gradually increased after the staff and visitors arrived, peaked during the midday, gradually decreased as closing of the aquarium approached, and was minimal overnight. These data can help identify the best time of day to make recordings and perhaps could be used to examine social, reproductive, or health changes in these captive cetaceans.

Criteria for determining safe water conditions for underwater operations.

DOT National Transportation Integrated Search

1984-01-01

Virginia Department of Highways and Transportation employees trained in the use of SCUBA inspect certain of the Department's bridges and provide a degree of quality control for inspections done under contract. Safety standards to be followed in divin...

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.

Robot Handcontroller

NASA Technical Reports Server (NTRS)

1992-01-01

The PER-Force robotic handcontroller provides a sense of touch or "feel" to an operator manipulating robots. The force simulation and wide range of motion greatly enhances the efficiency of robotic and computer operations. The handcontroller was developed for the Space Station by Cybernet Systems Corporation under a Small Business Innovation Research (SBIR) contract. Commercial applications include underwater use, underground excavations, research laboratories, hazardous waste handling and in manufacturing operations in which it is unsafe or impractical for humans to work.

Analysis of Fresnel Zone Plates Focusing Dependence on Operating Frequency

PubMed Central

Fuster, José Miguel; Candelas, Pilar; Castiñeira-Ibáñez, Sergio; Pérez-López, Sergio

2017-01-01

The focusing properties of Fresnel Zone Plates (FZPs) against frequency are analyzed in this work. It is shown that the FZP focal length depends almost linearly on the operating frequency. Focal depth and focal distortion are also considered, establishing a limit on the frequency span at which the operating frequency can be shifted. An underwater FZP ultrasound focusing system is demonstrated, and experimental results agree with the theoretical analysis and simulations. PMID:29206137

ESONET , a milestone towards sustained multidisciplinary ocean observation.

NASA Astrophysics Data System (ADS)

Rolin, J.-F.

2012-04-01

At the end of a 4 year project dedicated to the constitution of a Network of Excellence (NoE) on subsea observatories in Europe, large expectations are still in the agenda. The economical crisis changes the infrastructure construction planning in many ways but the objectives are quite clear and may be reached at European scale. The overall objective of the ESONET NoE was to create an organisation able to implement, operate and maintain a sustainable underwater observation network, extending into deep water, capable of monitoring biological, geo-chemical, geological, geophysical and physical processes occurring throughout the water column, sea floor interface and solid earth below. This main objective of ESONET has been met by creating the network of 11 permanent underwater observation sites together with the "ESONET Vi" Virtual Institute organising the exchange of staff and joint experiments on EMSO large research infrastructure observatories. The development of recommendations on best practices, standardization and interoperability concepts concerning underwater observatory equipment, as synthetized by the so called ESONET Label document has been created. The ESONET Label is a set of criteria to be met by the deep-sea observatory equipment as well as recommended solutions and options to guarantee their optimal operation in the ocean over long time periods. ESONET contributes to the fixed point sustained observatory community which extends worldwide, is fully multidisciplinary and in its way may open a new page in ocean sciences history.

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.

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

A design methodology for neutral buoyancy simulation of space operations

NASA Technical Reports Server (NTRS)

Akin, David L.

1988-01-01

Neutral buoyancy has often been used in the past for EVA development activities, but little has been done to provide an analytical understanding of the environment and its correlation with space. This paper covers a set of related research topics at the MIT Space Systems Laboratory, dealing with the modeling of the space and underwater environments, validation of the models through testing in neutral buoyancy, parabolic flight, and space flight experiments, and applications of the models to gain a better design methodology for creating meaningful neutral buoyancy simulations. Examples covered include simulation validation criteria for human body dynamics, and for applied torques in a beam rotation task, which is the pacing crew operation for EVA structural assembly. Extensions of the dynamics models are presented for powered vehicles in the underwater environment, and examples given from the MIT Space Telerobotics Research Program, including the Beam Assembly Teleoperator and the Multimode Proximity Operations Device. Future expansions of the modeling theory are also presented, leading to remote vehicles which behave in neutral buoyancy exactly as the modeled system would in space.

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

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.

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.

Optimal Scheduling and Fair Service Policy for STDMA in Underwater Networks with Acoustic Communications

PubMed Central

2018-01-01

In this work, a multi-hop string network with a single sink node is analyzed. A periodic optimal scheduling for TDMA operation that considers the characteristic long propagation delay of the underwater acoustic channel is presented. This planning of transmissions is obtained with the help of a new geometrical method based on a 2D lattice in the space-time domain. In order to evaluate the performance of this optimal scheduling, two service policies have been compared: FIFO and Round-Robin. Simulation results, including achievable throughput, packet delay, and queue length, are shown. The network fairness has also been quantified with the Gini index. PMID:29462966

Biological Response to the Dynamic Spectral-Polarized Underwater Light Field

DTIC Science & Technology

2009-01-01

Station phone: (831) 655-6219 fax: (831) 375 -0793 email: lignje@stanford.edu George W. Kattawar Department of Physics Texas A & M...temperature sensors plus 3-dimensional accelerometers (all sampled at 1 Hz , Figure 8). Videos revealed squid fickering display that is visually similar to...include anti- submarine warfare, special operations, clandestine reconnaissance, and harbor security operations. RELATED PROJECTS The CCNY group

Environmental education and technology: using a remotely operated vehicle to connect with nature

Treesearch

Mark Gleason; Laurie Harmon; Kwame Boakye-Agyei

2007-01-01

One hundred seven young people (12-14 years old) and 183 adults (25-86 years old) used an underwater remotely operated vehicle (ROV) to explore shipwrecks and marine habitats in the Great Lakes and various inland lakes during the summer of 2005. Content analysis of responses regarding the types of impact the ROV had on their perception and experience with the natural...

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.

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.

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

NASA Astrophysics Data System (ADS)

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

2009-05-01

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

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).

¡VAMOS! (Viable Alternative Mine Operating System) - a 'Horizon 2020' project

NASA Astrophysics Data System (ADS)

Sword, Cameron; Bodo, Balazs; Kapusniak, Stef; Bosman, Frank; Rainbird, Jenny; Silva, Eduardo

2017-04-01

The 42-month ¡VAMOS! project (Viable Alternative Mine Operating System, Grant Agreement 642477, www.vamos-project.eu), funded by the EC H2020 Programme, will enable access to high-grade EU reserves of mineral ore-bodies by developing an innovative clean and low visibility mining technique. The project will demonstrate the technological and economic viability of the underwater extraction of metallic mineral deposits which are currently technologically, economically, and environmentally unobtainable. In doing so, ¡VAMOS! hopes to encourage investment in abandoned open-pit mines and prospective mines, helping to put the EU back on a level playing field with the rest of the world in terms of access to strategically important minerals. The ¡VAMOS! concept is defined by a remotely-operated underwater mining vehicle, adapted and improved from existing subsea mining technology. Operating in tandem with an HROV, the mining vehicle will connect to a flexible riser through which slurried mined material will be pumped from the mudline to onshore dewatering facilities via a floating mobile deployment-module, on which will be fitted a bypass system linked to an LIBS, allowing real-time grade-control. Analysis of European and national regulation and stakeholder assessments found there is significant support for developing the technology among local communities and governments. An initial environmental assessment of the potential impact of the innovative mining operation concluded the project has a smaller environmental footprint than conventional mining operations: this is due to factors including the quieter operation and absence of blasting, zero water-table flux, and the higher stripping ratio enabled by higher fluid pressure acting on the sidewalls of the mine. The prototypes are currently in their construction phase following a final design freeze in October 2016. Work is now underway on the foresight visioning, economic evaluation and policy guidelines for the ¡VAMOS! methodology and technologies; the project team will be identifying key areas of research interest and assessing the micro and macroeconomic impact of ¡VAMOS!. The deadline for the completion of the underwater mining vehicle prototype is May 2017, and the HROV hardware and software is to be completed by July 2017. Site-tests will take place in the months after the build completion at a number of unique abandoned mines across Europe, with final proof of operational viability due by November 2017.

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.

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.

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

Simulation and preparation of surface EVA in reduced gravity at the Marseilles Bay subsea analogue sites

NASA Astrophysics Data System (ADS)

Weiss, P.; Gardette, B.; Chirié, B.; Collina-Girard, J.; Delauze, H. G.

2012-12-01

Extravehicular activity (EVA) of astronauts during space missions is simulated nowadays underwater in neutral buoyancy facilities. Certain aspects of weightlessness can be reproduced underwater by adding buoyancy to a diver-astronaut, therefore exposing the subject to the difficulties of working without gravity. Such tests were done at the COMEX' test pool in Marseilles in the 1980s to train for a French-Russian mission to the MIR station, for the development of the European HERMES shuttle and the COLUMBUS laboratory. However, space agencies are currently studying missions to other destinations than the International Space Station in orbit, such as the return to the Moon, NEO (near-Earth objects) or Mars. All these objects expose different gravities: Moon has one sixth of Earth's gravity, Mars has a third of Earth's gravity and asteroids have virtually no surface gravity; the astronaut "floats" above the ground. The preparation of such missions calls for a new concept in neutral buoyancy training, not on man-made structures, but on natural terrain, underwater, to simulate EVA operations such as sampling, locomotion or even anchoring in low gravity. Underwater sites can be used not only to simulate the reduced gravity that astronauts will experience during their field trips, also human factors like stress are more realistically reproduced in such environment. The Bay of Marseille hosts several underwater sites that can be used to simulate various geologic morphologies, such as sink-holes which can be used to simulate astronaut descends into craters, caves where explorations of lava tubes can be trained or monolithic rock structures that can be used to test anchoring devices (e.g., near Earth objects). Marseilles with its aerospace and maritime/offshore heritage hosts the necessary logistics and expertise that is needed to perform such simulations underwater in a safe manner (training of astronaut-divers in local test pools, research vessels, subsea robots and submarines). COMEX is currently preparing a space mission simulation in the Marseilles Bay (foreseen in June 2012), and the paper will give an overview of the different underwater analogue sites that are available to the scientific community for the simulation of surface EVA or the test of scientific instruments and devices.

Informing Lunar and Martian Science Operations Scenarios Through Underwater Analog Mission Activities at Pavilion Lake, Canada

NASA Astrophysics Data System (ADS)

Lim, D. S. S.; Gernhardt, M.; Shepard, R.; Brady, A. L.; Marinova, M. M.; Wilhelm, M.; Forrest, A.; Cardman, Z.; Abercromby, A.; Deans, M.; Lees, D.; Arnold, R.; Cowie, B.; Slater, G. F.; Laval, B.; Reid, D.; McKay, C. P.

2010-04-01

We present a synopsis of the analog science and exploration activities of the Pavilion Lake Research Project (PLRP). The activities include the deployment of single-person DeepWorker submersibles and the field science training of astronauts.

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

Code of Federal Regulations, 2011 CFR

2011-10-01

... accuracy; (3) Take ultrasonic thickness gaugings at a minimum of 5 points on each plate, evenly spaced; (4... must be accepted by the Officer in Charge, Marine Inspection (OCMI) prior to the survey. If you choose...

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

Code of Federal Regulations, 2013 CFR

2013-10-01

... accuracy; (3) Take ultrasonic thickness gaugings at a minimum of 5 points on each plate, evenly spaced; (4... must be accepted by the Officer in Charge, Marine Inspection (OCMI) prior to the survey. If you choose...

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

Code of Federal Regulations, 2012 CFR

2012-10-01

... accuracy; (3) Take ultrasonic thickness gaugings at a minimum of 5 points on each plate, evenly spaced; (4... must be accepted by the Officer in Charge, Marine Inspection (OCMI) prior to the survey. If you choose...

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

Code of Federal Regulations, 2014 CFR

2014-10-01

... accuracy; (3) Take ultrasonic thickness gaugings at a minimum of 5 points on each plate, evenly spaced; (4... must be accepted by the Officer in Charge, Marine Inspection (OCMI) prior to the survey. If you choose...

Underwater noise pollution in a coastal tropical environment.

PubMed

Bittencourt, L; Carvalho, R R; Lailson-Brito, J; Azevedo, A F

2014-06-15

Underwater noise pollution has become a major concern in marine habitats. Guanabara Bay, southeastern Brazil, is an impacted area of economic importance with constant vessel traffic. One hundred acoustic recording sessions took place over ten locations. Sound sources operating within 1 km radius of each location were quantified during recordings. The highest mean sound pressure level near the surface was 111.56±9.0 dB re 1 μPa at the frequency band of 187 Hz. Above 15 kHz, the highest mean sound pressure level was 76.21±8.3 dB re 1 μPa at the frequency 15.89 kHz. Noise levels correlated with number of operating vessels and vessel traffic composition influenced noise profiles. Shipping locations had the highest noise levels, while small vessels locations had the lowest noise levels. Guanabara Bay showed noise pollution similar to that of other impacted coastal regions, which is related to shipping and vessel traffic. Copyright © 2014 Elsevier Ltd. All rights reserved.

Zero-power autonomous buoyancy system controlled by microbial gas production

NASA Astrophysics Data System (ADS)

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

2011-05-01

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

Acoustic effects of oil-production activities on bowhead and white whales visible during spring migration near Pt. Barrow, Alaska-1990 phase: sound propagation and whale responses to playbacks of continuous drilling noise from an ice platform, as studied in pack ice conditions. Final report

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

Richardson, W.J.; Greene, C.R.; Koski, W.R.

1991-10-01

The report concerns the effects of underwater noise from simulated oil production operations on the movements and behavior of bowhead and white whales migrating around northern Alaska in spring. An underwater sound projector suspended from pack ice was used to introduce recorded drilling noise and other test sounds into leads through the pack ice. These sounds were received and measured at various distances to determine the rate of sound attenuation with distance and frequency. The movements and behavior of bowhead and white whales approaching the operating projector were studied by aircraft- and ice-based observers. Some individuals of both species weremore » observed to approach well within the ensonified area. However, behavioral changes and avoidance reactions were evident when the received sound level became sufficiently high. Reactions to aircraft are also discussed.« less

Navy Irregular Warfare and Counterterrorism Operations: Background and Issues for Congress

DTIC Science & Technology

2017-03-21

appropriation account. Regarding this funding request, DOD states that The Underwater Systems line item procures dry and wet combat submersibles...modifications, and field changes to the Dry Deck Shelter (DDS), and various systems and components for Special Operations Forces (SOF) Combat Diving...environments. The Dry Combat Submersibles (DCS) will provide the capability to insert and extract SOF and/or payloads into denied areas from strategic

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.

STS-37 crewmembers move CETA electrical cart along rail in JSC's WETF pool

NASA Image and Video Library

1989-12-06

STS-37 Atlantis, Orbiter Vehicle (OV) 104, Mission Specialist (MS) Jerry L. Ross generates electrical power using hand pedals to move crew and equipment translation aid (CETA) cart along a rail during underwater session in JSC's Weightless Environment Training Facility (WETF) Bldg 29. Wearing an extravehicular mobility unit (EMU), Ross operates CETA electrical cart as MS Jerome Apt holds onto the back of the cart. The two crewmembers are practicing a extravehicular activity (EVA) spacewalk they will perform in OV-104's payload bay during STS-37. CETA is a type of railroad hand cart planned as a spacewalker's transportation system along the truss of Space Station Freedom (SSF). SCUBA divers monitor astronauts' underwater activity.

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

NASA Astrophysics Data System (ADS)

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

2010-03-01

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

Multi-purpose tool mitten

NASA Technical Reports Server (NTRS)

Wilcomb, E. F.

1969-01-01

Tool mitten provides a low reaction torque source of power for wrench, screwdriver, or drill activities. The technique employed prevents the attachments from drifting away from the operator. While the tools are specifically designed for space environments, they can be used on steel scaffolding, in high building maintenance, or underwater environments.

46 CFR 197.450 - Breathing gas tests.

Code of Federal Regulations, 2010 CFR

2010-10-01

... taken at the connection point to the distribution system— (1) Every 6 months; and (2) After every repair or modification. (b) Purchased supplies of breathing mixtures supplied to a diver are checked before... commencement of diving operations, at the umbilical or underwater breathing apparatus connection point for the...

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.

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.

Measurement and characterisation of radiated underwater sound from a 3.6 MW monopile wind turbine.

PubMed

Pangerc, Tanja; Theobald, Peter D; Wang, Lian S; Robinson, Stephen P; Lepper, Paul A

2016-10-01

This paper describes underwater sound pressure measurements obtained in close proximity (∼50 m) to two individual wind turbines, over a 21-day period, capturing the full range of turbine operating conditions. The sound radiated into the water was characterised by a number of tonal components, which are thought to primarily originate from the gearbox for the bandwidth measured. The main signal associated with the turbine operation had a mean-square sound pressure spectral density level which peaked at 126 dB re 1 μPa 2  Hz -1 at 162 Hz. Other tonal components were also present, notably at frequencies between about 20 and 330 Hz, albeit at lower amplitudes. The measured sound characteristics, both in terms of frequency and amplitude, were shown to vary with wind speed. The sound pressure level increased with wind speed up to an average value of 128 dB re 1 μPa at a wind speed of about 10 ms -1 , and then showed a general decrease. Overall, differences in the mean-square sound pressure spectral density level of over 20 dB were observed across the operational envelope of the turbine.

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.

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.

Optimal Scheduling for Underwater Communications in Multiple-user Scenarios

DTIC Science & Technology

2014-09-30

underwater acoustic sensor networks . These techniques aim at consuming as less energy as... underwater acoustic networks disrupt the behavior of surrounding species of marine mammals. As a consequence of these two studies, we aim at developing...Markov models of incremental redundancy hybrid ARQ over underwater acoustic channels. Elsevier Journal on Ad-hoc Networks (Special Issue on Underwater Communications and Networks ), 2014. 4

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

DTIC Science & Technology

2014-09-30

underwater acoustic communication technologies for autonomous distributed underwater networks , through innovative signal processing, coding, and...4. TITLE AND SUBTITLE Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and...coding: 3) OFDM modulated dynamic coded cooperation in underwater acoustic channels; 3 Localization, Networking , and Testbed: 4) On-demand

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.

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.

Visual observation of fishes and aquatic habitat [Chapter 17

Treesearch

Russell F. Thurow; C. Andrew Dolloff; J. Ellen Marsden

2012-01-01

Whether accomplished above the water surface or performed underwater by snorkel, scuba, or hookah divers or remotely operated vehicles (ROVs); direct observation techniques are among the most effective means for obtaining accurate and often unique information on aquatic organisms in their natural surroundings. Many types of studies incorporate direct observation...

Modeling of Underwater Bomb Trajectory for Mine Clearance

DTIC Science & Technology

2010-01-01

suitable for a shallow water operation. The mine counter- measure airplane (AMCM) can tow the very capable sled (with the MK-103 through MK- 106 ...explosive in the live weapon is PBXN -109, whereas the inert weapons have filling to maintain appropriate weight and balance. Figure 6. Artificial

An Interdisciplinary Field Robotics Program for Undergraduate Computer Science and Engineering Education

ERIC Educational Resources Information Center

Kitts, Christopher; Quinn, Neil

2004-01-01

Santa Clara University's Robotic Systems Laboratory conducts an aggressive robotic development and operations program in which interdisciplinary teams of undergraduate students build and deploy a wide range of robotic systems, ranging from underwater vehicles to spacecraft. These year-long projects expose students to the breadth of and…

RuCool Operational Oceanography: Using a Fleet of Autonomous Ocean Gliders

NASA Astrophysics Data System (ADS)

Graver, J.; Jones, C.; Glenn, S.; Kohut, J.; Schofield, O.; Roarty, H.; Aragon, D.; Kerfoot, J.; Haldeman, C.; Yan, A.

2007-05-01

At the Rutgers University Coastal Ocean Observation Lab (RU-COOL), we have constructed a shelf-wide ocean observatory to characterize the physical forcing of continental shelf primary productivity in the New York Bight (NYB). The system is anchored by four enabling technologies, which include the international constellation of ocean color satellites, multi-static high frequency long-range surface current radar, real-time telemetry moorings, and long duration autonomous underwater vehicles (AUVs). Operation of the observatory is through a centralized computer network dedicated to receiving, processing and visualizing the real-time data and then disseminating results to both field scientists and ocean forecasters over the World Wide Web. The system was designed to conduct cutting edge research requiring the addition of rapidly evolving technologies, and to serve society by providing sustained data delivered in real-time. Rutgers COOL continues to work closely with Webb Research Corporation (WRC) in testing and development of the Slocum underwater gliders and continues to apply Slocum gliders in field operations spanning the globe. The continued strong collaboration between WRC and Rutgers has led to advances in glider operations and applications. These include deployment/recovery techniques, improvements in durability and reliability, integrated sensors suites, salinity spike removal, and adaptive controls utilized to optimize mission goals and data return. The gliders have gathered numerous data sets including salt intrusions as seen off of New Jersey, plume tracking, biological water sample matching, and operation through Hurricane Ernesto in 2006. This talk will detail recent oceanographic experiments in which the fleet has been deployed and improvements in the operation of these novel robotic vehicles. These experiments, in locations around the world, have resulted in significant new work in operation of underwater gliders and have gathered new and unique data sets. Recent accomplishments include deployment of a glider in Antarctica for LTER, control of a fleet of gliders during the ONR sponsored Shallow Water 06, RIMPAC, LATTE, ASAP, and the continuation of long-term observation at the LEO-15 New Jersey site Endurance Line. To date Rutgers has flown close to 100 glider missions, with over 27,000 km flown over 760 calendar days and 1,350 glider days in the water. Operations around the world are orchestrated remotely from COOL at Rutgers. Computer networking allows for command and control of the glider fleet from the COOL Lab or remotely via the internet. This system has enabled new oceanographic experiments at significantly reduced cost, with increased reliability, and with extended continuous operational deployments in the global oceans since 2003.

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

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

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

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

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

Young, K.K.; The DUMAND Collaboration

1995-07-10

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

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.

Composite Membrane with Underwater-Oleophobic Surface for Anti-Oil-Fouling Membrane Distillation.

PubMed

Wang, Zhangxin; Hou, Deyin; Lin, Shihong

2016-04-05

In this study, we fabricated a composite membrane for membrane distillation (MD) by modifying a commercial hydrophobic polyvinylidene fluoride (PVDF) membrane with a nanocomposite coating comprising silica nanoparticles, chitosan hydrogel and fluoro-polymer. The composite membrane exhibits asymmetric wettability, with the modified surface being in-air hydrophilic and underwater oleophobic, and the unmodified surface remaining hydrophobic. By comparing the performance of the composite membrane and the pristine PVDF membrane in direct contact MD experiments using a saline emulsion with 1000 ppm crude oil (in water), we showed that the fabricated composite membrane was significantly more resistant to oil fouling compared to the pristine hydrophobic PVDF membrane. Force spectroscopy was conducted for the interaction between an oil droplet and the membrane surface using a force tensiometer. The difference between the composite membrane and the pristine PVDF membrane in their interaction with an oil droplet served to explain the difference in the fouling propensities between these two membranes observed in MD experiments. The results from this study suggest that underwater oleophobic coating can effectively mitigate oil fouling in MD operations, and that the fabricated composite membrane with asymmetric wettability can enable MD to desalinate hypersaline wastewater with high concentrations of hydrophobic contaminants.

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.

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

AUV technology heads for new depths[Autonomous Underwater Vehicle

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

Hayes, D.

2000-04-01

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

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.

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

Development of Underwater Laser Scaling Adapter

NASA Astrophysics Data System (ADS)

Bluss, Kaspars

2012-12-01

In this paper the developed laser scaling adapter is presented. The scaling adapter is equipped with a twin laser unit where the two parallel laser beams are projected onto any target giving an exact indication of scale. The body of the laser scaling adapter is made of Teflon, the density of which is approximately two times the water density. The development involved multiple challenges - numerical hydrodynamic calculations for choosing an appropriate shape which would reduce the effects of turbulence, an accurate sealing of the power supply and the laser diodes, and others. The precision is estimated by the partial derivation method. Both experimental and theoretical data conclude the overall precision error to be in the 1% margin. This paper presents the development steps of such an underwater laser scaling adapter for a remotely operated vehicle (ROV).

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.

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 novel soft biomimetic microrobot with two motion attitudes.

PubMed

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

2012-12-06

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

Radio Frequency Identification (RFID) technology applied to the definition of underwater and subaerial coarse sediment movement

NASA Astrophysics Data System (ADS)

Bertoni, Duccio; Sarti, Giovanni; Benelli, Giuliano; Pozzebon, Alessandro; Raguseo, Gianluca

2010-07-01

In this paper, Radio Frequency Identification technology has been applied to track both underwater and subaerial displacement of pebbles along an artificial coarse beach at Marina di Pisa, Italy. Several preliminary laboratory tests have been performed to adapt the RFID technique for underwater use, which has been the primary impediment to this promising approach to the study of coarse sediment transport and movement. Tests showed the reliability of low frequencies for this kind of work, since they enable good signal transmission and reception through water. Passive ABS plastic transponders were inserted into about 100 pebbles and released onto the beach in March, 2009. A CORE-125 reader was chosen as the operating antenna to continuously transmit low frequency (125 kHz) signals. An acoustic signal toned whenever a pebble was detected while the unambiguous identification code of the pebble is shown immediately on the screen of a laptop connected to the reader. The positions of the pebbles were recorded with a total station. After two months (May, 2009), 74 marked pebbles were retrieved, 77% of the total. The positions of the retrieved pebbles were also recorded with the total station, thus allowing calculation of the coarse sediment transport tendency. About 60% of the recovered pebbles (44 out of 74) were found on the upper shoreface. The analysis of the marked pebble trajectories revealed a divergent transport movement in the northernmost sector of the beach. This movement was probably triggered by an irregularity of the submerged breakwater fronting the shoreline. The southern sector is characterised by chaotic pathways related to the formation and evolution of beach cusps. This outcome highlights and confirms the importance of a complete definition of the beach system, with no separation between the underwater and the subaerial portion of the shore when it comes to sediment transport and movement. This successful application of RFID technology to the underwater environment provides a chance to broaden understanding of a topic in need of further study.

Colorful Niches of Phytoplankton Shaped by the Spatial Connectivity in a Large River Ecosystem: A Riverscape Perspective

PubMed Central

Frenette, Jean-Jacques; Massicotte, Philippe; Lapierre, Jean-François

2012-01-01

Large rivers represent a significant component of inland waters and are considered sentinels and integrators of terrestrial and atmospheric processes. They represent hotspots for the transport and processing of organic and inorganic material from the surrounding landscape, which ultimately impacts the bio-optical properties and food webs of the rivers. In large rivers, hydraulic connectivity operates as a major forcing variable to structure the functioning of the riverscape, and–despite increasing interest in large-river studies–riverscape structural properties, such as the underwater spectral regime, and their impact on autotrophic ecological processes remain poorly studied. Here we used the St. Lawrence River to identify the mechanisms structuring the underwater spectral environment and their consequences on pico- and nanophytoplankton communities, which are good biological tracers of environmental changes. Our results, obtained from a 450 km sampling transect, demonstrate that tributaries exert a profound impact on the receiving river’s photosynthetic potential. This occurs mainly through injection of chromophoric dissolved organic matter (CDOM) and non-algal material (tripton). CDOM and tripton in the water column selectively absorbed wavelengths in a gradient from blue to red, and the resulting underwater light climate was in turn a strong driver of the phytoplankton community structure (prokaryote/eukaryote relative and absolute abundances) at scales of many kilometers from the tributary confluence. Our results conclusively demonstrate the proximal impact of watershed properties on underwater spectral composition in a highly dynamic river environment characterized by unique structuring properties such as high directional connectivity, numerous sources and forms of carbon, and a rapidly varying hydrodynamic regime. We surmise that the underwater spectral composition represents a key integrating and structural property of large, heterogeneous river ecosystems and a promising tool to study autotrophic functional properties. It confirms the usefulness of using the riverscape approach to study large-river ecosystems and initiate comparison along latitudinal gradients. PMID:22558259

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

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

DTIC Science & Technology

2015-03-01

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

Sea Perch Project

NASA Image and Video Library

2010-12-11

David Lalejini, an employee of the Naval Research Laboratory at NASA's John C. Stennis Space Center, helps a pair of teachers deploy a remotely-operated underwater Sea Perch robot during workshop activities Dec. 11. The Stennis Education Office teamed with Naval Research Laboratory counterparts to conduct a two-day workshop Dec. 10-11 for Louisiana and Mississippi teachers. During the no-cost workshop, teachers learned to build and operate Sea Perch robots. The teachers now can take the Sea Perch Program back to students.

NEEMO 21: Tools, Techniques, Technologies & Training for Science Exploration EVA

NASA Technical Reports Server (NTRS)

Graff, Trevor

2016-01-01

The 21st mission of the NASA Extreme Environment Mission Operations (NEEMO) was a highly integrated operational test and evaluation of tools, techniques, technologies, and training for science driven exploration during Extravehicular Activity (EVA).The 16-day mission was conducted from the Aquarius habitat, an underwater laboratory, off the coast of Key Largo, FL. The unique facility, authentic science objectives, and diverse skill-sets of the crew/team facilitate the planning and design for future space exploration.

Sea Perch Project

NASA Technical Reports Server (NTRS)

2010-01-01

David Lalejini, an employee of the Naval Research Laboratory at NASA's John C. Stennis Space Center, helps a pair of teachers deploy a remotely-operated underwater Sea Perch robot during workshop activities Dec. 11. The Stennis Education Office teamed with Naval Research Laboratory counterparts to conduct a two-day workshop Dec. 10-11 for Louisiana and Mississippi teachers. During the no-cost workshop, teachers learned to build and operate Sea Perch robots. The teachers now can take the Sea Perch Program back to students.

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 4 2012-10-01 2012-10-01 false Pre-Survey meeting. 115.640 Section 115.640 Shipping... Tailshaft Examinations § 115.640 Pre-Survey meeting. (a) You must conduct a pre-survey meeting to discuss... of the ROV operating company must attend the pre-survey meeting and address the underwater ROV's...

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Pre-Survey meeting. 115.640 Section 115.640 Shipping... Tailshaft Examinations § 115.640 Pre-Survey meeting. (a) You must conduct a pre-survey meeting to discuss... of the ROV operating company must attend the pre-survey meeting and address the underwater ROV's...

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 4 2013-10-01 2013-10-01 false Pre-Survey meeting. 115.640 Section 115.640 Shipping... Tailshaft Examinations § 115.640 Pre-Survey meeting. (a) You must conduct a pre-survey meeting to discuss... of the ROV operating company must attend the pre-survey meeting and address the underwater ROV's...

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Pre-Survey meeting. 115.640 Section 115.640 Shipping... Tailshaft Examinations § 115.640 Pre-Survey meeting. (a) You must conduct a pre-survey meeting to discuss... of the ROV operating company must attend the pre-survey meeting and address the underwater ROV's...

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 4 2014-10-01 2014-10-01 false Pre-Survey meeting. 115.640 Section 115.640 Shipping... Tailshaft Examinations § 115.640 Pre-Survey meeting. (a) You must conduct a pre-survey meeting to discuss... of the ROV operating company must attend the pre-survey meeting and address the underwater ROV's...

Geomagnetic Navigation of Autonomous Underwater Vehicle Based on Multi-objective Evolutionary Algorithm.

PubMed

Li, Hong; Liu, Mingyong; Zhang, Feihu

2017-01-01

This paper presents a multi-objective evolutionary algorithm of bio-inspired geomagnetic navigation for Autonomous Underwater Vehicle (AUV). Inspired by the biological navigation behavior, the solution was proposed without using a priori information, simply by magnetotaxis searching. However, the existence of the geomagnetic anomalies has significant influence on the geomagnetic navigation system, which often disrupts the distribution of the geomagnetic field. An extreme value region may easily appear in abnormal regions, which makes AUV lost in the navigation phase. This paper proposes an improved bio-inspired algorithm with behavior constraints, for sake of making AUV escape from the abnormal region. First, the navigation problem is considered as the optimization problem. Second, the environmental monitoring operator is introduced, to determine whether the algorithm falls into the geomagnetic anomaly region. Then, the behavior constraint operator is employed to get out of the abnormal region. Finally, the termination condition is triggered. Compared to the state-of- the-art, the proposed approach effectively overcomes the disturbance of the geomagnetic abnormal. The simulation result demonstrates the reliability and feasibility of the proposed approach in complex environments.

Geomagnetic Navigation of Autonomous Underwater Vehicle Based on Multi-objective Evolutionary Algorithm

PubMed Central

Li, Hong; Liu, Mingyong; Zhang, Feihu

2017-01-01

This paper presents a multi-objective evolutionary algorithm of bio-inspired geomagnetic navigation for Autonomous Underwater Vehicle (AUV). Inspired by the biological navigation behavior, the solution was proposed without using a priori information, simply by magnetotaxis searching. However, the existence of the geomagnetic anomalies has significant influence on the geomagnetic navigation system, which often disrupts the distribution of the geomagnetic field. An extreme value region may easily appear in abnormal regions, which makes AUV lost in the navigation phase. This paper proposes an improved bio-inspired algorithm with behavior constraints, for sake of making AUV escape from the abnormal region. First, the navigation problem is considered as the optimization problem. Second, the environmental monitoring operator is introduced, to determine whether the algorithm falls into the geomagnetic anomaly region. Then, the behavior constraint operator is employed to get out of the abnormal region. Finally, the termination condition is triggered. Compared to the state-of- the-art, the proposed approach effectively overcomes the disturbance of the geomagnetic abnormal. The simulation result demonstrates the reliability and feasibility of the proposed approach in complex environments. PMID:28747884

46 CFR 167.15-33 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2010 CFR

2010-10-01

... SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-33 Underwater Survey in Lieu of Drydocking (UWILD). (a) The Officer in Charge, Marine Inspection (OCMI), may approve an underwater survey instead of..., Marine Inspection submits a recommendation for future underwater surveys, the results of the hull gauging...

[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)

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.

Channel analysis for single photon underwater free space quantum key distribution.

PubMed

Shi, Peng; Zhao, Shi-Cheng; Gu, Yong-Jian; Li, Wen-Dong

2015-03-01

We investigate the optical absorption and scattering properties of underwater media pertinent to our underwater free space quantum key distribution (QKD) channel model. With the vector radiative transfer theory and Monte Carlo method, we obtain the attenuation of photons, the fidelity of the scattered photons, the quantum bit error rate, and the sifted key generation rate of underwater quantum communication. It can be observed from our simulations that the most secure single photon underwater free space QKD is feasible in the clearest ocean water.

High spatial resolution mapping of water quality and bathymetry with an autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Pampalone, Vincenzo; Milici, Barbara

2015-12-01

The drone Ecomapper AUV (Autonomous Underwater Vehicle) is a rare example of highly technological instrument in the environmental coastal monitoring field. The YSI EcoMapper is a one-man deployable, Autonomous Underwater Vehicle (AUV) designed to collect bathymetry and water quality data. The submarine-like vehicle follows a programmed course and employs sensors mounted in the nose to record pertinent information. Once the vehicle has started its mission, it operates independently of the user and utilizes GPS waypoints navigation to complete its programmed course. Throughout the course, the vehicle constantly steers toward the line drawn in the mission planning software (VectorMap), essentially following a more accurate road of coordinates instead of transversing waypoint-to-waypoint. It has been equipped with a Doppler Velocity Log (DVL) to increase its underwater navigation accuracy. Potential EcoMapper applications include baseline environmental mapping in freshwater, estuarine or near-coastal environments, bathymetric mapping, dissolved oxygen studies, event monitoring (algal blooms, storm impacts, low dissolved oxygen), non-point source studies, point-source dispersion mapping, security, search & rescue, inspection, shallow water mapping, thermal dissipation mapping of cooling outfalls, trace-dye studies. The AUV is used in the coastal area of the Augusta Bay (Italy), located in the eastern part of Sicily. Due to the heavy contamination generated by the several chemical and petrochemical industries active in the zone, the harbour was declared a Contaminated Site of National Interest. The ecomapper allows for a simultaneous data collection of water quality and bathymetric data providing a complete environmental mapping system of the Harbour.

Optimized decoy state QKD for underwater free space communication

NASA Astrophysics Data System (ADS)

Lopes, Minal; Sarwade, Nisha

Quantum cryptography (QC) is envisioned as a solution for global key distribution through fiber optic, free space and underwater optical communication due to its unconditional security. In view of this, this paper investigates underwater free space quantum key distribution (QKD) model for enhanced transmission distance, secret key rates and security. It is reported that secure underwater free space QKD is feasible in the clearest ocean water with the sifted key rates up to 207kbps. This paper extends this work by testing performance of optimized decoy state QKD protocol with underwater free space communication model. The attenuation of photons, quantum bit error rate and the sifted key generation rate of underwater quantum communication is obtained with vector radiative transfer theory and Monte Carlo method. It is observed from the simulations that optimized decoy state QKD evidently enhances the underwater secret key transmission distance as well as secret key rates.

Tribological properties of fish scale inspired underwater superoleophobic hierarchical structure in aqueous environment

NASA Astrophysics Data System (ADS)

Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Li, Yiquan; Yu, Zhanjiang; Liu, Qimeng; Yu, Huadong

2017-10-01

Underwater superoleophobic surfaces are becoming increasingly important in regard to self-cleaning, anti-fouling, oil droplet transportation and water/oil separation. Although a great number of underwater superoleophobic surfaces have been demonstrated, their tribological properties remain impractical for the purposes of real-life applications. Herein, a two-step method of high speed wire electrical discharge machining and boiling water treatment was adopted to fabricate fish scale inspired underwater oil repellent hierarchical structure on an aluminum (Al) alloy 5083 surface. The hierarchical roughness and hydroxyl groups were obtained on the surface, and the surface exhibited the ability to prevent contact with organic fluids when submerged in water. Moreover, the tribological properties of underwater superoleophobic Al surfaces in aqueous environments were analyzed. The average friction coefficient of underwater superoleophobic surfaces was decreased compared with the polished Al surface. We believe that this research will contribute to the engineering application of underwater superoleophobic surfaces in the future.

46 CFR 169.229 - Drydock examination, internal structural examination, and underwater survey intervals.

Code of Federal Regulations, 2010 CFR

2010-10-01

..., and underwater survey intervals. 169.229 Section 169.229 Shipping COAST GUARD, DEPARTMENT OF HOMELAND... Hauling Out § 169.229 Drydock examination, internal structural examination, and underwater survey... period unless it has been approved to undergo an underwater survey (UWILD) under § 169.230 of this part...

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.

Advanced superconducting gradiometers for mine detection

NASA Astrophysics Data System (ADS)

Clem, Ted R.

1996-05-01

Sensors incorporating superconducting quantum interference devices provide the greatest sensitivity for magnetic anomaly detection available with current technology. During the 1980s, the Coastal Systems Station (CSS) developed a superconducting magnetic gradiometer capable of operation outside of the laboratory environment. With this sensor, the CSS was able to demonstrate buried mine detection for the U.S. Navy. Subsequently, the sensor was incorporated into a multisensor suite onboard an underwater towed vehicle to provide a robust mine hunting capability for the Magnetic and Acoustic Detection of Mines Project. This sensor using thin film niobium and a new liquid helium cooling concept was developed to provide significant increases in sensitivity and detection range. In the late 1980s, a new class of `high- Tc' superconductor were discovered with critical temperatures above the boiling point of liquid nitrogen (77 K). This advance has opened up new opportunities for mine reconnaissance and hunting, especially for operation onboard small unmanned underwater vehicles. A high-Tc sensor concept using liquid nitrogen refrigeration has been developed and a test article of that concept is currently being evaluated for its applicability to mobile operation. The design principles for the two new sensor approaches and the results of their evaluations will be described. Finally, the implications of these advances to mine reconnaissance and hunting will be discussed.

Effectiveness of an automatic tracking software in underwater motion analysis.

PubMed

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

2013-01-01

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

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

Use of an Acoustic Camera to Evaluate the Performance of Tickler Chains and Draghead Deflectors for Sea Turtle Protection during Hopper Dredging in the United States of America

DTIC Science & Technology

2018-05-01

performance nor effectiveness in protecting sea turtles has been documented.This study was the first step in evaluating TTC as a potential replacement for...draghead turtle deflectors. The primary objective was to evaluate and document operational performance of this technology, not effectiveness of reducing...incidental take. TTC operational performance was monitored using underwater camera systems over a short period of time whereas effectiveness for

CoBOP: Electro-Optic Identification Laser Line Sean Sensors

DTIC Science & Technology

1998-01-01

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

Mars aerobrake assembly simulation

NASA Technical Reports Server (NTRS)

Filatovs, G. J.; Lee, Gordon K. F.; Garvey, John

1992-01-01

On-orbit assembly operation simulations in neutral buoyancy conditions are presently undertaken by a partial/full-scale Mars mission aerobrake mockup, whose design, conducted in the framework of an engineering senior students' design project, involved several levels of constraints for critical physical and operational features. Allowances had to be made for the auxiliary constraints introduced by underwater testing, as well as the subsegmenting required for overland shipment to the neutral-buoyancy testing facility. This mockup aerobrake's fidelity is determined by the numerous, competing design objectives.

Detection of Underwater UXOs in Mud

DTIC Science & Technology

2013-04-01

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

A higher-order split-step Fourier parabolic-equation sound propagation solution scheme.

PubMed

Lin, Ying-Tsong; Duda, Timothy F

2012-08-01

A three-dimensional Cartesian parabolic-equation model with a higher-order approximation to the square-root Helmholtz operator is presented for simulating underwater sound propagation in ocean waveguides. The higher-order approximation includes cross terms with the free-space square-root Helmholtz operator and the medium phase speed anomaly. It can be implemented with a split-step Fourier algorithm to solve for sound pressure in the model. Two idealized ocean waveguide examples are presented to demonstrate the performance of this numerical technique.

Fundamentals and advances in the development of remote welding fabrication systems

NASA Technical Reports Server (NTRS)

Agapakis, J. E.; Masubuchi, K.; Von Alt, C.

1986-01-01

Operational and man-machine issues for welding underwater, in outer space, and at other remote sites are investigated, and recent process developments are described. Probable remote welding missions are classified, and the essential characteristics of fundamental remote welding tasks are analyzed. Various possible operational modes for remote welding fabrication are identified, and appropriate roles for humans and machines are suggested. Human operator performance in remote welding fabrication tasks is discussed, and recent advances in the development of remote welding systems are described, including packaged welding systems, stud welding systems, remotely operated welding systems, and vision-aided remote robotic welding and autonomous welding systems.

Measurement of the atmospheric muon flux with the NEMO Phase-1 detector

NASA Astrophysics Data System (ADS)

Aiello, S.; Ameli, F.; Amore, I.; Anghinolfi, M.; Anzalone, A.; Barbarino, G.; Battaglieri, M.; Bazzotti, M.; Bersani, A.; Beverini, N.; Biagi, S.; Bonori, M.; Bouhadef, B.; Brunoldi, M.; Cacopardo, G.; Capone, A.; Caponetto, L.; Carminati, G.; Chiarusi, T.; Circella, M.; Cocimano, R.; Coniglione, R.; Cordelli, M.; Costa, M.; D'Amico, A.; De Bonis, G.; De Marzo, C.; De Rosa, G.; De Ruvo, G.; De Vita, R.; Distefano, C.; Falchini, E.; Flaminio, V.; Fratini, K.; Gabrielli, A.; Galatà, S.; Gandolfi, E.; Giacomelli, G.; Giorgi, F.; Giovanetti, G.; Grimaldi, A.; Habel, R.; Imbesi, M.; Kulikovsky, V.; Lattuada, D.; Leonora, E.; Lonardo, A.; Lo Presti, D.; Lucarelli, F.; Marinelli, A.; Margiotta, A.; Martini, A.; Masullo, R.; Migneco, E.; Minutoli, S.; Morganti, M.; Musico, P.; Musumeci, M.; Nicolau, C. A.; Orlando, A.; Osipenko, M.; Papaleo, R.; Pappalardo, V.; Piattelli, P.; Piombo, D.; Raia, G.; Randazzo, N.; Reito, S.; Ricco, G.; Riccobene, G.; Ripani, M.; Rovelli, A.; Ruppi, M.; Russo, G. V.; Russo, S.; Sapienza, P.; Sciliberto, D.; Sedita, M.; Shirokov, E.; Simeone, F.; Sipala, V.; Spurio, M.; Taiuti, M.; Trasatti, L.; Urso, S.; Vecchi, M.; Vicini, P.; Wischnewski, R.

2010-05-01

The NEMO Collaboration installed and operated an underwater detector including prototypes of the critical elements of a possible underwater km 3 neutrino telescope: a four-floor tower (called Mini-Tower) and a Junction Box. The detector was developed to test some of the main systems of the km 3 detector, including the data transmission, the power distribution, the timing calibration and the acoustic positioning systems as well as to verify the capabilities of a single tridimensional detection structure to reconstruct muon tracks. We present results of the analysis of the data collected with the NEMO Mini-Tower. The position of photomultiplier tubes (PMTs) is determined through the acoustic position system. Signals detected with PMTs are used to reconstruct the tracks of atmospheric muons. The angular distribution of atmospheric muons was measured and results compared to Monte Carlo simulations.

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.

Close-Range Tracking of Underwater Vehicles Using Light Beacons

PubMed Central

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

2016-01-01

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time. PMID:27023547

Close-Range Tracking of Underwater Vehicles Using Light Beacons.

PubMed

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

2016-03-25

This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time.

Demonstration of Remotely Operated Vehicles to Aid Underwater Inspection of Corps of Engineers Navigation Structures. Winfield Locks and Dam 13-17 August 2007

DTIC Science & Technology

2008-09-01

2 Deep Ocean Engineering Triggerfish ...Figures Figure 1. Deep Ocean Engineering Triggerfish ROV carried by two divers (top)................................... 4 Figure 2. SeaBotix...the physical parameters and approximate costs of the systems as tested. Deep Ocean Engineering Triggerfish Figure 1 shows the Deep Ocean

Introduction to Sonar, Naval Education and Training Command. Revised Edition.

ERIC Educational Resources Information Center

Naval Education and Training Command, Pensacola, FL.

This Rate Training Manual (RTM) and Nonresident Career Course form a self-study package for those U.S. Navy personnel who are seeking advancement in the Sonar Technician Rating. Among the requirements of the rating are the abilities to obtain and interpret underwater data, operate and maintain upkeep of sonar equipment, and interpret target and…

A Low Frequency Electromagnetic Sensor for Underwater Geo-Location

DTIC Science & Technology

2011-05-01

used a set of commercially available fluxgate magnetometers to measure the magnetic field gradients associated with a magnetic dipole transmitter...insight into the operational capabilities of commercial fluxgate sensors. Figure 42. Applied Physics Systems 1540 magnetometer ...a magnetic field gradient receiver array. Highest quality gradient estimates were achieved with three vector magnetometers equally spaced and

75 FR 25729 - Takes of Marine Mammals Incidental to Specified Activities; Taking Marine Mammals Incidental to...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-05-07

... (eight species of true porpoises, six species of river dolphins, Kogia, the franciscana, and four species... specifically designed for such operations in the Arctic. Underwater sound propagation results from the use of... often true even in cases when the sounds must be readily audible to the animals based on measured...

Design Your Own Underwater Remotely Operated Vehicle (ROV)

ERIC Educational Resources Information Center

Lien, Brian

2009-01-01

While looking for labs for his pre-engineering class, the author came across an idea for a marine engineering project from the Future Scientists and Engineers of America website. The author thought the lab looked fun, and it was not too expensive. These were two important criteria as he chose labs for the class. Another important criteria he had…

76 FR 80891 - Small Takes of Marine Mammals Incidental to Specified Activities; Cape Wind's High Resolution...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-27

... 1, 2012, through December 31, 2012. ADDRESSES: A copy of the IHA and application are available by... species or stock through effects on annual rates of recruitment or survival.'' Section 101(a)(5)(D) of the...., increased underwater sound) generated during operation of the shallow-penetration and medium-penetration...

76 FR 54433 - Takes of Marine Mammals Incidental to Specified Activities; Taking Marine Mammals Incidental to a...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-09-01

...: Effective September 5, 2011, through October 23, 2011. ADDRESSES: A copy of the IHA and application may be..., adversely affect the species or stock through effects on annual rates of recruitment or survival.'' Section... used. Acoustic stimuli (i.e., increased underwater sound) generated during the operation of the seismic...

Underwater Acoustic Positioning Systems for MEC Detection and Reacquisition Operations

DTIC Science & Technology

2016-01-22

Paris, TX and 123 miles northeast of Dallas . Pat Mayse Lake is part of the Former Camp Maxey Formerly Used Defense Site (FUDS) (Figure 2). The lake...the water (Figure 16) while the boat is at idle, and tightening down the braces to lock the pole in place. (Figure 17). A guy-wire (1/4” rope

Terminal Homing for Autonomous Underwater Vehicle Docking

DTIC Science & Technology

2016-06-01

underwater domain, accurate navigation. Above the water, light and electromagnetic signals travel well through air and space, mediums that allow for a...DISTRIBUTION CODE 13. ABSTRACT The use of docking stations for autonomous underwater vehicles (AUV) provides the ability to keep a vehicle on...Mechanical and Aerospace Engineering iv THIS PAGE INTENTIONALLY LEFT BLANK v ABSTRACT The use of docking stations for autonomous underwater

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

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 .

Non-Data Aided Doppler Shift Estimation for Underwater Acoustic Communication

DTIC Science & Technology

2014-05-01

in underwater acoustic wireless sensor networks . We analyzed the data collected from our experiments using non-data aided (blind) techniques such as...investigated different methods for blind Doppler shift estimation and compensation for a single carrier in underwater acoustic wireless sensor ...distributed underwater sensor networks . Detailed experimental and simulated results based on second order cyclostationary features of the received signals

Global Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks

DTIC Science & Technology

2014-03-31

Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks M.M. Asadi H. Mahboubi A...2014 Global Network Connectivity Assessment via Local Data Exchange for Underwater Acoustic Sensor Networks Contract Report # AMBUSH.1.1 Contract...pi j /= 0. The sensor network considered in this work is composed of underwater sensors , which use acoustic waves for

Underwater psychophysical audiogram of a young male California sea lion (Zalophus californianus).

PubMed

Mulsow, Jason; Houser, Dorian S; Finneran, James J

2012-05-01

Auditory evoked potential (AEP) data are commonly obtained in air while sea lions are under gas anesthesia; a procedure that precludes the measurement of underwater hearing sensitivity. This is a substantial limitation considering the importance of underwater hearing data in designing criteria aimed at mitigating the effects of anthropogenic noise exposure. To determine if some aspects of underwater hearing sensitivity can be predicted using rapid aerial AEP methods, this study measured underwater psychophysical thresholds for a young male California sea lion (Zalophus californianus) for which previously published aerial AEP thresholds exist. Underwater thresholds were measured in an aboveground pool at frequencies between 1 and 38 kHz. The underwater audiogram was very similar to those previously published for California sea lions, suggesting that the current and previously obtained psychophysical data are representative for this species. The psychophysical and previously measured AEP audiograms were most similar in terms of high-frequency hearing limit (HFHL), although the underwater HFHL was sharper and occurred at a higher frequency. Aerial AEP methods are useful for predicting reductions in the HFHL that are potentially independent of the testing medium, such as those due to age-related sensorineural hearing loss.

Underwater 3D Surface Measurement Using Fringe Projection Based Scanning Devices

PubMed Central

Bräuer-Burchardt, Christian; Heinze, Matthias; Schmidt, Ingo; Kühmstedt, Peter; Notni, Gunther

2015-01-01

In this work we show the principle of optical 3D surface measurements based on the fringe projection technique for underwater applications. The challenges of underwater use of this technique are shown and discussed in comparison with the classical application. We describe an extended camera model which takes refraction effects into account as well as a proposal of an effective, low-effort calibration procedure for underwater optical stereo scanners. This calibration technique combines a classical air calibration based on the pinhole model with ray-based modeling and requires only a few underwater recordings of an object of known length and a planar surface. We demonstrate a new underwater 3D scanning device based on the fringe projection technique. It has a weight of about 10 kg and the maximal water depth for application of the scanner is 40 m. It covers an underwater measurement volume of 250 mm × 200 mm × 120 mm. The surface of the measurement objects is captured with a lateral resolution of 150 μm in a third of a second. Calibration evaluation results are presented and examples of first underwater measurements are given. PMID:26703624

Blue-light digital communication in underwater environments utilizing orbital angular momentum

NASA Astrophysics Data System (ADS)

Baghdady, Joshua; Miller, Keith; Osler, Sean; Morgan, Kaitlyn; Li, Wenzhe; Johnson, Eric; Cochenour, Brandon

2016-05-01

Underwater optical communication has recently become the topic of much investigation as the demands for underwater data transmission have rapidly grown in recent years. The need for reliable, high-speed, secure underwater communication has turned increasingly to blue-light optical solutions. The blue-green visible wavelength window provides an attractive solution to the problem of underwater data transmission thanks to its low attenuation, where traditional RF solutions used in free-space communications collapse. Beginning with GaN laser diodes as the optical source, this work explores the encoding and transmission of digital data across underwater environments of varying turbidities. Given the challenges present in an underwater environment, such as the mechanical and optical turbulences that make proper alignment difficult to maintain, it is desirable to achieve extremely high data rates in order to allow the time window of alignment between the transmitter and receiver to be as small as possible. In this paper, work is done to increase underwater data rates through the use of orbital angular momentum. Results are shown for a range of data rates across a variety of channel types ranging in turbidity from that of a clear ocean to a dirty harbor.

Measurements of Operational Wind Turbine Noise in UK Waters.

PubMed

Cheesman, Samuel

2016-01-01

The effects of wind farm operational noise have not been addressed to the same extent as their construction methods such as piling and drilling of the foundations despite their long operational lifetimes compared with weeks of construction. The results of five postconstruction underwater sound-monitoring surveys on wind farms located throughout the waters of the British Isles are discussed. These wind farms consist of differing turbine power outputs, from 3 to 3.6 MW, and differing numbers of turbines. This work presents an overview of the results obtained and discusses both the levels and frequency components of the sound in several metrics.

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.

On Modeling Eavesdropping Attacks in Underwater Acoustic Sensor Networks †

PubMed Central

Wang, Qiu; Dai, Hong-Ning; Li, Xuran; Wang, Hao; Xiao, Hong

2016-01-01

The security and privacy of underwater acoustic sensor networks has received extensive attention recently due to the proliferation of underwater activities. This paper proposes an analytical model to investigate the eavesdropping attacks in underwater acoustic sensor networks. Our analytical framework considers the impacts of various underwater acoustic channel conditions (such as the acoustic signal frequency, spreading factor and wind speed) and different hydrophones (isotropic hydrophones and array hydrophones) in terms of network nodes and eavesdroppers. We also conduct extensive simulations to evaluate the effectiveness and the accuracy of our proposed model. Empirical results show that our proposed model is quite accurate. In addition, our results also imply that the eavesdropping probability heavily depends on both the underwater acoustic channel conditions and the features of hydrophones. PMID:27213379

Analysis of security and threat of underwater wireless sensor network topology

NASA Astrophysics Data System (ADS)

Yang, Guang; Wei, Zhiqiang; Cong, Yanping; Jia, Dongning

2012-04-01

Underwater wireless sensor networks (UWSNs) are a subclass of wireless sensor networks. Underwater sensor deployment is a significant challenge due to the characteristics of UWSNs and underwater environment. Recent researches for UWSNs deployment mostly focus on the maintenance of network connectivity and maximum communication coverage. However, the broadcast nature of the transmission medium incurs various types of security attacks. This paper studies the security issues and threats of UWSNs topology. Based on the cluster-based topology, an underwater cluster-based security scheme (U-CBSS) is presented to defend against these attacks. and safety.

Mapping Underwater Sound in the Dutch Part of the North Sea.

PubMed

Sertlek, H Özkan; Aarts, Geert; Brasseur, Sophie; Slabbekoorn, Hans; ten Cate, Carel; von Benda-Beckmann, Alexander M; Ainslie, Michael A

2016-01-01

The European Union requires member states to achieve or maintain good environmental status for their marine territorial waters and explicitly mentions potentially adverse effects of underwater sound. In this study, we focused on producing maps of underwater sound from various natural and anthropogenic origins in the Dutch North Sea. The source properties and sound propagation are simulated by mathematical methods. These maps could be used to assess and predict large-scale effects on behavior and distribution of underwater marine life and therefore become a valuable tool in assessing and managing the impact of underwater sound on marine life.

Instrument for underwater high-angular resolution volume scattering function measurements

NASA Astrophysics Data System (ADS)

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

1997-02-01

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

Drilling and operational sounds from an oil production island in the ice-covered Beaufort sea.

PubMed

Blackwell, Susanna B; Greene, Charles R; Richardson, W John

2004-11-01

Recordings of sounds underwater and in air, and of iceborne vibrations, were obtained at Northstar Island, an artificial gravel island in the Beaufort Sea near Prudhoe Bay (Alaska). The aim was to document the levels, characteristics, and range dependence of sounds and vibrations produced by drilling and oil production during the winter, when the island was surrounded by shore-fast ice. Drilling produced the highest underwater broadband (10-10,000 Hz) levels (maximum= 124 dB re: 1 microPa at 1 km), and mainly affected 700-1400 Hz frequencies. In contrast, drilling did not increase broadband levels in air or ice relative to levels during other island activities. Production did not increase broadband levels for any of the sensors. In all media, broadband levels decreased by approximately 20 dB/tenfold change in distance. Background levels underwater were reached by 9.4 km during drilling and 3-4 km without. In the air and ice, background levels were reached 5-10 km and 2-10 km from Northstar, respectively, depending on the wind but irrespective of drilling. A comparison of the recorded sounds with harbor and ringed seal audiograms showed that Northstar sounds were probably audible to seals, at least intermittently, out to approximately 1.5 km in water and approximately 5 km in air.

Lagrangian coherent structure assisted path planning for transoceanic autonomous underwater vehicle missions.

PubMed

Ramos, A G; García-Garrido, V J; Mancho, A M; Wiggins, S; Coca, J; Glenn, S; Schofield, O; Kohut, J; Aragon, D; Kerfoot, J; Haskins, T; Miles, T; Haldeman, C; Strandskov, N; Allsup, B; Jones, C; Shapiro, J

2018-03-15

Transoceanic Gliders are Autonomous Underwater Vehicles (AUVs) for which there is a developing and expanding range of applications in open-seas research, technology and underwater clean transport. Mature glider autonomy, operating depth (0-1000 meters) and low energy consumption without a CO 2 footprint enable evolutionary access across ocean basins. Pursuant to the first successful transatlantic glider crossing in December 2009, the Challenger Mission has opened the door to long-term, long-distance routine transoceanic AUV missions. These vehicles, which glide through the water column between 0 and 1000 meters depth, are highly sensitive to the ocean current field. Consequently, it is essential to exploit the complex space-time structure of the ocean current field in order to plan a path that optimizes scientific payoff and navigation efficiency. This letter demonstrates the capability of dynamical system theory for achieving this goal by realizing the real-time navigation strategy for the transoceanic AUV named Silbo, which is a Slocum deep-glider (0-1000 m), that crossed the North Atlantic from April 2016 to March 2017. Path planning in real time based on this approach has facilitated an impressive speed up of the AUV to unprecedented velocities resulting in major battery savings on the mission, offering the potential for routine transoceanic long duration missions.

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.

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.

The Need for US Coast Guard Underwater Mission Development

DTIC Science & Technology

2013-04-23

vehicles and proliferation of fiber optic cables, raising the level of human interactions in the underwater environment. Besides the benefits from the...unmanned underwater vehicles, proliferation of fiber optic cables, and observation posts on the ocean floor will raise the level of human interactions...world’s demand for wood grows.39 As technology progresses, undersea infrastructure will continue to expand. Already, underwater fiber optic communication

Joint Optimal Placement and Energy Allocation of Underwater Sensors in a Tree Topology

DTIC Science & Technology

2014-03-10

underwater acoustic sensor nodes with respect to the capacity of the wireless links between the... underwater acoustic sensor nodes with respect to the capacity of the wireless links between the nodes. We assumed that the energy consumption of...nodes’ optimal placements. We achieve the optimal placement of the underwater acoustic sensor nodes with respect to the capacity of the wireless

Optimal Scheduling for Underwater Communications in Multiple-User Scenarios

DTIC Science & Technology

2015-09-30

term goals of this project is to analyze and propose energy-efficient communication techniques for underwater acoustic sensor networks . These...investigate the possibility that these underwater acoustic networks disrupt the behavior of surrounding species of marine mammals. As a consequence of... underwater VHF acoustics , high data rate/short range acoustic communications and networking , and acoustic sensing in the VHF regime. WORK COMPLETED We

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.

OPTICAL correlation identification technology applied in underwater laser imaging target identification

NASA Astrophysics Data System (ADS)

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

2012-01-01

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

Using the combination refraction-reflection solid to design omni-directional light source used in underwater wireless optical communication

NASA Astrophysics Data System (ADS)

Rao, Jionghui; Yao, Wenming; Wen, Linqiang

2015-10-01

Underwater wireless optical communication is a communication technology which uses laser as an information carrier and transmits data through water. Underwater wireless optical communication has some good features such as broader bandwidth, high transmission rate, better security, anti—interference performance. Therefore, it is promising to be widely used in the civil and military communication domains. It is also suitable for high-speed, short-range communication between underwater mobile vehicles. This paper presents a design approach of omni-directional light source used in underwater wireless optical communication, using TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and using the modulated DPSS green laser in the transmitter module to output the laser beam in small divergence angles, after expanded by the combination refraction-reflection solid, the angle turns into a space divergence angle of 2π, achieving the omni-directional light source of hemisphere space, and test in the air and underwater, the result shows that the effect is fine. This paper analyzes the experimental test in the air and water, in order to make further improvement of the uniformity of light distribution, we optimize the reflector surface parameters of combination refraction-reflection solid and test in the air and water. The result shows that omni-directional light source used in underwater wireless optical communication optimized could achieve the uniformity of light distribution of underwater space divergence angle of 2π. Omni-directional light source used in underwater wireless optical communication designed in this paper has the characteristics of small size and uniformity of light distribution, it is suitable for application between UUVs, AUVs, Swimmer Delivery Vehicles (SDVs) and other underwater vehicle fleet, it realizes point-to-multipoint communications.

A man-made object detection for underwater TV

NASA Astrophysics Data System (ADS)

Cheng, Binbin; Wang, Wenwu; Chen, Yao

2018-03-01

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

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.

Monocular Vision-Based Underwater Object Detection

PubMed Central

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

2017-01-01

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

Evaluating the SCC resistance of underwater welds in sodium tetrathionate

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

White, R.A.; Angeliu, T.M.

1997-12-01

The susceptibility of welds to stress corrosion cracking (SCC) is enhanced by the surface residual tensile stresses generated by the typical welding process. However, underwater plasma transferred arc (PTA) welding has been shown to produce compressive surface residual stresses, an encouraging result if repairs of cracked boiling water reactor (BWR) components are to be made without further endangering them to SCC. This program was designed to verify that underwater PTA welds are resistant to SCC and to determine if underwater PTA welding could mitigate SCC in potentially susceptible welds. This was achieved by exposing various welds on solution annealed (SA)more » and SA + thermally sensitized 304 stainless steel at 25 C in a solution of 1.5 gm/liter of sodium sulfide added to 0.05M sodium tetrathionate, titrated to a pH of 1.25 with H{sub 2}SO{sub 4}. The autogeneous welds were produced using gas tungsten arc (GTA) and plasma transferred arc (PTA) welding under atmospheric conditions, and PTA welding underwater. After 1 hour of sodium tetrathionate exposure, GTA and air PTA welds exhibited SCC while the underwater PTA weld heat affected zones were more resistant. Underwater PTA welds bisecting a GTA weld eliminated the cracking in the GTA weld heat affected zone under certain conditions. The lack of IG cracking in the region influenced by the underwater PTA weld is consistent with the measurement of compressive surface residual stresses inherent to the underwater welding process.« less

Underwater Nondestructive Testing of Ship Hull Welds

DTIC Science & Technology

1979-09-01

Norske Veritas. 5. Alan Taylor , Underwater Testing, Marine rechnology (Germany) Dec 1971, pp. 251-2. 6. Ship Underwater Maintenance, Evaluation and Repair...11. Peters, V. "NDT for Offshore Drilling Platform Structure," Welding end Metal Fabricatior, Jul 1973, V. 41-7. 12. Taylor , A., "Underwater...N. Cordea, Chairman, Senior Staff MetalZlugiet, ARMCO INC., Middletown, OH Mr. W. C. Brayton , Aset. to Gener•l Manager, Bethlehem Steel Corp

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

Eddy-Current Non-Inertial Displacement Sensing for Underwater Infrasound Measurements

DTIC Science & Technology

2011-05-01

Eddy-current non-inertial displacement sensing for underwater infrasound measurements Dimitri M. Donskoy Stevens Institute of Technology, 711 Hudson...geophysicists have an ongoing interest in exploring underwater acous- tic processes at infrasound frequencies, for example, for monitoring natural events...underwater infrasound measurements 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f

DE-Sync: A Doppler-Enhanced Time Synchronization for Mobile Underwater Sensor Networks.

PubMed

Zhou, Feng; Wang, Qi; Nie, DongHu; Qiao, Gang

2018-05-25

Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency.

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

PubMed

Cambi, Jacopo; Livi, Ludovica; Livi, Walter

2017-05-01

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

Hearing in the Juvenile Green Sea Turtle (Chelonia mydas): A Comparison of Underwater and Aerial Hearing Using Auditory Evoked Potentials

PubMed Central

Piniak, Wendy E. D.; Mann, David A.; Harms, Craig A.; Jones, T. Todd; Eckert, Scott A.

2016-01-01

Sea turtles spend much of their life in aquatic environments, but critical portions of their life cycle, such as nesting and hatching, occur in terrestrial environments, suggesting that it may be important for them to detect sounds in both air and water. In this study we compared underwater and aerial hearing sensitivities in five juvenile green sea turtles (Chelonia mydas) by measuring auditory evoked potential responses to tone pip stimuli. Green sea turtles detected acoustic stimuli in both media, responding to underwater stimuli between 50 and 1600 Hz and aerial stimuli between 50 and 800 Hz, with maximum sensitivity between 200 and 400 Hz underwater and 300 and 400 Hz in air. When underwater and aerial hearing sensitivities were compared in terms of pressure, green sea turtle aerial sound pressure thresholds were lower than underwater thresholds, however they detected a wider range of frequencies underwater. When thresholds were compared in terms of sound intensity, green sea turtle sound intensity level thresholds were 2–39 dB lower underwater particularly at frequencies below 400 Hz. Acoustic stimuli may provide important environmental cues for sea turtles. Further research is needed to determine how sea turtles behaviorally and physiologically respond to sounds in their environment. PMID:27741231

Hearing in the Juvenile Green Sea Turtle (Chelonia mydas): A Comparison of Underwater and Aerial Hearing Using Auditory Evoked Potentials.

PubMed

Piniak, Wendy E D; Mann, David A; Harms, Craig A; Jones, T Todd; Eckert, Scott A

2016-01-01

Sea turtles spend much of their life in aquatic environments, but critical portions of their life cycle, such as nesting and hatching, occur in terrestrial environments, suggesting that it may be important for them to detect sounds in both air and water. In this study we compared underwater and aerial hearing sensitivities in five juvenile green sea turtles (Chelonia mydas) by measuring auditory evoked potential responses to tone pip stimuli. Green sea turtles detected acoustic stimuli in both media, responding to underwater stimuli between 50 and 1600 Hz and aerial stimuli between 50 and 800 Hz, with maximum sensitivity between 200 and 400 Hz underwater and 300 and 400 Hz in air. When underwater and aerial hearing sensitivities were compared in terms of pressure, green sea turtle aerial sound pressure thresholds were lower than underwater thresholds, however they detected a wider range of frequencies underwater. When thresholds were compared in terms of sound intensity, green sea turtle sound intensity level thresholds were 2-39 dB lower underwater particularly at frequencies below 400 Hz. Acoustic stimuli may provide important environmental cues for sea turtles. Further research is needed to determine how sea turtles behaviorally and physiologically respond to sounds in their environment.

Protocols for Image Processing based Underwater Inspection of Infrastructure Elements

NASA Astrophysics Data System (ADS)

O'Byrne, Michael; Ghosh, Bidisha; Schoefs, Franck; Pakrashi, Vikram

2015-07-01

Image processing can be an important tool for inspecting underwater infrastructure elements like bridge piers and pile wharves. Underwater inspection often relies on visual descriptions of divers who are not necessarily trained in specifics of structural degradation and the information may often be vague, prone to error or open to significant variation of interpretation. Underwater vehicles, on the other hand can be quite expensive to deal with for such inspections. Additionally, there is now significant encouragement globally towards the deployment of more offshore renewable wind turbines and wave devices and the requirement for underwater inspection can be expected to increase significantly in the coming years. While the merit of image processing based assessment of the condition of underwater structures is understood to a certain degree, there is no existing protocol on such image based methods. This paper discusses and describes an image processing protocol for underwater inspection of structures. A stereo imaging image processing method is considered in this regard and protocols are suggested for image storage, imaging, diving, and inspection. A combined underwater imaging protocol is finally presented which can be used for a variety of situations within a range of image scenes and environmental conditions affecting the imaging conditions. An example of detecting marine growth is presented of a structure in Cork Harbour, Ireland.

Robust and underwater superoleophobic coating with excellent corrosion and biofouling resistance in harsh environments

NASA Astrophysics Data System (ADS)

Su, Mingji; Liu, Yong; Zhang, Yuhong; Wang, Zhiguo; Li, Yulin; He, Peixin

2018-04-01

Underwater superoleophobic surfaces are based on the surface with micro-/nanoscale roughness and hydration layer. But the self-cleaning surfaces are usually mechanically weak and will lose their underwater superoleophobicity when the surfaces are corroded or damaged. In this paper, to overcome these problems, the robust underwater superoleophobic coating (HN/ER-coating) has been fabricated successfully through MPS (methacryloxy propyl trimethoxyl silane)-SiO2/PNIPAM (N-isopropylacryamide) hybrid nanoparticles and epoxy resin (ER) via a simple solution-casting method. The SiO2/PNIPAM hybrid nanoparticles can enhance multiscale roughness and excellent abrasion-resistant property, and the epoxy resin can be used as an interlayer between hybrid nanoparticles and substrates to promote the robustness and corrosion resistance of the coating. The obtained coatings have excellent underwater superoleophobicity, and exhibit highly stability in harsh environments (including acid-base, strong ionic strength, mechanical abrasion). Moreover, this coating can provide protective effect on the substrate in corrosive solution, and may also resist bacterial attachment and subsequent biofilm formation because of the presence of high density PNIPAM polymers. Herein, the developed underwater superoleophobic coating can be applied as an effective platform for the applications in underwater instruments, underwater oil transport, marine oil platform and ships.

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

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

DTIC Science & Technology

2015-09-30

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

The Nereus Hybrid Underwater Robotic Vehicle for Global Ocean Science Operations to 11,000m Depth

DTIC Science & Technology

2008-09-01

B. Butler. Field trials of the Theseus AUV. Proc. Int. Symp. on Unmanned Untethered Submersible Technology, page 615, 1995. [9] R. M. Eustice, L. L...pages 4257–4264, Apr. 2007. [10] J. Ferguson, A. Pope, B. Butler, and R. Verrall. Theseus AUV-two record breaking missions. Sea Technology, 40(2):65

Determination of Acoustic Effects on Marine Mammals and Sea Turtles for the Atlantic Fleet Training and Testing Environmental Impact Statement/Overseas Environmental Impact Statement

DTIC Science & Technology

2012-03-12

column than sounds with lower frequencies ( Urick , 1983). Additionally, these systems are generally operated in the vicinity of the sea floor, thus...Water,” TR-76-116, Naval Surface Weapons Center, White Oak, Silver Springs, MD. Urick , R. J. (1983), Principles of Underwater Sound, McGraw-Hill

Vessel Biofouling Prevention and Management Options Report

DTIC Science & Technology

2015-03-01

Marine Reserve GNPD Galapagos National Park Directorate gpm Gallons per minute HST™ Hull Surface Treatment HullBUG Hull Bio -Mimetic Underwater...operators and hull cleaning equipment vendors. 2 VESSEL STRUCTURES SUBJECT TO BIOFOULING All submerged areas of the hull, including appendages and niche...categorized as proactive (preventative) and reactive (removal). Preventative measures include hull coatings that present bio -toxic surfaces to the immediate

Avoidance of seismic survey activities by penguins.

PubMed

Pichegru, Lorien; Nyengera, Reason; McInnes, Alistair M; Pistorius, Pierre

2017-11-24

Seismic surveys in search for oil or gas under the seabed, produce the most intense man-made ocean noise with known impacts on invertebrates, fish and marine mammals. No evidence to date exists, however, about potential impacts on seabirds. Penguins may be expected to be particularly affected by loud underwater sounds, due to their largely aquatic existence. This study investigated the behavioural response of breeding endangered African Penguins Spheniscus demersus to seismic surveys within 100 km of their colony in South Africa, using a multi-year GPS tracking dataset. Penguins showed a strong avoidance of their preferred foraging areas during seismic activities, foraging significantly further from the survey vessel when in operation, while increasing their overall foraging effort. The birds reverted to normal behaviour when the operation ceased, although longer-term repercussions on hearing capacities cannot be precluded. The rapid industrialization of the oceans has increased levels of underwater anthropogenic noises globally, a growing concern for a wide range of taxa, now also including seabirds. African penguin numbers have decreased by 70% in the last 10 years, a strong motivation for precautionary management decisions, including the exclusion of seismic exploratory activities within at least 100 km of their breeding colonies.

Superconducting magnetic sensors for mine detection and classification

NASA Astrophysics Data System (ADS)

Clem, Ted R.; Koch, Roger H.; Keefe, George A.

1995-06-01

Sensors incorporating Superconducting Quantum Interference Devices (SQUIDs) provide the greatest sensitivity for magnetic anomaly detection available with current technology. During the 1980's, the Naval Surface Warfare Center Coastal Systems Station (CSS) developed a superconducting magnetic sensor capable of operation outside of the laboratory environment. This sensor demonstrated rugged, reliable performance even onboard undersea towed platforms. With this sensor, the CSS was able to demonstrate buried mine detection for the US Navy. Subsequently the sensor was incorporated into a multisensor suite onboard an underwater towed vehicle to provide a robust mine hunting capability for the Magnetic and Acoustic Detection of Mines (MADOM) project. This sensor technology utilized niobium superconducting componentry cooled by liquid helium to temperatures on the order of 4 degrees Kelvin (K). In the late 1980's a new class of superconductors was discovered with critical temperatures above the boiling point of liquid nitrogen (77K). This advance has opened up new opportunities, especially for mine reconnaissance and hunting from small unmanned underwater vehicles (UUVs). This paper describes the magnetic sensor detection and classification concept developed for MADOM. In addition, opportunities for UUV operations made possible with high Tc technology and the Navy's current efforts in this area will be addressed.

Node Redeployment Algorithm Based on Stratified Connected Tree for Underwater Sensor Networks

PubMed Central

Liu, Jun; Jiang, Peng; Wu, Feng; Yu, Shanen; Song, Chunyue

2016-01-01

During the underwater sensor networks (UWSNs) operation, node drift with water environment causes network topology changes. Periodic node location examination and adjustment are needed to maintain good network monitoring quality as long as possible. In this paper, a node redeployment algorithm based on stratified connected tree for UWSNs is proposed. At every network adjustment moment, self-examination and adjustment on node locations are performed firstly. If a node is outside the monitored space, it returns to the last location recorded in its memory along straight line. Later, the network topology is stratified into a connected tree that takes the sink node as the root node by broadcasting ready information level by level, which can improve the network connectivity rate. Finally, with synthetically considering network coverage and connectivity rates, and node movement distance, the sink node performs centralized optimization on locations of leaf nodes in the stratified connected tree. Simulation results show that the proposed redeployment algorithm can not only keep the number of nodes in the monitored space as much as possible and maintain good network coverage and connectivity rates during network operation, but also reduce node movement distance during node redeployment and prolong the network lifetime. PMID:28029124

Background noise levels and correlation with ship traffic in the Gulf of Catania

NASA Astrophysics Data System (ADS)

Viola, Salvatore; Buscaino, Giuseppa; Caruso, Francesco; Chierici, Francesco; Embriaco, Davide; Favali, Paolo; Giovanetti, Gabriele; Grammauta, Roasario; Larosa, Giuseppina; Pavan, Gianni; Pellegrino, Carmelo; Pulvirenti, Sara; Riccobene, Giorgio; Sciacca, Virginia; Simeone, Francesco; Beranzoli, Laura; Marinaro, Giuditta

2015-04-01

In the last decades the growing interest in the evaluation of the underwater acoustic noise for studies in the fields of geology, biology and high-energy physics is driving the scientific community to collaborate towards a multidisciplinary approach to the topic. In June 2012 in the framework of the European project EMSO, a multidisciplinary underwater observatory, named NEMO-SN1, was installed 25 km off-shore the port of Catania, at a depth of 2100 m and operated until May 2013 by INFN (Istituto Nazionale di Fisica Nucleare) and INGV (Istituto Nazionale di Geofisica e Vulcanologia). NEMO-SN1 hosted aboard geophysical, oceanographic and acoustic sensors: among these a seismic hydrophone model SMID DT-405D(V). In this work, conducted within the activity of the SMO project, the results on the evaluation of the underwater acoustic pollution in the Gulf of Catania through SMID DT-405D(V) recordings are presented. The seismic hydrophone provided a data set of about 11 months of continuous (24/7) recordings. Underwater sounds have been continuously digitized at a sampling frequency of 2 kHz and the acquired data have been stored in 10min long files for off-line analysis. To describe one-year background noise levels, the mean integrated acoustic noise was measured every second (sampling frequency 2000, NFFT 2048) in the 1/3 octave bands with centre frequency 63 Hz and for each 10 minutes-long file the 5th, the 50th and the 98th percentiles were calculated. Measured noise was correlated with the shipping traffic in the area, thanks to the data provided by an AIS receiver installed at the INFN-Laboratori Nazionali del Sud. An acoustic noise increment was measured in coincidence with the passing of crafts in the area and it was possible to identify the characteristic spectrum of each ship. A simple model for the estimation of the acoustic noise induced by the ships passing through the area was developed. The model was applied by using AIS data acquired during the operation of the NEMO-SN1 and the results of the model were compared with the experimental acoustic data. This approach paves the way for further studies on the acoustic identification of the ships producing high noise levels to find solutions to mitigate the underwater acoustic pollution. Further studies on the whole water column are foreseen, taking advantage of the data provided by the acoustic antennas that are going to be installed between 3500 m and 3000 m water depth, off-shore Portopalo di Capo Passero, in South-East Sicily.

Underwater target classification using wavelet packets and neural networks.

PubMed

Azimi-Sadjadi, M R; Yao, D; Huang, Q; Dobeck, G J

2000-01-01

In this paper, a new subband-based classification scheme is developed for classifying underwater mines and mine-like targets from the acoustic backscattered signals. The system consists of a feature extractor using wavelet packets in conjunction with linear predictive coding (LPC), a feature selection scheme, and a backpropagation neural-network classifier. The data set used for this study consists of the backscattered signals from six different objects: two mine-like targets and four nontargets for several aspect angles. Simulation results on ten different noisy realizations and for signal-to-noise ratio (SNR) of 12 dB are presented. The receiver operating characteristic (ROC) curve of the classifier generated based on these results demonstrated excellent classification performance of the system. The generalization ability of the trained network was demonstrated by computing the error and classification rate statistics on a large data set. A multiaspect fusion scheme was also adopted in order to further improve the classification performance.

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

PubMed

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

2016-08-24

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

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

NASA Astrophysics Data System (ADS)

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

2016-08-01

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

Large Acrylic Spherical Windows In Hyperbaric Underwater Photography

NASA Astrophysics Data System (ADS)

Lones, Joe J.; Stachiw, Jerry D.

1983-10-01

Both acrylic plastic and glass are common materials for hyperbaric optical windows. Although glass continues to be used occasionally for small windows, virtually all large viewports are made of acrylic. It is easy to uderstand the wide use of acrylic when comparing design properties of this plastic with those of glass, and glass windows are relatively more difficult to fabricate and use. in addition there are published guides for the design and fabrication of acrylic windows to be used in the hyperbaric environment of hydrospace. Although these procedures for fabricating the acrylic windows are somewhat involved, the results are extremely reliable. Acrylic viewports are now fabricated to very large sizes for manned observation or optical quality instrumen tation as illustrated by the numerous acrylic submersible vehicle hulls for hu, an occupancy currently in operation and a 3600 large optical window recently developed for the Walt Disney Circle Vision under-water camera housing.

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 highly sensitive underwater video system for use in turbid aquaculture ponds

PubMed Central

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

2016-01-01

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

The underwater coincidence counter (UWCC) for plutonium measurements in mixed oxide fuels

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

Eccleston, G.W.; Menlove, H.O.; Abhold, M.

1998-12-31

The use of fresh uranium-plutonium mixed oxide (MOX) fuel in light-water reactors (LWR) is increasing in Europe and Japan and it is necessary to verify the plutonium content in the fuel for international safeguards purposes. The UWCC is a new instrument that has been designed to operate underwater and nondestructively measure the plutonium in unirradiated MOX fuel assemblies. The UWCC can be quickly configured to measure either boiling-water reactor (BWR) or pressurized-water reactor (PWR) fuel assemblies. The plutonium loading per unit length is measured using the UWCC to precisions of less than 1% in a measurement time of 2 tomore » 3 minutes. Initial calibrations of the UWCC were completed on measurements of MOX fuel in Mol, Belgium. The MCNP-REN Monte Carlo simulation code is being benchmarked to the calibration measurements to allow accurate simulations for extended calibrations of the UWCC.« less

Underwater Laser Micromilling of Commercially-Pure Titanium Using Different Scan Overlaps

NASA Astrophysics Data System (ADS)

Charee, Wisan; Tangwarodomnukun, Viboon

2018-01-01

Underwater laser milling process is a technique for minimizing the thermal damage and gaining a higher material removal rate than processing in air. This paper presents the effect of laser scan overlap on cavity width, depth and surface roughness in the laser milling of commercially-pure titanium in water. The effects of laser pulse energy and pulse repetition rate were also examined, in which a nanosecond pulse laser emitting a 1064-nm wavelength was used in this study. The experimental results indicated that a wide and deep cavity was achievable under high laser energy and large scan overlap. According to the surface roughness, the use of high pulse repetition rate together with low laser energy can promote a smooth laser-milled surface particularly at 50% scan overlap. These findings can further suggest a suitable laser micromilling condition for titanium in roughing and finishing operations.

Underwater DVI: Simple fingerprint technique for positive identification.

PubMed

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

2016-09-01

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

Feasibility of Underwater Friction Stir Welding of HY-80 Steel

DTIC Science & Technology

2011-03-01

UNDERWATER FRICTION STIR WELDING OF HY-80 STEEL by William C. Stewart March 2011 Thesis Advisor: Terry McNelley Second Reader: Sarath Menon...Master’s Thesis 4. TITLE AND SUBTITLE Feasibility of Underwater Friction Stir Welding of HY-80 Steel 5. FUNDING NUMBERS 6. AUTHOR(S) William...DISTRIBUTION CODE A 13. ABSTRACT (maximum 200 words) The purpose of this thesis is to determine the feasibility of underwater friction stir welding

Topology Optimization for Energy Management in Underwater Sensor Networks

DTIC Science & Technology

2015-02-01

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

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

PubMed Central

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

2014-01-01

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

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2017-01-01

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

Homogeneity of Mechanical Properties of Underwater Friction Stir Welded 2219-T6 Aluminum Alloy

NASA Astrophysics Data System (ADS)

Liu, H. J.; Zhang, H. J.; Yu, L.

2011-11-01

Underwater friction stir welding (FSW) has been demonstrated to be available for the improvement in tensile strength of normal FSW joints. In order to illuminate the intrinsic reason for strength improvement through underwater FSW, a 2219 aluminum alloy was underwater friction stir welded and the homogeneity of mechanical properties of the joint was investigated by dividing the joint into three layers. The results indicate that the tensile strength of the three layers of the joint is all improved by underwater FSW, furthermore, the middle and lower layers have larger extent of strength improvement than the upper layer, leading to an increase in the homogeneity of mechanical properties of the joint. The minimum hardness value of each layer, especially the middle and lower layers, is improved under the integral water cooling effect, which is the intrinsic reason for the strength improvement of underwater joint.

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.

Usability of Operational Performance Support Tools - Findings from Sea Test II

NASA Technical Reports Server (NTRS)

Byrne, Vicky; Litaker, Harry; McGuire, Kerry

2014-01-01

Sea Test II, aka NASA Extreme Environment Mission Operations 17(NEEMO 17) took place in the Florida Aquarius undersea habitat. This confined underwater environment provides a excellent analog for space habitation providing similarities to space habitation such as hostile environment, difficult logistics, autonomous operations, and remote communications. This study collected subjective feedback on the usability of two performance support tools during the Sea Test II mission, Sept 10-14, 2013; Google Glass and iPAD. The two main objectives: - Assess the overall functionality and usability of each performance support tool in a mission analog environment. - Assess the advantages and disadvantages of each tool when performing operational procedures and Just-In-Time-Training (JITT).

Underwater gait analysis in Parkinson's disease.

PubMed

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

2017-02-01

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

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2012 CFR

2012-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2013 CFR

2013-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2014 CFR

2014-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2010 CFR

2010-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2011 CFR

2011-01-01

... MARINE SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve § 922.190 Boundary. The Thunder Bay National Marine Sanctuary and Underwater Preserve (Sanctuary) consists... submerged lands thereunder, over, around, and under the underwater cultural resources in Thunder Bay. The...

Priority Determination of Underwater Tourism Site Development in Gorontalo Province using Analytical Hierarchy Process (AHP)

NASA Astrophysics Data System (ADS)

Rohandi, M.; Tuloli, M. Y.; Jassin, R. T.

2018-02-01

This research aims to determine the development of priority of underwater tourism in Gorontalo province using the Analytical Hierarchy Process (AHP) method which is one of DSS methods applying Multi-Attribute Decision Making (MADM). This method used 5 criteria and 28 alternatives to determine the best priority of underwater tourism site development in Gorontalo province. Based on the AHP calculation it appeared that the best priority development of underwater tourism site is Pulau Cinta whose total AHP score is 0.489 or 48.9%. This DSS produced a reliable result, faster solution, time-saving, and low cost for the decision makers to obtain the best underwater tourism site to be developed.

Chinese research on underwater acoustics

NASA Astrophysics Data System (ADS)

Qian, Zhengxu; Ding, Dong

1992-09-01

The monograph provides a baseline assessment of Chinese literature in research on the physics and technology of underwater acoustics during the last decade in China. However, developments prior to 1980 are also briefly covered, as they provide background and context for recent developments. This report will provide the following: (1) a description of research organizations and their administrative structure, professional societies, conferences, researchers, and engineers; (2) a technical review of the physics and engineering of underwater acoustics; (3) a list of underwater acoustics experts from the United States and Europe who visited China; (4) a list of underwater acoustics monography written by Chinese authors; and (5) a brief assessment of the Chinese research at the international level.

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.

A review of underwater bio-mimetic propulsion: cruise and fast-start

NASA Astrophysics Data System (ADS)

Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang

2017-08-01

This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion.

Spatial-Gain Improvement Resulting from Left/Right Discriminating Elements of an Underwater Towed Array

DTIC Science & Technology

1981-09-15

DISCRIMINATING ELEMENTS OF AN UNDERWATER TOWED ARRAY rsil RONALD A. WAGSTAFF and PIETRO MANASCA D TIC": L• ’" .... 4"•’.,, 15 SEPTEMBER 1981...IMPROVEMENT RESULTING FROM LEFT/RIGHT DISCRIMINATING ELEMENTS OF AN UNDERWATER TOWED ARRAY by Ronald A. Wagstaff and Pietro Zanasca 15 September 1981 F...RESULTING FROM LEFT/RIGHT DISCRIMINATING ELEMENTS OF AN UNDERWATER TOWED ARRAY by Ronald A. Wagstaff and Pietro Zanasca ABSTRACT The improvement in

Underwater Acoustic Source Localisation Among Blind and Sighted Scuba Divers

PubMed Central

Cambi, Jacopo; Livi, Ludovica; Livi, Walter

2017-01-01

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

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

PubMed

Horváth, Gábor; Buchta, Krisztián; Varjú, Dezsö

2003-06-01

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

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.

Measurements of optical underwater turbulence under controlled conditions

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-10-01

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

Deep Learning Methods for Underwater Target Feature Extraction and Recognition

PubMed Central

Peng, Yuan; Qiu, Mengran; Shi, Jianfei; Liu, Liangliang

2018-01-01

The classification and recognition technology of underwater acoustic signal were always an important research content in the field of underwater acoustic signal processing. Currently, wavelet transform, Hilbert-Huang transform, and Mel frequency cepstral coefficients are used as a method of underwater acoustic signal feature extraction. In this paper, a method for feature extraction and identification of underwater noise data based on CNN and ELM is proposed. An automatic feature extraction method of underwater acoustic signals is proposed using depth convolution network. An underwater target recognition classifier is based on extreme learning machine. Although convolution neural networks can execute both feature extraction and classification, their function mainly relies on a full connection layer, which is trained by gradient descent-based; the generalization ability is limited and suboptimal, so an extreme learning machine (ELM) was used in classification stage. Firstly, CNN learns deep and robust features, followed by the removing of the fully connected layers. Then ELM fed with the CNN features is used as the classifier to conduct an excellent classification. Experiments on the actual data set of civil ships obtained 93.04% recognition rate; compared to the traditional Mel frequency cepstral coefficients and Hilbert-Huang feature, recognition rate greatly improved. PMID:29780407

A biological hierarchical model based underwater moving object detection.

PubMed

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

2014-01-01

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

A Biological Hierarchical Model Based Underwater Moving Object Detection

PubMed Central

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

2014-01-01

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

Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions

PubMed Central

Muhammed, Dalhatu; Anisi, Mohammad Hossein; Vargas-Rosales, Cesar; Khan, Anwar

2018-01-01

Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted. PMID:29389874

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

NASA Astrophysics Data System (ADS)

Li, Chongyi; Guo, Jichang; Guo, Chunle

2018-03-01

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

Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions.

PubMed

Muhammed, Dalhatu; Anisi, Mohammad Hossein; Zareei, Mahdi; Vargas-Rosales, Cesar; Khan, Anwar

2018-02-01

Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node's cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

Underwater methods for study of salmonids in the Intermountain West

Treesearch

Russell F. Thurow

1994-01-01

This guide describes underwater methods using snorkeling gear to study fish populations in flowing waters of the Intermountain West. It outlines procedures for estimating salmonid abundance and habitat use and provides criteria for identifying and estimating the size of fish underwater.

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

EPA Science Inventory

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

Apparatus for Changing the Attack Angle of a Cavitator on a Supercavatating Underwater Research Model

DTIC Science & Technology

2005-07-18

the Invention 14 The present invention generally relates to an apparatus 15 for changing the attack of a cavitator on a supercavitating 16 underwater...research model. 17 2. Description of the Prior Art 18 Supercavitating underwater vehicles and projectiles are 19 known in the art. One such... supercavitating underwater 20 projectile is described in Harkins et al., U.S. Patent No. 21 5,955,698. This projectile uses a supercavitating nose 22 section that

Underwater Flow Visualization Methods in the Upper Layer of the Ocean.

DTIC Science & Technology

1981-05-22

AD-A107 919 NAVAL RESEARCH LAB WASHINGTON DC F/G 8/3 UNDERWATER FLOW VISUALIZATION METHODS IN T1E UPPER LAYER OF THE-ETC(U) AMAY 81 J R MCGRATH, C M...S.bOti1.) S. TYPE OF REPORT I PERIOD COVERED UNDERWATER FLOW VISUALIZATION METHODS Interim report on a continuingNRL problem. IN THE UPPER LAYER OF THE...56 UNDERWATER FLOW VISUALIZATION METHODS IN THE UPPER LAYER OF THE OCEAN 1. INTRODUCTION a) Purpose This report documents the

Optimal Estimation of Glider’s Underwater Trajectory with Depth-Dependent Correction Using the Navy Coastal Ocean Model with Application to Antisubmarine Warfare

DTIC Science & Technology

2014-09-01

deployed simultaneously. For example, a fleet of gliders would be able to act as an intelligence network by gathering underwater target information ...and to verify our novel method, a glider’s real underwater trajectory information must be obtained by using additional sensors like ADCP or DVL (see...lacks of inexpensive and efficient localization sensors during its subsurface mission. Therefore, knowing its precise underwater position is a

D Modelling and Mapping for Virtual Exploration of Underwater Archaeology Assets

NASA Astrophysics Data System (ADS)

Liarokapis, F.; Kouřil, P.; Agrafiotis, P.; Demesticha, S.; Chmelík, J.; Skarlatos, D.

2017-02-01

This paper investigates immersive technologies to increase exploration time in an underwater archaeological site, both for the public, as well as, for researchers and scholars. Focus is on the Mazotos shipwreck site in Cyprus, which is located 44 meters underwater. The aim of this work is two-fold: (a) realistic modelling and mapping of the site and (b) an immersive virtual reality visit. For 3D modelling and mapping optical data were used. The underwater exploration is composed of a variety of sea elements including: plants, fish, stones, and artefacts, which are randomly positioned. Users can experience an immersive virtual underwater visit in Mazotos shipwreck site and get some information about the shipwreck and its contents for raising their archaeological knowledge and cultural awareness.

Sensor Network Architectures for Monitoring Underwater Pipelines

PubMed Central

Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren

2011-01-01

This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (Radio Frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring. PMID:22346669

Underwater image enhancement through depth estimation based on random forest

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Sensor network architectures for monitoring underwater pipelines.

PubMed

Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren

2011-01-01

This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (radio frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring.

49 CFR 192.612 - Underwater inspection and reburial of pipelines in the Gulf of Mexico and its inlets.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the Gulf of Mexico and its inlets. 192.612 Section 192.612 Transportation Other Regulations Relating... Mexico and its inlets. (a) Each operator shall prepare and follow a procedure to identify its pipelines in the Gulf of Mexico and its inlets in waters less than 15 feet (4.6 meters) deep as measured from...

77 FR 76408 - Safety Zone, Upper Mississippi River MM 35.0 to MM 55.0; Thebes, IL and Cape Girardeau, MO, and...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-12-28

... underwater rock pinnacles is vital to ensuring the safe navigation of vessels in these stretches of river in... to ensuring the safe navigation of vessels in these stretches of river in low water situations... throughout these stretches of the river. There is currently no set schedule for this operation, so the safety...

Autonomous Underwater Vehicle Architecture Synthesis for Shipwreck Interior Exploration

DTIC Science & Technology

2015-12-01

silt-out, strong and unpredictable currents, abrasion puncture and shock damage, temperature and pressure variations, toxic substances, corrosion...smooth to resist snagging on debris, and sufficiently lightweight to be portable by two men. 2. The vehicle shall be capable of autonomous...1989, the Komsomolets (K-278), a Russian nuclear attack submarine operating in the Norwegian Sea, went down after unsuccessfully fighting a fire in

Power sources for autonomous underwater vehicles

NASA Astrophysics Data System (ADS)

Hasvold, Øistein; Størkersen, Nils J.; Forseth, Sissel; Lian, Torleif

The paper addresses the general requirements for power sources for AUVs, including battery and semi-fuel cell design and safety considerations. The focus is on the last AUV in the HUGIN family: the HUGIN 1000 mine reconnaissance system. For this AUV, FFI recently developed a pressure tolerant lithium ion battery based on commercially available polymer cells. The Royal Norwegian Navy has been operating HUGIN 1000 since February 2004.

49 CFR 192.612 - Underwater inspection and reburial of pipelines in the Gulf of Mexico and its inlets.

Code of Federal Regulations, 2011 CFR

2011-10-01

... the Gulf of Mexico and its inlets. 192.612 Section 192.612 Transportation Other Regulations Relating... Mexico and its inlets. (a) Each operator shall prepare and follow a procedure to identify its pipelines in the Gulf of Mexico and its inlets in waters less than 15 feet (4.6 meters) deep as measured from...

49 CFR 192.612 - Underwater inspection and reburial of pipelines in the Gulf of Mexico and its inlets.

Code of Federal Regulations, 2012 CFR

2012-10-01

... the Gulf of Mexico and its inlets. 192.612 Section 192.612 Transportation Other Regulations Relating... Mexico and its inlets. (a) Each operator shall prepare and follow a procedure to identify its pipelines in the Gulf of Mexico and its inlets in waters less than 15 feet (4.6 meters) deep as measured from...

49 CFR 192.612 - Underwater inspection and reburial of pipelines in the Gulf of Mexico and its inlets.

Code of Federal Regulations, 2013 CFR

2013-10-01

... the Gulf of Mexico and its inlets. 192.612 Section 192.612 Transportation Other Regulations Relating... Mexico and its inlets. (a) Each operator shall prepare and follow a procedure to identify its pipelines in the Gulf of Mexico and its inlets in waters less than 15 feet (4.6 meters) deep as measured from...

49 CFR 192.612 - Underwater inspection and reburial of pipelines in the Gulf of Mexico and its inlets.

Code of Federal Regulations, 2014 CFR

2014-10-01

... the Gulf of Mexico and its inlets. 192.612 Section 192.612 Transportation Other Regulations Relating... Mexico and its inlets. (a) Each operator shall prepare and follow a procedure to identify its pipelines in the Gulf of Mexico and its inlets in waters less than 15 feet (4.6 meters) deep as measured from...

Underwater Scene Composition

ERIC Educational Resources Information Center

Kim, Nanyoung

2009-01-01

In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

Parametric geometric model and shape optimization of an underwater glider with blended-wing-body

NASA Astrophysics Data System (ADS)

Sun, Chunya; Song, Baowei; Wang, Peng

2015-11-01

Underwater glider, as a new kind of autonomous underwater vehicles, has many merits such as long-range, extended-duration and low costs. The shape of underwater glider is an important factor in determining the hydrodynamic efficiency. In this paper, a high lift to drag ratio configuration, the Blended-Wing-Body (BWB), is used to design a small civilian under water glider. In the parametric geometric model of the BWB underwater glider, the planform is defined with Bezier curve and linear line, and the section is defined with symmetrical airfoil NACA 0012. Computational investigations are carried out to study the hydrodynamic performance of the glider using the commercial Computational Fluid Dynamics (CFD) code Fluent. The Kriging-based genetic algorithm, called Efficient Global Optimization (EGO), is applied to hydrodynamic design optimization. The result demonstrates that the BWB underwater glider has excellent hydrodynamic performance, and the lift to drag ratio of initial design is increased by 7% in the EGO process.

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

Underwater Sensor Network Redeployment Algorithm Based on Wolf Search

PubMed Central

Jiang, Peng; Feng, Yang; Wu, Feng

2016-01-01

This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance. PMID:27775659

Underwater Calibration of Dome Port Pressure Housings

NASA Astrophysics Data System (ADS)

Nocerino, E.; Menna, F.; Fassi, F.; Remondino, F.

2016-03-01

Underwater photogrammetry using consumer grade photographic equipment can be feasible for different applications, e.g. archaeology, biology, industrial inspections, etc. The use of a camera underwater can be very different from its terrestrial use due to the optical phenomena involved. The presence of the water and camera pressure housing in front of the camera act as additional optical elements. Spherical dome ports are difficult to manufacture and consequently expensive but at the same time they are the most useful for underwater photogrammetry as they keep the main geometric characteristics of the lens unchanged. Nevertheless, the manufacturing and alignment of dome port pressure housing components can be the source of unexpected changes of radial and decentring distortion, source of systematic errors that can influence the final 3D measurements. The paper provides a brief introduction of underwater optical phenomena involved in underwater photography, then presents the main differences between flat and dome ports to finally discuss the effect of manufacturing on 3D measurements in two case studies.

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

Adaptive multi-sensor biomimetics for unsupervised submarine hunt (AMBUSH): Early results

NASA Astrophysics Data System (ADS)

Blouin, Stéphane

2014-10-01

Underwater surveillance is inherently difficult because acoustic wave propagation and transmission are limited and unpredictable when targets and sensors move around in the communication-opaque undersea environment. Today's Navy underwater sensors enable the collection of a massive amount of data, often analyzed offtine. The Navy of tomorrow will dominate by making sense of that data in real-time. DRDC's AMBUSH project proposes a new undersea-surveillance network paradigm that will enable such a real-time operation. Nature abounds with examples of collaborative tasks taking place despite limited communication and computational capabilities. This publication describes a year's worth of research efforts finding inspiration in Nature's collaborative tasks such as wolves hunting in packs. This project proposes the utilization of a heterogeneous network combining both static and mobile network nodes. The military objective is to enable an unsupervised surveillance capability while maximizing target localization performance and endurance. The scientific objective is to develop the necessary technology to acoustically and passively localize a noise-source of interest in shallow waters. The project fulfills these objectives via distributed computing and adaptation to changing undersea conditions. Specific research interests discussed here relate to approaches for performing: (a) network self-discovery, (b) network connectivity self-assessment, (c) opportunistic network routing, (d) distributed data-aggregation, and (e) simulation of underwater acoustic propagation. We present early results then followed by a discussion about future work.

Data acquisition and analysis of the UNCOSS underwater explosive neutron sensor

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

Carasco, Cedric; Eleon, Cyrille; Perot, Bertrand

2012-08-15

The purpose of the FP7 UNCOSS project (Underwater Coastal Sea Surveyor, http://www.uncoss-project.org) is to develop a neutron-based underwater explosive sensor to detect unexploded ordnance lying on the sea bottom. The Associated Particle Technique is used to focus the inspection on a suspicious object located by optical and electromagnetic sensors and to determine if there is an explosive charge inside. This paper presents the data acquisition electronics and data analysis software which have been developed for this project. A field programmable gate array that digitizes and processes the signal allows to perform precise time-of-flight and gamma-ray energy measurements. The gamma-ray spectramore » are unfolded into pure elemental count proportions, mainly C, N, O, Fe, Al, Si, and Ca. The C, N, and O count fractions are converted into chemical proportions, taking into account the gamma-ray production cross sections, as well as neutron and photon attenuation in the different shields between the ROV (Remotely Operated Vehicle) and the explosive, such as the explosive iron shell, seawater, and ROV envelop. A two-dimensional (2D) barycentric representation of the C, N, and O proportions is built from their chemical ratios, and a 2D likelihood map is built from the associated statistical and systematic uncertainties. The threat level is evaluated from the best matching materials of a database including explosives. (authors)« less

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.

Review of potential impacts to sea turtles from underwater explosive removal of offshore structures

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

Viada, Stephen T.; Hammer, Richard M.; Racca, Roberto

2008-05-15

The purpose of this study was to collect and synthesize existing information relevant to the explosive removal of offshore structures (EROS) in aquatic environments. Data sources were organized and summarized by topic - explosive removal methods, physics of underwater explosions, sea turtle resources, documented impacts to sea turtles, and mitigation of effects. Information was gathered via electronic database searches and literature source review. Bulk explosive charges are the most commonly used technique in EROS. While the physical principles of underwater detonations and the propagation of pressure and acoustic waves are well understood, there are significant gaps in the application ofmore » this knowledge. Impacts to sea turtles from explosive removal operations may range from non-injurious effects (e.g. acoustic annoyance; mild tactile detection or physical discomfort) to varying levels of injury (i.e. non-lethal and lethal injuries). Very little information exists regarding the impacts of underwater explosions on sea turtles. Effects of explosions on turtles often must be inferred from documented effects to other vertebrates with lungs or other gas-containing organs, such as mammals and most fishes. However, a cautious approach should be used when determining impacts to sea turtles based on extrapolations from other vertebrates. The discovery of beached sea turtles and bottlenose dolphins following an explosive platform removal event in 1986 prompted the initiation of formal consultation between the U.S. Department of the Interior, Minerals Management Service (MMS) and the National Marine Fisheries Service (NMFS), authorized through the Endangered Species Act Section 7, to determine a mechanism to minimize potential impacts to listed species. The initial consultation resulted in a requirement for oil and gas companies to obtain a permit (through separate consultations on a case-by-case basis) prior to using explosives in Federal waters. Because many offshore structure removal operations are similar, a 'generic' Incidental Take Statement was established by the NMFS that describes requirements to protect sea turtles when an operator's individual charge weights did not exceed 50 lb (23 kg). Requirements associated with the Incidental Take Permit were revised in 2003 and 2006 to accommodate advances in explosive charge technologies, removals of structures in deeper waters, and adequate protection of deep water marine mammal species in Gulf of Mexico waters. Generally, these requirements include pre- and post-detonation visual monitoring using standard surface and aerial survey methods for sea turtles and marine mammals, and, in some scenarios, passive acoustic survey methods for marine mammals within a specified radius from an offshore structure. The survey program has been successful in mitigating impacts to sea turtles associated with EROS. However, even with these protective measures in place, there have been observations of sea turtles affected by explosive platform removals.« less

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

Colorful Underwater Sea Creatures

ERIC Educational Resources Information Center

McCutcheon, Heather

2011-01-01

In this article, the author describes a project wherein students created colorful underwater sea creatures. This project began with a discussion about underwater sea creatures and how they live. The first step was making the multi-colored tissue paper that would become sea creatures and seaweed. Once students had the shapes of their sea creatures…

46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) Program options... MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.650 Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater...

Visual resource management of the sea

Treesearch

Louis V. Mills Jr.

1979-01-01

The scenic quality of the marine environment has become an important concern for the design and planning professions. Increased public use of the underwater environment has resulted from technological advancements in SCUBA, recreational submarines and through development of under-water restaurants and parks. This paper presents an approach to an underwater visual...

Seeking Teachers for Underwater Robotics PD Program

ERIC Educational Resources Information Center

McGrath, Beth; Sayres, Jason

2012-01-01

With funding from the National Science Foundation (NSF), ITEEA members will contribute to the development of a hybrid professional development program designed to facilitate the scale-up of an innovative underwater robotics curriculum. WaterBotics[TM] is an underwater robotics curriculum that targets students in middle and high school classrooms…

77 FR 12355 - Hours of Service of Drivers: Underwater Construction Corporation Application for Exemption

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-29

...-0376] Hours of Service of Drivers: Underwater Construction Corporation Application for Exemption AGENCY...; request for comments. SUMMARY: FMCSA has received an application from the Underwater Construction... duty status for each 24 hour period using methods prescribed in that section. UCC claims that...

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

New ultrasensitive pickup device for deep-sea robots: underwater super-HARP color TV camera

NASA Astrophysics Data System (ADS)

Maruyama, Hirotaka; Tanioka, Kenkichi; Uchida, Tetsuo

1994-11-01

An ultra-sensitive underwater super-HARP color TV camera has been developed. The characteristics -- spectral response, lag, etc. -- of the super-HARP tube had to be designed for use underwater because the propagation of light in water is very different from that in air, and also depends on the light's wavelength. The tubes have new electrostatic focusing and magnetic deflection functions and are arranged in parallel to miniaturize the camera. A deep sea robot (DOLPHIN 3K) was fitted with this camera and used for the first sea test in Sagami Bay, Japan. The underwater visual information was clear enough to promise significant improvements in both deep sea surveying and safety. It was thus confirmed that the Super- HARP camera is very effective for underwater use.

[The heart and underwater diving].

PubMed

Lafay, V

2006-11-01

Cardiovascular examination of a certain number of candidates for underwater diving raises justifiable questions of aptitude. An indicative list of contraindications has been proposed by the French Federation of Underwater Studies and Sports but a physiopathological basis gives a better understanding of what is involved. During diving, the haemodynamic changes due not only to the exercise but also to cold immersion, hyperoxaemia and decompression impose the absence of any symptomatic cardiac disease. Moreover, the vasoconstriction caused by the cold and hyperoxaemia should incite great caution in both coronary and hypertensive patients. The contraindication related to betablocker therapy is controversial and the debate has not been settled in France. The danger of drowning makes underwater diving hazardous in all pathologies carrying a risk of syncope. Pacemaker patients should be carefully assessed and the depth of diving limited. Finally, the presence of right-to-left intracardiac shunts increases the risk of complications during decompressionand contraindicates underwater diving. Patent foramen ovale is a special case but no special investigation is required for its detection. The cardiologist examining candidates for underwater diving should take all these factors into consideration because, although underwater diving is a sport associated with an increased risk, each year there are more and more people, with differing degrees of aptitude, who wish to practice it.

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

Human Injury Criteria for Underwater Blasts

PubMed Central

Lance, Rachel M.; Capehart, Bruce; Kadro, Omar; Bass, Cameron R.

2015-01-01

Underwater blasts propagate further and injure more readily than equivalent air blasts. Development of effective personal protection and countermeasures, however, requires knowledge of the currently unknown human tolerance to underwater blast. Current guidelines for prevention of underwater blast injury are not based on any organized injury risk assessment, human data or experimental data. The goal of this study was to derive injury risk assessments for underwater blast using well-characterized human underwater blast exposures in the open literature. The human injury dataset was compiled using 34 case reports on underwater blast exposure to 475 personnel, dating as early as 1916. Using severity ratings, computational reconstructions of the blasts, and survival information from a final set of 262 human exposures, injury risk models were developed for both injury severity and risk of fatality as functions of blast impulse and blast peak overpressure. Based on these human data, we found that the 50% risk of fatality from underwater blast occurred at 302±16 kPa-ms impulse. Conservatively, there is a 20% risk of pulmonary injury at a kilometer from a 20 kg charge. From a clinical point of view, this new injury risk model emphasizes the large distances possible for potential pulmonary and gut injuries in water compared with air. This risk value is the first impulse-based fatality risk calculated from human data. The large-scale inconsistency between the blast exposures in the case reports and the guidelines available in the literature prior to this study further underscored the need for this new guideline derived from the unique dataset of actual injuries in this study. PMID:26606655

Experimental and Numerical Analyses of Dynamic Deformation and Failure in Marine Structures Subjected to Underwater Impulsive Loads

DTIC Science & Technology

2012-08-01

based impulsive loading ......................................... 48 4.4 Computational modeling of USLS ...56 4.5 Underwater Shock Loading Simulator ( USLS ) ...................................................... 59 4.6 Concluding...42 Figure 4.1 Schematic of Underwater Shock Loading Simulator ( USLS ). A high-velocity projectile hits the flyer-plate and creates a stress

Model task for the dynamics of an underwater two-legged walker

NASA Technical Reports Server (NTRS)

Beletskiy, V. V.; Golubkov, V. V.; Stepanova, Y. A.

1979-01-01

A model task of two-legged underwater walking was examined. Characteristics of the walking were established. The underwater walking device is a substantial sphere, which moves on dual-member legs. The dynamics of the device were investigated with the calculation of the buoyancy of Archimedes, and the force of hydrodynamic resistance.

Underwater Photo-Elicitation: A New Experiential Marine Education Technique

ERIC Educational Resources Information Center

Andrews, Steve; Stocker, Laura; Oechel, Walter

2018-01-01

Underwater photo-elicitation is a novel experiential marine education technique that combines direct experience in the marine environment with the use of digital underwater cameras. A program called Show Us Your Ocean! (SUYO!) was created, utilising a mixed methodology (qualitative and quantitative methods) to test the efficacy of this technique.…

OD-ing on Reality: An Interview with Alex Flinn

ERIC Educational Resources Information Center

Lesesne, Teri S.

2005-01-01

Alex Flinn discusses her debut novel, Breathing Underwater, which received much critical acclaim. She absolutely felt like her second book was being compared to Breathing Underwater at first. Breaking Point (which was completed before Breathing Underwater was published) was very different in tone. It was darker. The voice was different. The ending…

Wide Area Detection and Identification of Underwater UXO Using Structural Acoustic Sensors

DTIC Science & Technology

2011-02-01

measurements of underwater unexploded ordnance (UXO),” J. Acoustic. Soc. Am. 123, 738-746 (2008). 10. R. J. Urick , “Principles of Underwater Sound... Urick , op. cit., pp 291-327. 14. S. Dey and D.K. Datta, “A parrallel hp-FEM infrastructure for three-dimensional structural acoustics,” Int. J

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

46 CFR 71.50-3 - Drydock examination, internal structural examination, underwater survey, and alternate hull exam...

Code of Federal Regulations, 2010 CFR

2010-10-01

..., underwater survey, and alternate hull exam intervals. 71.50-3 Section 71.50-3 Shipping COAST GUARD...-3 Drydock examination, internal structural examination, underwater survey, and alternate hull exam... wooden hulls must undergo two drydock and two internal structural examinations within any five year...

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…

77 FR 38236 - Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-27

...-AA08 Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA AGENCY: Coast... ensure the safety of the maritime public during the Underwater Music Festival and would do so by... Music Festival is an event which includes musical performances from a barge. Spectators approach the...

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 the large St. Louis River Estuary. We are using side-scan sonar (SSS), first developed in the 1960s to remotely sense underwater habitat features from reflected acoustic signals (backscatt...

A Method for Calculating the Amount of Movements to Estimate the Self-position of Manta Robots

NASA Astrophysics Data System (ADS)

Imahama, Takuya; Watanabe, Keigo; Mikuriya, Kota; Nagai, Isaku

2018-02-01

In recent years, the demand of underwater investigation is increasing in the circumference of a dam, the environmental research of the shallow where approach by ship is difficult, etc. It is known, however, that for man, all over the sea, danger exists mostly, and prolonged diving has a bad influence to a human body. Then, the development of underwater exploration robots that investigate underwater instead of humans is expected. Among underwater exploration robots, it is known that robots imitating aquatic organisms have little influence on underwater environment. Therefore, at this laboratory, a Manta robot using propulsive mechanisms with pectoral fins was developed, imitating the pectoral fin of Manta. Although underwater environmental research needs a function for estimating the self-position, it is not mounted in this Manta robot. This paper explains the amount estimation of movements using optical flows. Especially, a gimbal mechanism is introduced to reduce the influence on the optical flow calculation by pitch motion of the Manta robot. Several experiments are conducted to demonstrate the usefulness of the proposed method.

Mechanically durable underwater superoleophobic surfaces based on hydrophilic bulk metals for oil/water separation

NASA Astrophysics Data System (ADS)

Yu, Huadong; Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Wang, Zuobin; Li, Yiquan; Yu, Zhanjiang; Weng, Zhankun

2018-04-01

Despite the success of previous methods for fabricating underwater superoleophobic surfaces, most of the surfaces based on soft materials are prone to collapse and deformation due to their mechanically fragile nature, and they fail to perform their designed functions after the surface materials are damaged in water. In this work, the nanosecond laser-induced oxide coatings on hydrophilic bulk metals are reported which overcomes the limitation and shows the robust underwater superoleophobicity to a mechanical challenge encountered by surfaces deployed in water environment. The results show that the surface materials have the advantage that the underwater superoleophobicity is still preserved after the surfaces are scratched by knife or sandpaper and even completely destroyed because of the hydrophilic property of damaged materials in water. It is important that the results provide a guide for the design of durable underwater superoleophobic surfaces, and the development of superoleophobic materials in many potential applications such as the oil-repellent and the oil/water separation. Additionally, the nanosecond laser technology is simple, cost-effective and suitable for the large-area and mass fabrication of mechanically durable underwater superoleophobic metal materials.

An Aquatic Acoustic Metrics Interface Utility for Underwater Sound Monitoring and Analysis

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

Ren, Huiying; Halvorsen, Michele B.; Deng, Zhiqun

Fishes and other marine mammals suffer a range of potential effects from intense sound sources generated by anthropogenic underwater processes such as pile driving, shipping, sonars, and underwater blasting. Several underwater sound recording devices (USR) were built to monitor the acoustic sound pressure waves generated by those anthropogenic underwater activities, so the relevant processing software becomes indispensable for analyzing the audio files recorded by these USRs. However, existing software packages did not meet performance and flexibility requirements. In this paper, we provide a detailed description of a new software package, named Aquatic Acoustic Metrics Interface (AAMI), which is a Graphicalmore » User Interface (GUI) designed for underwater sound monitoring and analysis. In addition to the general functions, such as loading and editing audio files recorded by USRs, the software can compute a series of acoustic metrics in physical units, monitor the sound's influence on fish hearing according to audiograms from different species of fishes and marine mammals, and batch process the sound files. The detailed applications of the software AAMI will be discussed along with several test case scenarios to illustrate its functionality.« less

Hydrostatic weighing at residual volume and functional residual capacity.

PubMed

Thomas, T R; Etheridge, G L

1980-07-01

Hydrostatic weighing (HW) was performed at both residual volume (RV) and functional residual capacity (FRC) to determine if underwater weighing at different lung volumes affected the measurement of body density. Subjects were 43 males, 18-25 yr. Subjects were submerged in the prone position, and the lung volume was measured by helium dilution at the time of the underwater weighing. Underwater weight was first assessed at FRC followed by assessment at RV. Changes in lung volume were accurately reflected in the underwater weight. Body density (D) was not different with the use of the FRC (mean D = 1.0778) or RV (mean D = 1.0781) data. Percent fat values for the FRC and RV data were 9.3 +/- 5.4 and 9.2 +/- 5.1%, respectively, and were not statistically different. The results indicate that the difference between percent fat determinations by HW in the prone position at FRC and RV is negligible. Because measurement of underwater weight at FRC is more comfortable for the subject, this may be the method of choice when the lung volume can be measured during the underwater weighing.

AlGaInN laser diode technology and systems for defence and security applications

NASA Astrophysics Data System (ADS)

Najda, Stephen P.; Perlin, Piotr; Suski, Tadek; Marona, Lujca; Boćkowski, Mike; Leszczyński, Mike; Wisniewski, Przemek; Czernecki, Robert; Kucharski, Robert; Targowski, Grzegorz; Watson, Scott; Kelly, Antony E.

2015-10-01

AlGaInN laser diodes is an emerging technology for defence and security applications such as underwater communications and sensing, atomic clocks and quantum information. 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. Thus AlGaInN laser diode technology is a key enabler for the development of new disruptive system level applications in displays, telecom, defence and other industries. Ridge waveguide laser diodes are fabricated to achieve single mode operation with optical powers up to 100mW with the 400-440nm wavelength range with high reliability. Visible free-space and underwater communication at frequencies up to 2.5GHz is reported using a directly modulated 422nm GaN laser diode. Low defectivity and highly uniform GaN substrates allow arrays and bars to be fabricated. High power operation operation of AlGaInN laser bars with up to 20 emitters have been demonstrated at optical powers up to 4W in a CS package with common contact configuration. An alternative package configuration for AlGaInN laser arrays allows for each individual laser to be individually addressable allowing complex free-space or optical fibre system integration with a very small form-factor.

Cost, Schedule, And Performance Elements For Comparison of Hydrodynamic Models of Near-Surface Unmanned Underwater Vehicle Operations

DTIC Science & Technology

2017-12-01

2-89) Prescribed by ANSI Std. 239-18 ii THIS PAGE INTENTIONALLY LEFT BLANK iii Approved for public release. Distribution is unlimited. COST ...from the scope of this demonstration due to time constraints. Further study of this software would benefit similar cost , schedule, and performance...NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA SYSTEMS ENGINEERING CAPSTONE PROJECT REPORT Approved for public release. Distribution

Electro-Optic Identification (EOID) Research Program

DTIC Science & Technology

2002-09-30

The goal of this research is to provide computer-assisted identification of underwater mines in electro - optic imagery. Identification algorithms will...greatly reduce the time and risk to reacquire mine-like-objects for positive classification and identification. The objectives are to collect electro ... optic data under a wide range of operating and environmental conditions and develop precise algorithms that can provide accurate target recognition on this data for all possible conditions.

Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions (SAUVIM Phase III-B)

DTIC Science & Technology

2009-03-20

burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing...phase 7 people have been working under the SAUVIM project in ASL, consisting of 1 faculty member, 3 full- time researchers, 2 undergraduate interns...and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system

Technical Survey and Evaluation of Underwater Sensors and Remotely Operated Vehicles

DTIC Science & Technology

1993-05-01

differentiates these systems from the multitude of towed instrument packages. Construction of the vehicle is either open metallic framework or closed...3-29. AN APPLICATION OF LASERS AND TRIANGULATION TO MEASURING THE DISTANCE FROM THE CAMERA TO A TARGET (Tusting, 1990) I9 differential range...of ultraviolet light at 260 nm. Using ultraviolet light to detect the carbon-hydrogen stretch allows TOM to differentiate aromatics from other

Astronaut Alan Bean assisted with egressing command module after landing

NASA Technical Reports Server (NTRS)

1969-01-01

Astronaut Alan L. Bean, lunar module pilot, is assisted with egressing the Apollo 12 Command Module by a U.S. Navy underwater demolition team swimmer during recovery operations in the Pacific Ocean. Already in the life raft are Astronauts Charles Conrad Jr., commander; and Richard F. Gordon Jr., command module pilot. The Apollo 12 splashdown occured at 2:58 p.m., November 24, 1969 near American Samoa.

Astronauts Stafford and Young await pickup by recovery helicopter

NASA Technical Reports Server (NTRS)

1969-01-01

Astronauts Thomas P. Stafford, commander; and John W. Young, command module pilot, await pickup by the recovery helicopter from the prime recovery ship, U.S.S. Pinceton. Astronaut Eugene A. Cernan, lunar module pilot, is already hoisted aboard the helicopter. U.S. Navy underwater demolition team swimmers assist in the recovery operations. Splashdown occurred at 11:53 a.m., May 26, 1969, about 400 miles east of American Samoa.

Development of a Long-Range Underwater Vehicle

DTIC Science & Technology

2014-09-30

lithium- seawater batteries . Specific objectives are (1) to test in the laboratory and ocean new lithium- seawater batteries developed and manufactured...by the PolyPlus Battery Company, (2) to discover how to mount and operate these cells to maximize their mass transfer with the ambient seawater and to...respectively. The achievable energy density for batteries is much less. PolyPlus Battery Company has developed a lithium- seawater battery (http

Characterizing large river sounds: Providing context for understanding the environmental effects of noise produced by hydrokinetic turbines

DOE PAGES

Bevelhimer, Mark S.; Deng, Z. Daniel; Scherelis, Constantin C.

2016-01-06

Underwaternoise associated with the installation and operation of hydrokinetic turbines in rivers and tidal zones presents a potential environmental concern for fish and marine mammals. Comparing the spectral quality of sounds emitted by hydrokinetic turbines to natural and other anthropogenic sound sources is an initial step at understanding potential environmental impacts. Underwater recordings were obtained from passing vessels and natural underwater sound sources in static and flowing waters. Static water measurements were taken in a lake with minimal background noise. Flowing water measurements were taken at a previously proposed deployment site for hydrokinetic turbines on the Mississippi River, where soundsmore » created by flowing water are part of all measurements, both natural ambient and anthropogenic sources. Vessel sizes ranged from a small fishing boat with 60 hp outboard motor to an 18-unit barge train being pushed upstream by tugboat. As expected, large vessels with large engines created the highest sound levels, which were, on average, 40 dB greater than the sound created by an operating hydrokinetic turbine. As a result, a comparison of sound levels from the same sources at different distances using both spherical and cylindrical sound attenuation functions suggests that spherical model results more closely approximate observed sound attenuation.« less

Low complexity lossless compression of underwater sound recordings.

PubMed

Johnson, Mark; Partan, Jim; Hurst, Tom

2013-03-01

Autonomous listening devices are increasingly used to study vocal aquatic animals, and there is a constant need to record longer or with greater bandwidth, requiring efficient use of memory and battery power. Real-time compression of sound has the potential to extend recording durations and bandwidths at the expense of increased processing operations and therefore power consumption. Whereas lossy methods such as MP3 introduce undesirable artifacts, lossless compression algorithms (e.g., flac) guarantee exact data recovery. But these algorithms are relatively complex due to the wide variety of signals they are designed to compress. A simpler lossless algorithm is shown here to provide compression factors of three or more for underwater sound recordings over a range of noise environments. The compressor was evaluated using samples from drifting and animal-borne sound recorders with sampling rates of 16-240 kHz. It achieves >87% of the compression of more-complex methods but requires about 1/10 of the processing operations resulting in less than 1 mW power consumption at a sampling rate of 192 kHz on a low-power microprocessor. The potential to triple recording duration with a minor increase in power consumption and no loss in sound quality may be especially valuable for battery-limited tags and robotic vehicles.

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.

Trade-off Analysis of Underwater Acoustic Sensor Networks

NASA Astrophysics Data System (ADS)

Tuna, G.; Das, R.

2017-09-01

In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.

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.

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.

Study on Underwater Image Denoising Algorithm Based on Wavelet Transform

NASA Astrophysics Data System (ADS)

Jian, Sun; Wen, Wang

2017-02-01

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

Preparations for Underwater EVA training for the STS 41-G crew

NASA Image and Video Library

1984-07-05

S84-36900 (29 June 1984) ---Astronauts Robert L. Crippen (right) and Jon A. McBride, crew commander and pilot, respectively, for NASA's 41-G Space Shuttle mission, don self contained underwater breathing apparatus (SCUBA) gear prior to their underwater to observe a simulation of an extravehicular activity (EVA) to be performed on their mission. Astronauts Kathryn D. Sullivan and David C. Leestma, two of three mission specialists on the seven-member crew, are scheduled for the EVA. The underwater training took place in the Johnson Space Center's weightless environment training facility (WET-F).

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.

A Secure Communication Suite for Underwater Acoustic Sensor Networks

PubMed Central

Dini, Gianluca; Duca, Angelica Lo

2012-01-01

In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead. PMID:23202204

Morphing hull implementation for unmanned underwater vehicles

NASA Astrophysics Data System (ADS)

Miller, Timothy F.; Gandhi, Farhan; Rufino, Russell J.

2013-11-01

There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations).

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.

Innovative method for optimizing Side-Scan Sonar mapping: The blind band unveiled

NASA Astrophysics Data System (ADS)

Pergent, Gérard; Monnier, Briac; Clabaut, Philippe; Gascon, Gilles; Pergent-Martini, Christine; Valette-Sansevin, Audrey

2017-07-01

Over the past few years, the mapping of Mediterranean marine habitats has become a priority for scientists, environment managers and stakeholders, in particular in order to comply with European directives (Water Framework Directive and Marine Strategy Framework Directive) and to implement legislation to ensure their conservation. Side-scan sonar (SSS) is recognised as one of the most effective tool for underwater mapping. However, interpretation of acoustic data (sonograms) requires extensive field calibration and the ground-truthing process remains essential. Several techniques are commonly used, with sampling methods involving grabs, scuba diving observations or Remotely Operated Vehicle (ROV) underwater video recordings. All these techniques are time consuming, expensive and only provide sporadic informations. In the present study, the possibility of coupling a camera with a SSS and acquiring underwater videos in a continuous way has been tested. During the 'PosidCorse' oceanographic survey carried out along the eastern coast of Corsica, optical and acoustic data were respectively obtained using a GoPro™ camera and a Klein 3000™ SSS. Thereby, five profiles were performed between 10 and 50 m depth, corresponding to more than 20 km of data acquisition. The vertical images recorded with the camera fixed under the SSS and positioned facing downwards provided photo mosaics of very good quality corresponding to the entire sonograms's blind band. From the photo mosaics, 94% of the different bottom types and main habitats have been identified; specific structures linked to hydrodynamics conditions, anthropic and biological activities have also been observed as well as the substrate on which the Posidonia oceanica meadow grows. The association between acoustic data and underwater videos has proved to be a non-destructive and cost-effective method for ground-truthing in marine habitats mapping. Nevertheless, in order to optimize the results over the next surveys, certain limitations will need to be remedied.

Miniaturised Space Payloads for Outdoor Environmental Applications

NASA Astrophysics Data System (ADS)

de Souza, P. A.

2012-12-01

The need for portable, robust and acurate sensors has increased in recent years resulting from industrial and environmental needs. This paper describes a number of applications of engineering copies of those Moessbauer spectrometers (MIMOS II) used by Mars Exploration Rovers, and the use of portable XRF spectrometers in the analysis of heavy metals in sediments. MIMOS II has been applied in the characterisation of Fe-bearing phases in airborne particles in industrialised urban centres, The results have allowed an identification of sources or air pollution in near-real-time. The results help to combine production parameters with pollution impact in the urban area. MIMOS II became a powerful tool because its constructive requirements to flight has produced a robust, power efficient, miniaturised, and light. On the limitation side, the technique takes sometime to produce a good result and the instrument requires a radioactive source to operate. MIMOS II Team has reported a new generation of this instrument incorporating a XRF spectrometer using the radioactive source to generate fluorescence emissions from sample. The author, and its research group, adapted a portable XRF spectrometer to an autonomous underwater vehicle (AUV) and conducted heavy metals survey in sediments across the Derwent Estuary in Tasmania, Australia. The AUV lands on suitable locations underwater, makes the chemical analysis and decide based on the result to move to a closer location, should high concentration of chemicals of interest be found, or to another distant location otherwise. Beyond environmental applications, these instruments were applied in archaeology and in industrial process control.oessbauer spectra recorded on airborne particles (Total Suspended Particles) collected at Ilha do Boi, VItoria, ES, Brazil. SIRO's Autonomous Underwater Vehicle carring a miniaturised XRF spectrometer for underwater chemistry. Students involved in this Project: Mr Jeremy Breen and Mr Andrew Davie. Collaborators: Dr. Greg Timms (CSIRO) and Dr. Robert Ollington (UTAS). This AUV us 1.2m long.

EMI Modeling for UXO Detection and Discrimination Underwater

DTIC Science & Technology

2011-12-01

detection and discrimination underwater,? submitted to the Strategic Environmental Research and Development Program (SERDP) in response to the...phenomena from highly conducting and permeable metallic objects in underwater environments, and 3) investigate the impact of the electromagnetic parameters of...to the Department of Defense Strategic Environmental Research and Development Program (SERDP). The publication of this report does not indicate

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

Elastic Wave Propagation Mechanisms in Underwater Acoustic Environments

DTIC Science & Technology

2015-09-30

Elastic wave propagation mechanisms in underwater acoustic environments Scott D. Frank Marist College Department of Mathematics Poughkeepsie...conversion from elastic propagation to acoustic propagation, and intense interface waves on underwater acoustic environments with elastic bottoms...acoustic propagation will be considered as a means to predict the presence of elastic ice layers. APPROACH In a cylindrically symmetric environment

Multireceiver Acoustic Communications in Time-Varying Environments

DTIC Science & Technology

2014-06-01

Canberra, ACT, 2012, pp. 1–7. [7] W. Chen and F. Yanjun, “Physical layer design consideration for underwater acoustic sensor networks ,”3rd IEEE Int...analysis of underwater acoustic MIMO communications,”OCEANS, Sydney, NSW, 2010, pp. 1–8. [9] Wines lab (2013). Wireless networks and embedded... NETWORKS ......................................................................3 B. CHALLENGES OF UNDERWATER ACOUSTIC COMMUNICATIONS

Underwater Threat Source Localization: Processing Sensor Network TDOAs with a Terascale Optical Core Device

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

Barhen, Jacob; Imam, Neena

2007-01-01

Revolutionary computing technologies are defined in terms of technological breakthroughs, which leapfrog over near-term projected advances in conventional hardware and software to produce paradigm shifts in computational science. For underwater threat source localization using information provided by a dynamical sensor network, one of the most promising computational advances builds upon the emergence of digital optical-core devices. In this article, we present initial results of sensor network calculations that focus on the concept of signal wavefront time-difference-of-arrival (TDOA). The corresponding algorithms are implemented on the EnLight processing platform recently introduced by Lenslet Laboratories. This tera-scale digital optical core processor is optimizedmore » for array operations, which it performs in a fixed-point-arithmetic architecture. Our results (i) illustrate the ability to reach the required accuracy in the TDOA computation, and (ii) demonstrate that a considerable speed-up can be achieved when using the EnLight 64a prototype processor as compared to a dual Intel XeonTM processor.« less

Robust Target Tracking with Multi-Static Sensors under Insufficient TDOA Information.

PubMed

Shin, Hyunhak; Ku, Bonhwa; Nelson, Jill K; Ko, Hanseok

2018-05-08

This paper focuses on underwater target tracking based on a multi-static sonar network composed of passive sonobuoys and an active ping. In the multi-static sonar network, the location of the target can be estimated using TDOA (Time Difference of Arrival) measurements. However, since the sensor network may obtain insufficient and inaccurate TDOA measurements due to ambient noise and other harsh underwater conditions, target tracking performance can be significantly degraded. We propose a robust target tracking algorithm designed to operate in such a scenario. First, track management with track splitting is applied to reduce performance degradation caused by insufficient measurements. Second, a target location is estimated by a fusion of multiple TDOA measurements using a Gaussian Mixture Model (GMM). In addition, the target trajectory is refined by conducting a stack-based data association method based on multiple-frames measurements in order to more accurately estimate target trajectory. The effectiveness of the proposed method is verified through simulations.

Thermal management of thermoacoustic sound projectors using a free-standing carbon nanotube aerogel sheet as a heat source.

PubMed

Aliev, Ali E; Mayo, Nathanael K; Baughman, Ray H; Avirovik, Dragan; Priya, Shashank; Zarnetske, Michael R; Blottman, John B

2014-10-10

Carbon nanotube (CNT) aerogel sheets produce smooth-spectra sound over a wide frequency range (1-10(5) Hz) by means of thermoacoustic (TA) sound generation. Protective encapsulation of CNT sheets in inert gases between rigid vibrating plates provides resonant features for the TA sound projector and attractive performance at needed low frequencies. Energy conversion efficiencies in air of 2% and 10% underwater, which can be enhanced by further increasing the modulation temperature. Using a developed method for accurate temperature measurements for the thin aerogel CNT sheets, heat dissipation processes, failure mechanisms, and associated power densities are investigated for encapsulated multilayered CNT TA heaters and related to the thermal diffusivity distance when sheet layers are separated. Resulting thermal management methods for high applied power are discussed and deployed to construct efficient and tunable underwater sound projector for operation at relatively low frequencies, 10 Hz-10 kHz. The optimal design of these TA projectors for high-power SONAR arrays is discussed.

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

PubMed

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

2017-07-14

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

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.

Real-Time Communication Support for Underwater Acoustic Sensor Networks †

PubMed Central

Santos, Rodrigo; Orozco, Javier; Micheletto, Matias

2017-01-01

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

Filming Underwater in 3d Respecting Stereographic Rules

NASA Astrophysics Data System (ADS)

Rinaldi, R.; Hordosch, H.

2015-04-01

After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

Virtual Diving in the Underwater Archaeological Site of Cala Minnola

NASA Astrophysics Data System (ADS)

Bruno, F.; Lagudi, A.; Barbieri, L.; Muzzupappa, M.; Mangeruga, M.; Pupo, F.; Cozza, M.; Cozza, A.; Ritacco, G.; Peluso, R.; Tusa, S.

2017-02-01

The paper presents the application of the technologies and methods defined in the VISAS project for the case study of the underwater archaeological site of Cala Minnola located in the island of Levanzo, in the archipelago of the Aegadian Islands (Sicily, Italy). The VISAS project (http://visas-project.eu) aims to improve the responsible and sustainable exploitation of the Underwater Cultural Heritage by means the development of new methods and technologies including an innovative virtual tour of the submerged archaeological sites. In particular, the paper describes the 3D reconstruction of the underwater archaeological site of Cala Minnola and focus on the development of the virtual scene for its visualization and exploitation. The virtual dive of the underwater archaeological site allows users to live a recreational and educational experience by receiving historical, archaeological and biological information about the submerged exhibits, the flora and fauna of the place.

Investigation of charge weight and shock factor effect on non-linear transient structural response of rectangular plates subjected to underwater explosion (UNDEX) shock loading

NASA Astrophysics Data System (ADS)

Demir, Ozgur; Sahin, Abdurrahman; Yilmaz, Tamer

2012-09-01

Underwater explosion induced shock loads are capable of causing considerable structural damage. Investigations of the underwater explosion (UNDEX) effects on structures have seen continuous developments because of security risks. Most of the earlier experimental investigations were performed by military since the World War I. Subsequently; Cole [1] established mathematical relations for modeling underwater explosion shock loading, which were the outcome of many experimental investigations This study predicts and establishes the transient responses of a panel structure to underwater explosion shock loads using non-linear finite element code Ls-Dyna. Accordingly, in this study a new MATLAB code has been developed for predicting shock loading profile for different weight of explosive and different shock factors. Numerical analysis was performed for various test conditions and results are compared with Ramajeyathilagam's experimental study [8].

Study of archaeological underwater finds: deterioration and conservation

NASA Astrophysics Data System (ADS)

Crisci, G. M.; La Russa, M. F.; Macchione, M.; Malagodi, M.; Palermo, A. M.; Ruffolo, S. A.

2010-09-01

This study is aimed at an assessment of the methodologies, instruments and new applications for underwater archaeology. Research focused on study of the various kinds of degradation affecting underwater finds and stone materials aged in underwater environment, efficiency evaluation of various surface cleaning methods and study and mixing of protective products with consolidating resins and antimicrobial biocides to be applied to restored underwater finds. Transmitted light optical microscopy and scanning electron microscopy (SEM) were used to study surface biofilms and the interactions with samples of different stone materials such as brick, marble and granite immersed in the submarine archaeological area of Crotone (South of Italy). Surface cleaning tests were performed with application of ion exchange resins, EDTA, hydrogen peroxide and ultrasound techniques. Capillary water absorption, simulated solar ageing and colourimetric measurements were carried out to evaluate hydrophobic and consolidant properties; to assess biocidal efficacy, heterotrophic micro-organisms ( Aspergillus niger) were inoculated on agar plates and growth inhibition was measured.

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

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

The purpose of this study was to design and build two versions of an underwater sound recording device. The device designed is referred to as the Underwater Sound Recorder (USR), which can be connected to one or two hydrophones or other underwater sound sensors. The URS contains a 26 dB preamplifier and a user selectable gain that permits additional amplification of input to the system from 26 dB to 46 dB. Signals within the frequency range up to 15 kHz may be recorded using the USR. Examples of USR applications are monitoring underwater processes that have the potential to createmore » large pressure waves that could potentially harm fish or other aquatic life, such as underwater explosions or pile driving. Additional applications are recording sound generated by vessels or the vocalizations of some marine mammals, such as the calls from many species of whales.« less

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

PubMed Central

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

1972-01-01

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

Low-contrast underwater living fish recognition using PCANet

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

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

Determining Detection and Classification Potential of Munitions using Advanced EMI Sensors in the Underwater Environment

DTIC Science & Technology

2016-11-01

focuses on characterizing Electromagnetic Induction (EMI) responses in the underwater setting through numerical and experimental studies with the...marine EMI sensing. 15. SUBJECT TERMS Munitions Response, Electromagnetic Induction, Unexploded Ordnance, Classification 16. SECURITY CLASSIFICATION...using Advanced EMI Sensors in the Underwater Environment.” The project focuses on characterizing Electromagnetic Induction (EMI) responses in the

15 CFR Appendix A to Subpart R of... - Thunder Bay National Marine Sanctuary and Underwater Preserve Boundary Coordinates

Code of Federal Regulations, 2013 CFR

2013-01-01

... 15 Commerce and Foreign Trade 3 2013-01-01 2013-01-01 false Thunder Bay National Marine Sanctuary... SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve Pt. 922, Subpt. R, App. A Appendix A to Subpart R of Part 922—Thunder Bay National Marine Sanctuary and Underwater...

15 CFR Appendix A to Subpart R of... - Thunder Bay National Marine Sanctuary and Underwater Preserve Boundary Coordinates

Code of Federal Regulations, 2012 CFR

2012-01-01

... 15 Commerce and Foreign Trade 3 2012-01-01 2012-01-01 false Thunder Bay National Marine Sanctuary... SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve Pt. 922, Subpt. R, App. A Appendix A to Subpart R of Part 922—Thunder Bay National Marine Sanctuary and Underwater...

15 CFR Appendix A to Subpart R of... - Thunder Bay National Marine Sanctuary and Underwater Preserve Boundary Coordinates

Code of Federal Regulations, 2014 CFR

2014-01-01

... 15 Commerce and Foreign Trade 3 2014-01-01 2014-01-01 false Thunder Bay National Marine Sanctuary... SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve Pt. 922, Subpt. R, App. A Appendix A to Subpart R of Part 922—Thunder Bay National Marine Sanctuary and Underwater...

15 CFR Appendix A to Subpart R of... - Thunder Bay National Marine Sanctuary and Underwater Preserve Boundary Coordinates

Code of Federal Regulations, 2010 CFR

2010-01-01

... 15 Commerce and Foreign Trade 3 2010-01-01 2010-01-01 false Thunder Bay National Marine Sanctuary... SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve Pt. 922, Subpt. R, App. A Appendix A to Subpart R of Part 922—Thunder Bay National Marine Sanctuary and Underwater...

15 CFR Appendix A to Subpart R of... - Thunder Bay National Marine Sanctuary and Underwater Preserve Boundary Coordinates

Code of Federal Regulations, 2011 CFR

2011-01-01

... 15 Commerce and Foreign Trade 3 2011-01-01 2011-01-01 false Thunder Bay National Marine Sanctuary... SANCTUARY PROGRAM REGULATIONS Thunder Bay National Marine Sanctuary and Underwater Preserve Pt. 922, Subpt. R, App. A Appendix A to Subpart R of Part 922—Thunder Bay National Marine Sanctuary and Underwater...

GOATS 2008 Autonomous, Adaptive Multistatic Acoustic Sensing

DTIC Science & Technology

2008-09-30

To develop net-centric, autonomous underwater vehicle sensing concepts for littoral MCM and ASW, exploiting collaborative and environmentally...unlimited 13. SUPPLEMENTARY NOTES code 1 only 14. ABSTRACT To develop net-centric, autonomous underwater vehicle sensing concepts for littoral MCM and...of autonomous underwater vehicle networks as platforms for new sonar concepts exploring the full 3-D acoustic environment of shallow water (SW) and

NRL Fact Book

DTIC Science & Technology

1988-05-01

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

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.

A simple underwater imaging model.

PubMed

Hou, Weilin

2009-09-01

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

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.

Multi-AUV Target Search Based on Bioinspired Neurodynamics Model in 3-D Underwater Environments.

PubMed

Cao, Xiang; Zhu, Daqi; Yang, Simon X

2016-11-01

Target search in 3-D underwater environments is a challenge in multiple autonomous underwater vehicles (multi-AUVs) exploration. This paper focuses on an effective strategy for multi-AUV target search in the 3-D underwater environments with obstacles. First, the Dempster-Shafer theory of evidence is applied to extract information of environment from the sonar data to build a grid map of the underwater environments. Second, a topologically organized bioinspired neurodynamics model based on the grid map is constructed to represent the dynamic environment. The target globally attracts the AUVs through the dynamic neural activity landscape of the model, while the obstacles locally push the AUVs away to avoid collision. Finally, the AUVs plan their search path to the targets autonomously by a steepest gradient descent rule. The proposed algorithm deals with various situations, such as static targets search, dynamic targets search, and one or several AUVs break down in the 3-D underwater environments with obstacles. The simulation results show that the proposed algorithm is capable of guiding multi-AUV to achieve search task of multiple targets with higher efficiency and adaptability compared with other algorithms.

Kinematic and EMG data during underwater dolphin kick change while synchronizing with or without synchronization of kick frequency with the beat of a metronome.

PubMed

Yamakawa, Keisuke Kobayashi; Shimojo, Hirofumi; Takagi, Hideki; Tsubakimoto, Shozo; Sengoku, Yasuo

2017-10-01

We investigated the effects of synchronizing kick frequency with the beat of a metronome on kinematic and electromyographic (EMG) parameters during the underwater dolphin kick as a pilot study related to the research that entitled " Effect of increased kick frequency on propelling efficiency and muscular co-activation during underwater dolphin kick" (Yamakawa et al., 2017) [1]. Seven collegiate female swimmers participated in this experiment. The participants conducted two underwater dolphin kick trials: swimming freely at maximum effort, and swimming while synchronizing the kick frequency of maximum effort with the beat of a metronome. The kinematic parameters during the underwater dolphin kick were calculated by 2-D motion analysis, and surface electromyographic measurements were taken from six muscles (rectus abdominis, erector spinae, rectus femoris, biceps femoris, tibialis anterior, and gastrocnemius). The results revealed no significant differences in the kinematic and EMG parameters between trials of the two swimming techniques. Therefore, the action of synchronizing the kick frequency with the beat of a metronome did not affect movement or muscle activity during the underwater dolphin kick in this experiment.

Great cormorants ( Phalacrocorax carbo) can detect auditory cues while diving

NASA Astrophysics Data System (ADS)

Hansen, Kirstin Anderson; Maxwell, Alyssa; Siebert, Ursula; Larsen, Ole Næsbye; Wahlberg, Magnus

2017-06-01

In-air hearing in birds has been thoroughly investigated. Sound provides birds with auditory information for species and individual recognition from their complex vocalizations, as well as cues while foraging and for avoiding predators. Some 10% of existing species of birds obtain their food under the water surface. Whether some of these birds make use of acoustic cues while underwater is unknown. An interesting species in this respect is the great cormorant ( Phalacrocorax carbo), being one of the most effective marine predators and relying on the aquatic environment for food year round. Here, its underwater hearing abilities were investigated using psychophysics, where the bird learned to detect the presence or absence of a tone while submerged. The greatest sensitivity was found at 2 kHz, with an underwater hearing threshold of 71 dB re 1 μPa rms. The great cormorant is better at hearing underwater than expected, and the hearing thresholds are comparable to seals and toothed whales in the frequency band 1-4 kHz. This opens up the possibility of cormorants and other aquatic birds having special adaptations for underwater hearing and making use of underwater acoustic cues from, e.g., conspecifics, their surroundings, as well as prey and predators.

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.

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.

Modeling the utility of binaural cues for underwater sound localization.

PubMed

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

2014-06-01

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

A bio-inspired electrocommunication system for small underwater robots.

PubMed

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

2017-03-29

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

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

PubMed Central

Wu, Geng-De; Huang, Chun-Ju

2017-01-01

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

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

PubMed

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

2017-06-22

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

Aquatic Acoustic Metrics Interface Utility for Underwater Sound Monitoring and Analysis

PubMed Central

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

2012-01-01

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

Weighing Evidence: The Design and Comparison of Probability Thought Experiments.

DTIC Science & Technology

1983-06-01

ics and Other Logical Essays, R. G. Braithwaite (ed.), Routledge and Kegan Paul. Richardson, H. R., and Stone, L. D.: 1971, ’Operations analysis...Systems Department ONR Detachment Code 35 1030 East Green Street Naval Underwater Systems Center Pasadena, CA 91106 Newport, RI 02840 CDR James Offutt...Officer-in-Charge Human Factors Department ONR Detachment Code N-71 1030 East Green Street Naval Training Equipment Center Pasadena, CA 91106 Orlando

CSSC Fish Barrier Simulated Rescuer Touch Point Results, Operating Guidance, and Recommendations for Rescuer Safety

DTIC Science & Technology

2011-09-01

Testing Input electrodes consisting of 1/2” diameter, 6” long copper rods were wired to separate conductors of a shielded, commercially available...underwater-rated electrical cable (three-conductor, shielded, shipboard cable (TSS-2), 18 American Wire Gauge (AWG) stranded copper ). Electrode pairs...sandpaper prior to use to ensure the best electrical continuity between the water and electrode by removing any copper oxide. This electrode

Joint Operating Environment: Trends and Challenges for the Future Joint Force Through 2030

DTIC Science & Technology

2007-12-01

unmanned underwater vehicles loom on the horizon that can be swarmed against our ports and cities. Self - healing , networked minefields will... robots in an effort to provide the basic physical labor needed by the society. Russia has seen a major withdrawal of it population from the Far...of criminal elements. International organized crime, motivated by greed and self -interest, may increase as potential security threats to the

A Register of Underwater Acoustic Facilities. Volume 1. Western Europe

DTIC Science & Technology

1987-03-01

production is still under the direction of Viggo Kjaer, while Per V. Briiel continues to direct the world-wide sales operation. 2-29 TD 7903-1...which are then made available for general sale and distribution. IKU is currently involved in a survey of areas in the Barents Sea which lie in...17 itun /3h measuring mode. Buoy surveillance: ARGOS system for automatic posi- tioning and data transfer of internal instrument checks

Preliminary Design of an Autonomous Underwater Vehicle Using Multi-Objective Optimization

DTIC Science & Technology

2014-03-01

fuel cell PC propulsive coefficient PEMFC proton exchange membrane fuel cell PHP propulsive horsepower PO Pareto optimal PSO particle swarm...membrane fuel cell ( PEMFC ), molten carbonate fuel cell (MCFC), solid oxide fuel cell (SOFC) and direct and indirect methanol fuel cell (DMFC). Figure...of fuel cells in depth, I will note that PEMFCs are smaller and have a lower operating temperature compared to the other types. Those are the main

Surf-zone Underwater Robotic Demonstration Platform

DTIC Science & Technology

2014-01-01

dynamically advantageous shape for a robotic system. To address locomotive factors ARA completed a research and technical study based on an Archimedes ...effective hull shape. To study mobility and traction a propulsion system based on an Archimedes screw drive was used. A drive design based on an... Archimedes screw was chosen because of its ability to operate in various mediums with varying flow rates. A test bed was designed and assembled in order to

Photovoltaic pump systems

NASA Astrophysics Data System (ADS)

Klockgether, J.; Kiessling, K. P.

1983-09-01

Solar pump systems for the irrigation of fields and for water supply in regions with much sunshine are discussed. For surface water and sources with a hoisting depth of 12 m, a system with immersion pumps is used. For deep sources with larger hoisting depths, an underwater motor pump was developed. Both types of pump system meet the requirements of simple installation and manipulation, safe operation, maintenance free, and high efficiency reducing the number of solar cells needed.

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.