Assessment of potential life-cycle energy and greenhouse gas emission effects from using corn-based butanol as a transportation fuel.

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

Wu, M.; Wang, M.; Liu, J.

2008-01-01

Since advances in the ABE (acetone-butanol-ethanol) fermentation process in recent years have led to significant increases in its productivity and yields, the production of butanol and its use in motor vehicles have become an option worth evaluating. This study estimates the potential life-cycle energy and emission effects associated with using bio-butanol as a transportation fuel. It employs a well-to-wheels (WTW) analysis tool: the Greenhouse Gases, Regulated Emissions, and Energy Use in Transportation (GREET) model. The estimates of life-cycle energy use and greenhouse gas (GHG) emissions are based on an Aspen Plus(reg. sign) simulation for a corn-to-butanol production process, which describesmore » grain processing, fermentation, and product separation. Bio-butanol-related WTW activities include corn farming, corn transportation, butanol production, butanol transportation, and vehicle operation. In this study, we also analyzed the bio-acetone that is coproduced with bio-butanol as an alternative to petroleum-based acetone. We then compared the results for bio-butanol with those of conventional gasoline. Our study shows that driving vehicles fueled with corn-based butanol produced by the current ABE fermentation process could result in substantial fossil energy savings (39%-56%) and avoid large percentage of the GHG emission burden, yielding a 32%-48% reduction relative to using conventional gasoline. On energy basis, a bushel of corn produces less liquid fuel from the ABE process than that from the corn ethanol dry mill process. The coproduction of a significant portion of acetone from the current ABE fermentation presents a challenge. A market analysis of acetone, as well as research and development on robust alternative technologies and processes that minimize acetone while increase the butanol yield, should be conducted.« less

Assessment of potential life-cycle energy and greenhouse gas emission effects from using corn-based butanol as a transportation fuel.

PubMed

Wu, May; Wang, Michael; Liu, Jiahong; Huo, Hong

2008-01-01

Since advances in the ABE (acetone-butanol-ethanol) fermentation process in recent years have led to significant increases in its productivity and yields, the production of butanol and its use in motor vehicles have become an option worth evaluating. This study estimates the potential life-cycle energy and emission effects associated with using bio-butanol as a transportation fuel. It employs a well-to-wheels (WTW) analysis tool: the Greenhouse Gases, Regulated Emissions, and Energy Use in Transportation (GREET) model. The estimates of life-cycle energy use and greenhouse gas (GHG) emissions are based on an Aspen Plus(R) simulation for a corn-to-butanol production process, which describes grain processing, fermentation, and product separation. Bio-butanol-related WTW activities include corn farming, corn transportation, butanol production, butanol transportation, and vehicle operation. In this study, we also analyzed the bio-acetone that is coproduced with bio-butanol as an alternative to petroleum-based acetone. We then compared the results for bio-butanol with those of conventional gasoline. Our study shows that driving vehicles fueled with corn-based butanol produced by the current ABE fermentation process could result in substantial fossil energy savings (39%-56%) and avoid large percentage of the GHG emission burden, yielding a 32%-48% reduction relative to using conventional gasoline. On energy basis, a bushel of corn produces less liquid fuel from the ABE process than that from the corn ethanol dry mill process. The coproduction of a significant portion of acetone from the current ABE fermentation presents a challenge. A market analysis of acetone, as well as research and development on robust alternative technologies and processes that minimize acetone while increase the butanol yield, should be conducted.

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

DTIC Science & Technology

2011-03-01

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

The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

DTIC Science & Technology

1997-04-01

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

Underwater image mosaicking and visual odometry

NASA Astrophysics Data System (ADS)

Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

2017-05-01

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

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.

Stability analysis of hybrid-driven underwater glider

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

AstroBiology Explorer (ABE) MIDEX mission concept

NASA Astrophysics Data System (ADS)

Ennico, Kimberly A.; Sandford, Scott; Cox, Sylvia; Ellis, Benton; Gallagher, Dennis J.; Gautier, Nick; Greene, Thomas P.; McCreight, Craig R.; Mills, Gary; Purcell, William R.

2002-02-01

The Astrobiology Explorer (ABE) is a MIDEX mission concept under study at NASA's Ames Research Center in collaboration with Ball Aerospace & Technologies, Corp. ABE will conduct IR spectroscopic observations to address important problems in astrobiology, astrochemistry, and astrophysics. The core observational program would make fundamental scientific progress in understanding the distribution, identity, and evolution of ices and organic matter in dense molecular clouds, young forming stellar systems, stellar outflows, the general diffuse ISM, HII regions, Solar System bodies, and external galaxies. The ABE instrument concept includes a 0.6 m aperture Cassegrain telescope and two moderate resolution (R equals 2000-3000) spectrographs covering the 2.5-16 micron spectral region. Large format (1024x1024 pixel or larger) IR detector arrays and bandpass filters will allow each spectrograph to cover an entire octave of spectral range or more per exposure without any moving parts. The telescope will be cooled below 50 K by a cryogenic dewar shielded by a sunshade. The detectors will be cooled to ~8K. The optimum orbital configuration for achieving the scientific objectives of the ABE mission is a low background, 1 AU Earth driftaway orbit requiring a Delta II launch vehicle. This configuration provides a low thermal background and allows adequate communications bandwidth and good access to the entire sky over the ~1-2 year mission lifetime.

Validation of Underwater Sensor Package Using Feature Based SLAM

PubMed Central

Cain, Christopher; Leonessa, Alexander

2016-01-01

Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package. PMID:26999142

Unmanned Underwater Vehicle (UUV) Information Study

DTIC Science & Technology

2014-11-28

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

The AstroBiology Explorer (ABE) MIDEX Mission Concept: Identifying Organic Molecules in Space

NASA Astrophysics Data System (ADS)

Ennico, Kimberly A.; Sandford, Scott; Allamandola, Louis; Bregman, Jesse D.; Cohen, Martin; Cruikshank, Dale; Greene, Thomas P.; Hudgins, Douglas; Kwok, Sun; Lord, Steven D.; Madden, Suzanne; McCreight, Craig R.; Roellig, Thomas L.; Strecker, Donald W.; Tielens, A. G. G. M.; Werner, Michael W.

2003-03-01

The Astrobiology Explorer (ABE) is a MIDEX mission concept, currently under Concept Phase A study at NASA's Ames Research Center in collaboration with Ball Aerospace &Technologies, Corp., and managed by NASA's Jet Propulsion Laboratory. ABE will conduct infrared spectroscopic observations to address important problems in astrobiology, astrochemistry, and astrophysics. The core observational program would make fundamental scientific progress in understanding the distribution, identity, and evolution of ices and organic matter in dense molecular clouds, young forming stellar systems, stellar outflows, the general diffuse ISM, HII regions, Solar System bodies, and external galaxies. The ABE instrument concept includes a 0.6 m aperture Ritchey-Chretien telescope and three moderate resolution (R = 2000-3000) spectrometers together covering the 2.5-20 micron spectral region. Large format (1024 x 1024 pixel) IR detector arrays will allow each spectrometer to cover an entire octave of spectral range per exposure without any moving parts. The telescope will be cooled below 50 K by a cryogenic dewar shielded by a sunshade. The detectors will be cooled to ~7.5 K by a solid hydrogen cryostat. The optimum orbital configuration for achieving the scientific objectives of the ABE mission is a low background, 1 AU Earth driftaway orbit requiring a Delta II launch vehicle. This configuration provides a low thermal background and allows adequate communications bandwidth and good access to the entire sky over the ~1.5 year mission lifetime.

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.

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

NASA Astrophysics Data System (ADS)

Zhang, Zhong-lin; Wang, Li-quan

2013-03-01

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

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

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

Hollinger, Geoffrey

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

Resources for Underwater Robotics Education

ERIC Educational Resources Information Center

Wallace, Michael L.; Freitas, William M.

2016-01-01

4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

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

DTIC Science & Technology

1998-03-01

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

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.

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.

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

The AstroBiology Explorer (ABE) MIDEX Mission Concept: Identifying Organic Molecules in Space

NASA Technical Reports Server (NTRS)

Ennico, Kimberly; Sandford, Scott; Allamandola, Louis; Bregman, Jesse; Cohen, Martin; Cruikshank, Dale; Greene, Thomas; Hudgins, Douglas; Kwok, Sun; Lord, Steven;

Field Trials of the Nereus Hybrid Underwater Robotic Vehicle in the Challenger Deep of the Mariana Trench

DTIC Science & Technology

2010-06-01

autonomously. International Submarine Engineering Limited reported the successful de- ployment of an autonomous underwater vehicle designed to deploy fiber...formed by CoorsTek Inc., and titanium joint rings manufactured at WHOI that are bonded to the ceramic with a high-strength epoxy material. For additional

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.

New Navigation Post-Processing Tools for Oceanographic Submersibles

NASA Astrophysics Data System (ADS)

Kinsey, J. C.; Whitcomb, L. L.; Yoerger, D. R.; Howland, J. C.; Ferrini, V. L.; Hegrenas, O.

2006-12-01

We report the development of Navproc, a new set of software tools for post-processing oceanographic submersible navigation data that exploits previously reported improvements in navigation sensing and estimation (e.g. Eos Trans. AGU, 84(46), Fall Meet. Suppl., Abstract OS32A- 0225, 2003). The development of these tools is motivated by the need to have post-processing software that allows users to compensate for errors in vehicle navigation, recompute the vehicle position, and then save the results for use with quantitative science data (e.g. bathymetric sonar data) obtained during the mission. Navproc does not provide real-time navigation or display of data nor is it capable of high-resolution, three dimensional (3D) data display. Navproc supports the ASCII data formats employed by the vehicles of the National Deep Submergence Facility (NDSF) operated by the Woods Hole Oceanographic Institution (WHOI). Post-processing of navigation data with Navproc is comprised of three tasks. First, data is converted from the logged ASCII file to a binary Matlab file. When loaded into Matlab, each sensor has a data structure containing the time stamped data sampled at the native update rate of the sensor. An additional structure contains the real-time vehicle navigation data. Second, the data can be displayed using a Graphical User Interface (GUI), allowing users to visually inspect the quality of the data and graphically extract portions of the data. Third, users can compensate for errors in the real-time vehicle navigation. Corrections include: (i) manual filtering and median filtering of long baseline (LBL) ranges; (ii) estimation of the Doppler/gyro alignment using previously reported methodologies; and (iii) sound velocity, tide, and LBL transponder corrections. Using these corrections, the Doppler and LBL positions can be recomputed to provide improved estimates of the vehicle position compared to those computed in real-time. The data can be saved in either binary or ASCII formats, allowing it to be merged with quantitative scientific data, such as bathymetric data. Navproc is written in the Matlab programming language, and is supported under the Windows, Macintosh, and Unix operating systems. To date, Navproc has been employed for post processing data from the DSV Alvin Human Occupied Vehicle (HOV), the Jason II/Medea Remotely Operated Vehicle (ROV), and the ABE, Seabed, and Sentry Autonomous Underwater Vehicles (AUVs).

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.

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.

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 .

Stone Aerospace Testing of an Autonomous Underwater Vehicle

NASA Image and Video Library

2008-06-21

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

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.

Controllable Buoys and Networked Buoy Systems

NASA Technical Reports Server (NTRS)

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

2017-01-01

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

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

PubMed

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

2017-01-24

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

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

NASA Astrophysics Data System (ADS)

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

2017-01-01

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

ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2013-01-01

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

Trajectory-based visual localization in underwater surveying missions.

PubMed

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

2015-01-14

We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF), which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures) between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF). Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates.

Progressively Communicating Rich Telemetry from Autonomous Underwater Vehicles via Relays

DTIC Science & Technology

2012-06-01

wireless sensor networks using an autonomous underwater vehicle. In Robotics and...communication over multiple kilometers. In addition to wireless com- munication methods , the recently developed Nereus[12] vehicle at WHOI spools out...A P T U R E M e ss a g e s P ro ce ss / T h re a d M a n a g e m e n t C o n fi g u ra ti o n P a rs in g Network Manager Frame Scheduling

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

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

NASA Astrophysics Data System (ADS)

Wang, Xinping; Dang, Jianjun

2016-12-01

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

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.

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…

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

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 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

Eruptive and tectonic history of the Endeavour Segment, Juan de Fuca Ridge, based on AUV mapping data and lava flow ages

USGS Publications Warehouse

Clague, David A.; Dreyer, Brian M; Paduan, Jennifer B; Martin, Julie F; Caress, David W; Gillespie, James B.; Kelley, Deborah S; Thomas, Hans; Portner, Ryan A; Delaney, John R; Guilderson, Thomas P.; McGann, Mary L.

2014-01-01

High-resolution bathymetric surveys from autonomous underwater vehicles ABE and D. Allan B. were merged to create a coregistered map of 71.7 km2 of the Endeavour Segment of the Juan de Fuca Ridge. Radiocarbon dating of foraminifera in cores from three dives of remotely operated vehicle Doc Ricketts provide minimum eruption ages for 40 lava flows that are combined with the bathymetric data to outline the eruptive and tectonic history. The ages range from Modern to 10,700 marine-calibrated years before present (yr BP). During a robust magmatic phase from >10,700 yr BP to ~4300 yr BP, flows erupted from an axial high and many flowed >5 km down the flanks; some partly buried adjacent valleys. Axial magma chambers (AMCs) may have been wider than today to supply dike intrusions over a 2 km wide axial zone. Summit Seamount formed by ~4770 yr BP and was subsequently dismembered during a period of extension with little volcanism starting ~4300 yr BP. This tectonic phase with only rare volcanic eruptions lasted until ~2300 yr BP and may have resulted in near-solidification of the AMCs. The axial graben formed by crustal extension during this period of low magmatic activity. Infrequent eruptions occurred on the flanks between 2620–1760 yr BP and within the axial graben since ~1750 yr BP. This most recent phase of limited volcanic and intense hydrothermal activity that began ~2300 yr BP defines a hydrothermal phase of ridge development that coincides with the present-day 1 km wide AMCs and overlying hydrothermal vent fields.

New Techniques for Hydrothermal Exploration: In Situ Chemical Sensors on AUVs - Preliminary Results From the Lau Basin

NASA Astrophysics Data System (ADS)

German, C. R.; Connelly, D. P.; Prien, R. D.; Yoerger, D.; Jakuba, M.; Bradley, A.; Shank, T. J.; Edmonds, H. N.; Langmuir, C. H.

2004-12-01

Less than one quarter of the global ridge-crest has yet received even cursory investigation for the presence or absence of hydrothermal activity. To improve exploration efficiency, particularly at high latitudes, new methodologies independent of tethered vehicles are required. To that end, we have begun the use of in situ chemical sensors allied to the increasing capabilities of autonomous underwater vehicles. Here, we present first results from our most recent efforts aboard the second R2K cruise to the Lau Basin (C.Langmuir, PI; Autumn 2004) to (a) map non-buoyant hydrothermal plumes, (b) intercept buoyant hydrothermal plumes and (c) locate and image novel hydrothermal fields on the seafloor. The AUV used for this work is ABE and the sensors deployed are direct extensions of the in situ Fe/Mn sensor deployed previously on SOC's AUTOSUB to investigate seasonally-reducing waters in Loch Etive, NW Scotland. Each in situ instrument comprises an electronics package that contains a tattletale control system with a flash memory card for on-board logging and a chemical manifold, consisting of a series of valves, pumps and a colorimetric cell. Analysis of iron is enabled by the determination of the coloured complex formed between iron II and ferrozine, manganese uses the colour change of PAN in the presence of reduced manganese. The system includes capacity for switching between sample, blank and two on-board samples for "in flight" calibrations with blanks and standards held in medical bags, outside of the pressure-balanced manifold, to attain in situ water-column temperatures. An in-line filter prevents large particle clogging and detection limits for both iron II and manganese II are ca.2nM.

Magnetic exploration of a low-temperature ultramafic-hosted hydrothermal site (Lost City, 30°N, MAR)

NASA Astrophysics Data System (ADS)

Szitkar, Florent; Tivey, Maurice A.; Kelley, Deborah S.; Karson, Jeffrey A.; Früh-Green, Gretchen L.; Denny, Alden R.

2017-03-01

A 2003 high-resolution magnetic survey conducted by the Autonomous Underwater Vehicle ABE over the low-temperature, ultramafic-hosted hydrothermal field Lost City reveals a weak positive magnetic anomaly. This observation is in direct contrast to recent observations of strong positive magnetic anomalies documented over the high-temperature ultramafic-hosted hydrothermal vents fields Rainbow and Ashadze, which indicates that temperature may control the production of magnetization at these sites. The Lost City survey provides a unique opportunity to study a field that is, to date, one of a kind, and is an end member of ultramafic-hosted hydrothermal systems. Our results highlight the key contribution of temperature on magnetite production resulting from serpentinization reactions. Whereas high temperature promotes significant production and partitioning of iron into magnetite, low temperature favors iron partitioning into various alteration phases, resulting in a magnetite-poor rock. Moreover, the distribution of magnetic anomalies confirms results of a previous geological survey indicating the progressive migration of hydrothermal activity upslope. These discoveries contribute to the results of 25 yrs of magnetic exploration of a wide range of hydrothermal sites, from low- to high-temperature and from basalt- to ultramafic-hosted, and thereby validate using high-resolution magnetics as a crucial parameter for locating and characterizing hydrothermal sites hosting unique chemosynthetic-based ecosystems and potentially mineral-rich deposits.

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

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

NASA Astrophysics Data System (ADS)

Zhou, Zhi

2017-12-01

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

A Recovery System for Unmanned Underwater Vehicles

DTIC Science & Technology

2017-09-28

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

Hydrothermal Exploration at the Chile Triple Junction - ABE's last adventure?

NASA Astrophysics Data System (ADS)

German, C. R.; Shank, T. M.; Lilley, M. D.; Lupton, J. E.; Blackman, D. K.; Brown, K. M.; Baumberger, T.; Früh-Green, G.; Greene, R.; Saito, M. A.; Sylva, S.; Nakamura, K.; Stanway, J.; Yoerger, D. R.; Levin, L. A.; Thurber, A. R.; Sellanes, J.; Mella, M.; Muñoz, J.; Diaz-Naveas, J. L.; Inspire Science Team

2010-12-01

In February and March 2010 we conducted preliminary exploration for hydrothermal plume signals along the East Chile Rise where it intersects the continental margin at the Chile Triple Junction (CTJ). This work was conducted as one component of our larger NOAA-OE funded INSPIRE project (Investigation of South Pacific Reducing Environments) aboard RV Melville cruise MV 1003 (PI: Andrew Thurber, Scripps) with all shiptime funded through an award of the State of California to Andrew Thurber and his co-PI's. Additional support came from the Census of Marine Life (ChEss and CoMarge projects). At sea, we conducted a series of CTD-rosette and ABE autonomous underwater vehicle operations to prospect for and determine the nature of any seafloor venting at, or adjacent to, the point where the the East Chile Rise subducts beneath the continental margin. Evidence from in situ sensing (optical backscatter, Eh) and water column analyses of dissolved CH4, δ3He and TDFe/TDMn concentrations document the presence of two discrete sites of venting, one right at the triple junction and the other a further 10km along axis, north of the Triple Junction, but still within the southernmost segment of the East Chile Rise. From an intercomparison of the abundance of different chemical signals we can intercompare likely characteristics of these differet source sites and also differentiate between them and the high methane concentrations released from cold seep sites further north along the Chile Margin, both with the CTJ region and also at the Concepcion Methane Seep Area (CMSA). This multi-disciplinary and international collaboration - involving scientists from Chile, the USA, Europe and Japan - can serve as an excellent and exciting launchpoint for wide-ranging future investigations of the Chile Triple Junction area - the only place on Earth where an oceanic spreading center is being actively subducted beneath a continent and also the only place on Earth where all known forms of deep-sea chemically-reducing ecosystem (hydrothermal vents, cold seeps, oxygen minimum zones and large organic falls) have the potential to co-exist.

Modelling cephalopod-inspired pulsed-jet locomotion for underwater soft robots.

PubMed

Renda, F; Giorgio-Serchi, F; Boyer, F; Laschi, C

2015-09-28

Cephalopods (i.e., octopuses and squids) are being looked upon as a source of inspiration for the development of unmanned underwater vehicles. One kind of cephalopod-inspired soft-bodied vehicle developed by the authors entails a hollow, elastic shell capable of performing a routine of recursive ingestion and expulsion of discrete slugs of fluids which enable the vehicle to propel itself in water. The vehicle performances were found to depend largely on the elastic response of the shell to the actuation cycle, thus motivating the development of a coupled propulsion-elastodynamics model of such vehicles. The model is developed and validated against a set of experimental results performed with the existing cephalopod-inspired prototypes. A metric of the efficiency of the propulsion routine which accounts for the elastic energy contribution during the ingestion/expulsion phases of the actuation is formulated. Demonstration on the use of this model to estimate the efficiency of the propulsion routine for various pulsation frequencies and for different morphologies of the vehicles are provided. This metric of efficiency, employed in association with the present elastodynamics model, provides a useful tool for performing a priori energetic analysis which encompass both the design specifications and the actuation pattern of this new kind of underwater vehicle.

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.

Passive Bottom Loss Estimation Using Compact Arrays and Autonomous Underwater Vehicles

DTIC Science & Technology

2015-09-30

advances in the technology of autonomous underwater vehicles ( AUV ), make it now possible to envision an efficient, cost effective survey tool for seabed...characterization composed of a short array mounted on an AUV . While AUV mounting would require arrays of length presumably below 2m, the passive...frequency range indicated above, the poor angular resolution of the short arrays required in AUV deployment causes an underestimation of the loss

Autonomous Underwater Vehicle Navigation

DTIC Science & Technology

2008-02-01

three standard deviations are ignored as indicated by the × marker. 25 7. REFERENCES [1] R. G. Brown and P. Y. C. Hwang , Introduction to Random Signals...autonomous underwater vehicle with six degrees of freedom. We approach this problem using an error state formulation of the Kalman filter. Integration...each position fix, but is this ad-hoc method optimal? Here, we present an approach using an error state formulation of the Kalman filter to provide an

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

NASA Astrophysics Data System (ADS)

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

2012-09-01

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

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

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2017-04-26

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

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.

Autonomous Planning and Replanning for Mine-Sweeping Unmanned Underwater Vehicles

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.

2010-01-01

This software generates high-quality plans for carrying out mine-sweeping activities under resource constraints. The autonomous planning and replanning system for unmanned underwater vehicles (UUVs) takes as input a set of prioritized mine-sweep regions, and a specification of available UUV resources including available battery energy, data storage, and time available for accomplishing the mission. Mine-sweep areas vary in location, size of area to be swept, and importance of the region. The planner also works with a model of the UUV, as well as a model of the power consumption of the vehicle when idle and when moving.

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.

Navy Virginia (SSN-774) Class Attack Submarine Procurement: Background and Issues for Congress

DTIC Science & Technology

2016-02-12

Tomahawk cruise missiles or other payloads, such as large-diameter unmanned underwater vehicles (UUVs). The Navy’s FY2016 30-year SSN procurement plan, if...again on a smaller scale than possible with the SSGNs);  covert offensive and defensive mine warfare;  anti-submarine warfare (ASW); and  anti...Tomahawk cruise missiles or other payloads, such as large-diameter unmanned underwater vehicles (UUVs). 17 The four additional launch tubes in the

Data-Gathering Scheme Using AUVs in Large-Scale Underwater Sensor Networks: A Multihop Approach

PubMed Central

Khan, Jawaad Ullah; Cho, Ho-Shin

2016-01-01

In this paper, we propose a data-gathering scheme for hierarchical underwater sensor networks, where multiple Autonomous Underwater Vehicles (AUVs) are deployed over large-scale coverage areas. The deployed AUVs constitute an intermittently connected multihop network through inter-AUV synchronization (in this paper, synchronization means an interconnection between nodes for communication) for forwarding data to the designated sink. In such a scenario, the performance of the multihop communication depends upon the synchronization among the vehicles. The mobility parameters of the vehicles vary continuously because of the constantly changing underwater currents. The variations in the AUV mobility parameters reduce the inter-AUV synchronization frequency contributing to delays in the multihop communication. The proposed scheme improves the AUV synchronization frequency by permitting neighboring AUVs to share their status information via a pre-selected node called an agent-node at the static layer of the network. We evaluate the proposed scheme in terms of the AUV synchronization frequency, vertical delay (node→AUV), horizontal delay (AUV→AUV), end-to-end delay, and the packet loss ratio. Simulation results show that the proposed scheme significantly reduces the aforementioned delays without the synchronization time-out process employed in conventional works. PMID:27706042

Data-Gathering Scheme Using AUVs in Large-Scale Underwater Sensor Networks: A Multihop Approach.

PubMed

Khan, Jawaad Ullah; Cho, Ho-Shin

2016-09-30

In this paper, we propose a data-gathering scheme for hierarchical underwater sensor networks, where multiple Autonomous Underwater Vehicles (AUVs) are deployed over large-scale coverage areas. The deployed AUVs constitute an intermittently connected multihop network through inter-AUV synchronization (in this paper, synchronization means an interconnection between nodes for communication) for forwarding data to the designated sink. In such a scenario, the performance of the multihop communication depends upon the synchronization among the vehicles. The mobility parameters of the vehicles vary continuously because of the constantly changing underwater currents. The variations in the AUV mobility parameters reduce the inter-AUV synchronization frequency contributing to delays in the multihop communication. The proposed scheme improves the AUV synchronization frequency by permitting neighboring AUVs to share their status information via a pre-selected node called an agent-node at the static layer of the network. We evaluate the proposed scheme in terms of the AUV synchronization frequency, vertical delay (node→AUV), horizontal delay (AUV→AUV), end-to-end delay, and the packet loss ratio. Simulation results show that the proposed scheme significantly reduces the aforementioned delays without the synchronization time-out process employed in conventional works.

Simultaneous Deep-Ocean Operations With Autonomous and Remotely Operated Vehicles

NASA Astrophysics Data System (ADS)

Yoerger, D. R.; Bowen, A. D.; Bradley, A. M.

2005-12-01

The complimentary capabilities of autonomous and remotely vehicles can be obtained more efficiently if two or more vehicles can be deployed simultaneously from a single vessel. Simultaneous operations make better use of ship time and personnel. However, such operations require specific technical capabilities and careful scheduling. We recently demonstrated several key capabilities on the VISIONS05 cruise to the Juan de Fuca Ridge, where the Autonomous Benthic Explorer (ABE) and the ROV Jason 2 were operated simultaneously. The cruise featured complex ROV operations ranging from servicing seismic instruments, water sampling, drilling, and installation of in-situ experiments. The AUV provided detailed near-bottom bathymetry of the Endeavour segment while concurrently providing a cable route survey for a primary Canadian Neptune node. To meet these goals, we had to operate both vehicles at the same time. In previous efforts, we have operated ABE in a coordinated fashion with either the submersible Alvin or Jason 2. But the vehicles were either deployed sequentially or they were operated in separate acoustic transponder nets with the restriction that the vessel recover the AUV within a reasonable period after it reached the surface to avoid loss of the AUV. During the VISIONS05 cruise, we operated both vehicles at the same time and demonstrated several key capabilities to make simultaneous operations more efficient. These include the ability of the AUV to anchor to the seafloor after its batteries were expended or if a fault occurred, allowing complex ROV operations to run to completion without the constraint of retrieving the AUV at a specific time. The anchoring system allowed the vehicle to rest near the seafloor on a short mooring in a low power state. The AUV returned to the surface either through an acoustic command from the vessel or when a preassigned time was reached. We also tested an experimental acoustic beacon system that can allow multiple vehicles to determine their position without interfering with each other.

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.

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.

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.

Aspect-dependent radiated noise analysis of an underway autonomous underwater vehicle.

PubMed

Gebbie, John; Siderius, Martin; Allen, John S

2012-11-01

This paper presents an analysis of the acoustic emissions emitted by an underway REMUS-100 autonomous underwater vehicle (AUV) that were obtained near Honolulu Harbor, HI using a fixed, bottom-mounted horizontal line array (HLA). Spectral analysis, beamforming, and cross-correlation facilitate identification of independent sources of noise originating from the AUV. Fusion of navigational records from the AUV with acoustic data from the HLA allows for an aspect-dependent presentation of calculated source levels of the strongest propulsion tone.

Station Keeping Results for Seabotix vLBV300 Underwater Vehicle near Newport, OR

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

Hollinger, Geoffrey

This data set presents results testing the station keeping abilities of a tethered Seabotix vLBV300 underwater vehicle equipped with an inertial navigation system. These results are from an offshore deployment on April 20, 2016 off the coast of Newport, OR (44.678 degrees N, 124.109 degrees W). During the mission period, the sea state varied between 3 and 4, with an average significant wave height of 1.6 m. The vehicle utilizes an inertial navigation system based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation.

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

NASA Astrophysics Data System (ADS)

Liu, Hanlin; Curet, Oscar

2016-11-01

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

Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs)

DTIC Science & Technology

2007-08-01

An increasing variety of sensors are becoming available for use onboard autonomous vehicles . Given these enhanced sensing capabilities, scientific...and military personnel are interested in exploiting autonomous vehicles for increasingly complex missions. Most of these missions require the vehicle to

Tactical Decision Aids High Bandwidth Links Using Autonomous Vehicles

DTIC Science & Technology

2004-01-01

1 Tactical Decision Aids (High Bandwidth Links Using Autonomous Vehicles ) A. J. Healey, D. P. Horner, Center for Autonomous Underwater Vehicle...SUBTITLE Tactical Decision Aids (High Bandwidth Links Using Autonomous Vehicles ) 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

Convergence in Underwater Swimming Between Nature and Engineering

NASA Astrophysics Data System (ADS)

Bandyopadhyay, Promode R.; Boller, Michael

2004-11-01

We are interested in comparing the hydrodynamic performance of underwater vehicles and swimming animals which are believed to have been optimized via evolution. Cruising and maneuvering are treated separately. Platforms like submarines are primarily cruising vehicles, while torpedoes are dexterous in both. In swimming animals, generally, red muscle is used for cruising while white muscle is used for maneuvering motions. Data from literature is examined comparing shaft/muscle power versus displacement. Experiments also have been carried out with captive mackerel and bluefish that are known to be open water fish and are proficient in both cruising and maneuvering. Their trajectories around obstacles have been recorded and analyzed. Similar figure of eight' maneuvering trajectory data of engineering underwater vehicles have also been analyzed. It is shown that there is convergence between nature and engineering in cruising that extend over eight decades of variation in power and displacement. However, swimming animals are still more proficient in maneuvering, although the gap has been closing of late.

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

Classification of underwater targets from autonomous underwater vehicle sampled bistatic acoustic scattered fields.

PubMed

Fischell, Erin M; Schmidt, Henrik

2015-12-01

One of the long term goals of autonomous underwater vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based sensing, such as sidescan and synthetic aperture sonar, require an expensive payload on each outfitted vehicle and post-processing and/or image interpretation. A vehicle payload and machine learning classification methodology using bistatic angle dependence of target scattering amplitudes between a fixed acoustic source and target has been developed for onboard, fully autonomous classification with lower cost-per-vehicle. To achieve the high-quality, densely sampled three-dimensional (3D) bistatic scattering data required by this research, vehicle sampling behaviors and an acoustic payload for precision timed data acquisition with a 16 element nose array were demonstrated. 3D bistatic scattered field data were collected by an AUV around spherical and cylindrical targets insonified by a 7-9 kHz fixed source. The collected data were compared to simulated scattering models. Classification and confidence estimation were shown for the sphere versus cylinder case on the resulting real and simulated bistatic amplitude data. The final models were used for classification of simulated targets in real time in the LAMSS MOOS-IvP simulation package [M. Benjamin, H. Schmidt, P. Newman, and J. Leonard, J. Field Rob. 27, 834-875 (2010)].

Energy efficiency of acetone, butanol, and ethanol (ABE) recovery by heat-integrated distillation.

PubMed

Grisales Diaz, Victor Hugo; Olivar Tost, Gerard

2018-03-01

Acetone, butanol, and ethanol (ABE) is an alternative biofuel. However, the energy requirement of ABE recovery by distillation is considered elevated (> 15.2 MJ fuel/Kg-ABE), due to the low concentration of ABE from fermentation broths (between 15 and 30 g/l). In this work, to reduce the energy requirements of ABE recovery, four processes of heat-integrated distillation were proposed. The energy requirements and economic evaluations were performed using the fermentation broths of several biocatalysts. Energy requirements of the processes with four distillation columns and three distillation columns were similar (between 7.7 and 11.7 MJ fuel/kg-ABE). Double-effect system (DED) with four columns was the most economical process (0.12-0.16 $/kg-ABE). ABE recovery from dilute solutions by DED achieved energy requirements between 6.1 and 8.7 MJ fuel/kg-ABE. Vapor compression distillation (VCD) reached the lowest energy consumptions (between 4.7 and 7.3 MJ fuel/kg-ABE). Energy requirements for ABE recovery DED and VCD were lower than that for integrated reactors. The energy requirements of ABE production were between 1.3- and 2.0-fold higher than that for alternative biofuels (ethanol or isobutanol). However, the energy efficiency of ABE production was equivalent than that for ethanol and isobutanol (between 0.71 and 0.76) because of hydrogen production in ABE fermentation.

Life-cycle assessment of corn-based butanol as a potential transportation fuel.

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

Wu, M.; Wang, M.; Liu, J.

2007-12-31

Butanol produced from bio-sources (such as corn) could have attractive properties as a transportation fuel. Production of butanol through a fermentation process called acetone-butanol-ethanol (ABE) has been the focus of increasing research and development efforts. Advances in ABE process development in recent years have led to drastic increases in ABE productivity and yields, making butanol production worthy of evaluation for use in motor vehicles. Consequently, chemical/fuel industries have announced their intention to produce butanol from bio-based materials. The purpose of this study is to estimate the potential life-cycle energy and emission effects associated with using bio-butanol as a transportation fuel.more » The study employs a well-to-wheels analysis tool--the Greenhouse Gases, Regulated Emissions and Energy Use in Transportation (GREET) model developed at Argonne National Laboratory--and the Aspen Plus{reg_sign} model developed by AspenTech. The study describes the butanol production from corn, including grain processing, fermentation, gas stripping, distillation, and adsorption for products separation. The Aspen{reg_sign} results that we obtained for the corn-to-butanol production process provide the basis for GREET modeling to estimate life-cycle energy use and greenhouse gas emissions. The GREET model was expanded to simulate the bio-butanol life cycle, from agricultural chemical production to butanol use in motor vehicles. We then compared the results for bio-butanol with those of conventional gasoline. We also analyzed the bio-acetone that is coproduced with bio-butanol as an alternative to petroleum-based acetone. Our study shows that, while the use of corn-based butanol achieves energy benefits and reduces greenhouse gas emissions, the results are affected by the methods used to treat the acetone that is co-produced in butanol plants.« less

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.

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

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

PubMed Central

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

2011-01-01

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

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

PubMed

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

2011-01-01

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

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.

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.

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

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

NASA Astrophysics Data System (ADS)

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

1995-03-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-01-01

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

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.

Develop a General Framework for Estimating Cetacean Density from Data Collected by Slow-Moving Autonomous Ocean Vehicles, Investigating Key Aspects of Survey Design, Data Collection, and Data Analysis

DTIC Science & Technology

2015-09-30

TERM GOALS In this project, which started in April 2015, we focus on cetacean density estimation using autonomous underwater vehicles such as ocean...incorporated into the analysis. The data are from a 2-week deployment in the Quinault Underwater Tracking Range (QUTR) in September 2014 using a single...to prevent and mitigate harm to those species, better comply with the law, and reduce negative public perception of Navy impacts on these species

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.

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.

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

PubMed

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

2016-08-01

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

Heterogeneous Teams of Autonomous Vehicles: Advanced Sensing & Control

DTIC Science & Technology

2009-03-01

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

Measurement and modeling of the acoustic field near an underwater vehicle and implications for acoustic source localization.

PubMed

Lepper, Paul A; D'Spain, Gerald L

2007-08-01

The performance of traditional techniques of passive localization in ocean acoustics such as time-of-arrival (phase differences) and amplitude ratios measured by multiple receivers may be degraded when the receivers are placed on an underwater vehicle due to effects of scattering. However, knowledge of the interference pattern caused by scattering provides a potential enhancement to traditional source localization techniques. Results based on a study using data from a multi-element receiving array mounted on the inner shroud of an autonomous underwater vehicle show that scattering causes the localization ambiguities (side lobes) to decrease in overall level and to move closer to the true source location, thereby improving localization performance, for signals in the frequency band 2-8 kHz. These measurements are compared with numerical modeling results from a two-dimensional time domain finite difference scheme for scattering from two fluid-loaded cylindrical shells. Measured and numerically modeled results are presented for multiple source aspect angles and frequencies. Matched field processing techniques quantify the source localization capabilities for both measurements and numerical modeling output.

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

Code of Federal Regulations, 2010 CFR

2010-10-01

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

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%.

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

PubMed

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

2012-01-01

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

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.

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

NASA Astrophysics Data System (ADS)

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

2016-03-01

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

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

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

PubMed

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

2015-01-16

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

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

PubMed Central

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

2015-01-01

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

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2016-04-15

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

Reaching the Least Educated. 130 Local ABE Directors Tell How. Pennsylvania's Handbook on Recruitment.

ERIC Educational Resources Information Center

Madeira, Eugene L.

Based on the experience of 130 local adult basic education (ABE) directors in Pennsylvania, this guide presents suggestions for recruiting the least educated adults into ABE programs. Following an introduction that defines ABE and examines whose responsibility ABE is, the guide is divided into 12 chapters. Each of the chapters develops one…

Mobility Systems For Robotic Vehicles

NASA Astrophysics Data System (ADS)

Chun, Wendell

1987-02-01

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

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...

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).

Investigations of the Sound Generated by Supercavity Ventilation

DTIC Science & Technology

2009-08-20

2 1.2.2 Supercavitating vehicles . . . . . . . . . . . . . . . . . . . . . . . 3 1.2.3...1.1 Motivation The successful development of high-speed supercavitating underwater vehicles is an im- portant U.S. Navy objective. All aspects of...provide naval researchers with an understanding of the characteristics of the sound generated by the ventilating jets of a supercavitating vehicle

Robust Control of a Platoon of Underwater Autonomous Vehicles

DTIC Science & Technology

2004-01-01

a turn and a swap are the same as for a lawn - mower search. Notice that the lateral distance between each vehicle is defined in the fixed...vehicles with and without cross current disturbances. The waypoints were placed at every 20m to perform a lawn - mower search for the leader, and the

Simulation and experimental research on trans-media vehicle water-entry motion characteristics at low speed.

PubMed

Yang, Jian; Li, Yongli; Feng, Jinfu; Hu, Junhua; Liu, An

2017-01-01

The motion characteristics of trans-media vehicles during the water-entry process were explored in this study in an effort to obtain the optimal water-entry condition of the vehicle for developing a novel, single control strategy integrating underwater non-control and in-air control. A water-entry dynamics model is established by combining the water-entry motion characteristics of the vehicle in uncontrolled conditions at low speed with time-varying parameters (e.g. buoyancy, added mass). A water-entry experiment is designed to confirm the effectiveness of the established model. After that, by comparing the experimental results with the simulated results, the model is further modified to more accurately reflect water-entry motion. The change laws of the vehicle's attitude and position during the water-entry process are also obtained by analyzing the simulation of the modified model under different velocity, angle, and angle of attack conditions. The results presented here have guiding significance for the future realization of reaching the stable underwater navigation state of the vehicle after water-entry process.

System for effecting underwater coupling of optical fiber cables characterized by a novel lateral arm cable capture mechanism

NASA Astrophysics Data System (ADS)

Hillenbrand, Christopher F.

1995-03-01

A submarine trails one fiber optic cable and an undersea vehicle is controlled by this first cable. A missile/torpedo trails a second cable that is to be coupled to the first cable. The second cable has a segment suspended vertically underwater between a buoyant pod and a sea anchor type buoy. The undersea vehicle, or autonomous undersea vehicle, (AUV) hunts for the pod by conventional homing components, and cable capturing arms on the vehicle direct the cable's movement relative to the vehicle into a pod mating position that achieves optical coupling of the two cables. In one embodiment two arms are pivotably mounted to the vehicle's sides so one arm captures the suspended cable segment directing it into a slot so a male socket in the underside of the pod mates with a female socket in the slot. Another embodiment accomplishes the same result with a device in which the arms are formed as the off-shoots of a forked cable pickup device in the nose of the AUV.

A Survey of Research Progress and Development Tendency of Attribute-Based Encryption

PubMed Central

Pang, Liaojun; Yang, Jie; Jiang, Zhengtao

2014-01-01

With the development of cryptography, the attribute-based encryption (ABE) draws widespread attention of the researchers in recent years. The ABE scheme, which belongs to the public key encryption mechanism, takes attributes as public key and associates them with the ciphertext or the user's secret key. It is an efficient way to solve open problems in access control scenarios, for example, how to provide data confidentiality and expressive access control at the same time. In this paper, we survey the basic ABE scheme and its two variants: the key-policy ABE (KP-ABE) scheme and the ciphertext-policy ABE (CP-ABE) scheme. We also pay attention to other researches relating to the ABE schemes, including multiauthority, user/attribute revocation, accountability, and proxy reencryption, with an extensive comparison of their functionality and performance. Finally, possible future works and some conclusions are pointed out. PMID:25101313

Enhancing clostridial acetone-butanol-ethanol (ABE) production and improving fuel properties of ABE-enriched biodiesel by extractive fermentation with biodiesel.

PubMed

Li, Qing; Cai, Hao; Hao, Bo; Zhang, Congling; Yu, Ziniu; Zhou, Shengde; Chenjuan, Liu

2010-12-01

The extractive acetone-butanol-ethanol (ABE) fermentations of Clostridium acetobutylicum were evaluated using biodiesel as the in situ extractant. The biodiesel preferentially extracted butanol, minimized product inhibition, and increased production of butanol (from 11.6 to 16.5 g L⁻¹) and total solvents (from 20.0 to 29.9 g L⁻¹) by 42% and 50%, respectively. The fuel properties of the ABE-enriched biodiesel obtained from the extractive fermentations were analyzed. The key quality indicators of diesel fuel, such as the cetane number (increased from 48 to 54) and the cold filter plugging point (decreased from 5.8 to 0.2 °C), were significantly improved for the ABE-enriched biodiesel. Thus, the application of biodiesel as the extractant for ABE fermentation would increase ABE production, bypass the energy intensive butanol recovery process, and result in an ABE-enriched biodiesel with improved fuel properties.

Simulating Candidate Missions for a Novel Glider Unmanned Underwater Vehicle

DTIC Science & Technology

2007-03-01

MOTIVATION ................................................................................................2 D . OBJECTIVES...7 D . PROGRAMMING CONSTRUCTS.............................................................10 1. JAVA...21 D . DISKIT

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.

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

PubMed

Klein, Itzik; Diamant, Roee

2015-10-22

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

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

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

PubMed Central

Klein, Itzik; Diamant, Roee

2015-01-01

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

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 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.

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

PubMed

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

2018-04-16

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

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.

Magnetic gradiometer for underwater detection applications

NASA Astrophysics Data System (ADS)

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

2006-05-01

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

Rediscovery and Exploration of Magic Mountain, Explorer Ridge, NE Pacific

NASA Astrophysics Data System (ADS)

Embley, R. W.

2002-12-01

A two-part exploration program at Explorer Ridge, the northernmost spreading segment of the NE Pacific spreading centers, was conducted in two phases during June to August of 2002. A robust hydrothermal system (Magic Mountain) was found in this area in the early 1980s by the Canadian PISCES IV submersible, but its dimensions and geologic relationships were not well determined due to limited dives and poor navigation. The first part of the 2002 exploration program utilized an EM300 multibeam sonar on T. G. Thompson, the autonomous vehicle ABE, and a CTD/rosette system to map the seafloor and conduct hydrothermal plume surveys. While ABE conducted detailed surveys in the area where the most intense hydrothermal plume was found on the initial CTD survey, the T. G. Thompson conducted additional multibeam surveys, CTD casts and CTD tow-yos on the other second order segments up to 60 km away. This increased the efficiency of the expedition by at least 30%. After 12 days on site, a multibeam map was completed of the entire segment, the spatial distribution and character of the hydrothermal plumes were mapped out and a section of seafloor measuring 2 x 5.5 km was mapped in detail with ABE. The ABE used two sonar systems, a previously proven Imagenex pencil beam sonar, and, for the first time, a multibeam sonar (SM2000). In addition to the high-resolution bathymetry (1 m grid-cell size resolution for the SM2000), ABE collected temperature, optical backscatter, eH redox potential, and magnetic field data. Using the CTD and ABE data, a major hydrothermal system was easily located on the seafloor during the second part of the exploration program using the ROPOS remotely operated vehicle. The Magic Mountain hydrothermal system is located almost entirely on the eastern constructional shoulder of the ridge eastward of the rim of the eastern boundary fault of the axial valley. This is in contrast to most other hydrothermal systems on intermediate rate spreading ridges, which are either centered within the neovolcanic zone or associated with a boundary fault. The active venting occurs over at least 400 m along axis and is mostly concentrated in clusters of high temperature chimneys, each about 50 m in diameter. Two of these clusters have a basal sulfide mound. There is obvious structural control of many of the vents - many lie along or in line with distinct fissures or small faults and the entire field appears to have developed within a shallow graben formed on the ridge flank. Most of the chimneys consist of relatively friable sulfates (barite/anhydrite) that vent clear fluid at up to about 290°C. Several larger active chimneys consist primarily of sulfide minerals that emit gray smoke with temperatures as high as 312§ C. Biologic communities were primarily associated with the more stable sulfide structures. The mixture of proven technology used from a capable surface vessel during the 2002 Explorer Ridge program, including a cutting edge deep AUV and a large ROV, provided the tools to explore a little-known site at a full range of scales in a short amount of time and collect invaluable samples for research. These initial data sets from the 2002 exploration program set the stage for more detailed studies of this unique hydrothermal system in the future.

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.

Communication and Control for Fleets of Autonomous Underwater Vehicles

DTIC Science & Technology

2006-10-30

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

Simulation and experimental research on trans-media vehicle water-entry motion characteristics at low speed

PubMed Central

Yang, Jian; Feng, Jinfu; Hu, Junhua; Liu, An

2017-01-01

The motion characteristics of trans-media vehicles during the water-entry process were explored in this study in an effort to obtain the optimal water-entry condition of the vehicle for developing a novel, single control strategy integrating underwater non-control and in-air control. A water-entry dynamics model is established by combining the water-entry motion characteristics of the vehicle in uncontrolled conditions at low speed with time-varying parameters (e.g. buoyancy, added mass). A water-entry experiment is designed to confirm the effectiveness of the established model. After that, by comparing the experimental results with the simulated results, the model is further modified to more accurately reflect water-entry motion. The change laws of the vehicle’s attitude and position during the water-entry process are also obtained by analyzing the simulation of the modified model under different velocity, angle, and angle of attack conditions. The results presented here have guiding significance for the future realization of reaching the stable underwater navigation state of the vehicle after water-entry process. PMID:28558012

Simulating an underwater vehicle self-correcting guidance system with Simulink

NASA Astrophysics Data System (ADS)

Fan, Hui; Zhang, Yu-Wen; Li, Wen-Zhe

2008-09-01

Underwater vehicles have already adopted self-correcting directional guidance algorithms based on multi-beam self-guidance systems, not waiting for research to determine the most effective algorithms. The main challenges facing research on these guidance systems have been effective modeling of the guidance algorithm and a means to analyze the simulation results. A simulation structure based on Simulink that dealt with both issues was proposed. Initially, a mathematical model of relative motion between the vehicle and the target was developed, which was then encapsulated as a subsystem. Next, steps for constructing a model of the self-correcting guidance algorithm based on the Stateflow module were examined in detail. Finally, a 3-D model of the vehicle and target was created in VRML, and by processing mathematical results, the model was shown moving in a visual environment. This process gives more intuitive results for analyzing the simulation. The results showed that the simulation structure performs well. The simulation program heavily used modularization and encapsulation, so has broad applicability to simulations of other dynamic systems.

The AstroBiology Explorer (ABE) MIDEX Mission: Using Infrared Spectroscopy to Identify Organic Molecules in Space

NASA Technical Reports Server (NTRS)

Sandford, S. A.

2002-01-01

The AstroBiology Explorer (ABE) mission is one of four selected for Phase A Concept Study in NASA's current call for MIDEX class missions. ABE is a cooled space telescope equipped with spectrographs covering the 2.5-20 micron spectral range. The ABE mission is devoted to the detection and identification of organic and related molecular species in space. ABE is currently under study at NASA's Ames Research Center in collaboration with Ball Aerospace.

The ABE Learner: Health, Learning Ability, Language and Communication.

ERIC Educational Resources Information Center

Glass, J. Conrad, Jr.; Hoffman, Lee McGraw

Intended to provide the teacher of adult basic education (ABE) with information about ABE learners, this handbook gives a picture of the more important characteristics which may influence the learning style and ability of ABE students. Practical suggestions are offered as to how the teacher may account for these characteristics in the…

Investigation of New Subsystem Concepts to Improve the Operational and Hydrodynamic Capabilities of Advanced Amphibian Vehicles

DTIC Science & Technology

1980-06-01

Appendix C), only the following three offered even a slight hope that they might be useful to amphibian developments: the Amphibious Air Track, page A...be associated with future amphibians. Within the past year, the University of Michigan College of Engineering has established the Office for the...Land Interface: Claude A. Blackmon, Beryle G. Stinson Jack K. Stoll AD 881 357 Engineering Design Handbook; Wheeled Amphbians: No author listed AD

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Vehicle Guidance and Control Along Circular Trajectories

DTIC Science & Technology

1992-09-01

the line of sight, while Chism [2] studied a cross track error based control law. Hawkinson [3] extended the results to the multiple input case when...Thesis, Naval Postgraduate School, Monterey, California, June. 2. Chism , S., (1990) "Robust path tracking of autonomous underwater vehicles using sliding

An Architecture for Cooperative Localization in Underwater Acoustic Networks

DTIC Science & Technology

2015-10-24

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

Retaining Reluctant Learners in ABE through the Student Intake Period.

ERIC Educational Resources Information Center

Pennsylvania State Univ., University Park. Inst. for the Study of Adult Literacy.

A project sought to determine if reluctant learners, about 30 percent of the adult basic education (ABE) population, can be retained in ABE classes through accommodations in the program structure and more effective teacher/counselor intervention. The project was based on earlier research findings that most ABE learners who drop out do so in the…

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

DTIC Science & Technology

2014-01-01

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

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

PubMed

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

2018-07-01

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

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

PubMed

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

2018-03-30

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

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

PubMed Central

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

2018-01-01

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

Optical Delineation of Benthic Habitat Using an Autonomous Underwater Vehicle

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

Moline, Mark A.; Woodruff, Dana L.; Evans, Nathan R.

To improve understanding and characterization of coastal regions, there has been an increasing emphasis on autonomous systems that can sample the ocean on relevant scales. Autonomous underwater vehicles (AUVs) with active propulsion are especially well suited for studies of the coastal ocean because they are able to provide systematic and near-synoptic spatial observations. With this capability, science users are beginning to integrate sensor suits for a broad range of specific and often novel applications. Here, the relatively mature Remote Environmental Monitoring Units (REMUS) AUV system is configured with multi-spectral radiometers to delineate benthic habitat in Sequim Bay, WA. The vehiclemore » was deployed in a grid pattern along 5 km of coastline in depths from 30 to less than 2 meters. Similar to satellite and/or aerial remote sensing, the bandwidth ratios from the downward looking radiance sensor and upward looking irradiance sensor were used to identify beds of eelgrass on sub-meter scales. Strong correlations were found between the optical reflectance signals and the geo-referenced in situ data collected with underwater video within the grid. Results demonstrate the ability of AUVs to map littoral habitats at high resolution and highlight the overall utility of the REMUS vehicle for nearshore oceanography.« less

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.

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.

The Adult Basic Education (ABE) Teacher Development Project (July 1, 1999 to June 30, 2000). Evaluation Report.

ERIC Educational Resources Information Center

Zane, Lawrence

This paper presents an evaluation of the Adult Basic Education (ABE) Teacher Development project. The ABE program was designed by the Hawaii Department of Education to meet the needs of educationally disadvantaged adults. Hawaii's community schools serve approximately 40,000 adults annually in the ABE program. Many of them are also enrolled in…

Does Prison-Based Adult Basic Education Improve Postrelease Outcomes for Male Prisoners in Florida?

PubMed Central

Cho, Rosa Minhyo; Tyler, John H.

2014-01-01

The authors use administrative data from Florida to determine the extent to which prison-based adult basic education (ABE) improves inmate’s postrelease labor market outcomes, such as earnings and employment. Using two nonexperimental comparison groups, the authors find evidence that ABE participation is associated with higher postrelease earnings and employment rates, especially for minorities. The authors find that the relationship is the largest for ABE participants who had uninterrupted ABE instruction and for those who received other education services. However, the results do not find any positive effects of ABE participation on reducing recidivism. PMID:25580020

Low-Pressure Capability of NASA Glenn's 10- by 10-Foot Supersonic Wind Tunnel Expanded

NASA Technical Reports Server (NTRS)

Roeder, James W.

2004-01-01

Extremely low dynamic pressure Q conditions are desired for space-related research including the testing of parachute designs and other decelerator concepts for future vehicles landing on Mars. Therefore, the low-pressure operating capability of the Abe Silverstein 10- by 10-foot Supersonic Wind Tunnel (10 10 SWT) at NASA Glenn Research Center was recently increased. Successful checkout tests performed in the fall of 2002 showed significantly reduced minimum operating pressures in the wind tunnel.

Episodic dike swarms inferred from near-bottom magnetic anomaly maps at the southern East Pacific Rise

NASA Astrophysics Data System (ADS)

Shah, Anjana K.; Cormier, Marie-Helene; Ryan, William B. F.; Jin, Wen; Sinton, John; Bergmanis, Eric; Carlut, Julie; Bradley, Al; Yoerger, Dana

2003-02-01

Near-bottom, high-resolution magnetic field data gathered at the southern East Pacific Rise near 17°28'S, 18°14'S, and 18°37'S, using the autonomous underwater vehicle Autonomous Benthic Explorer (ABE) echo various geologic structures, including void space within lobate caverns, recent pillow mounds, and hydrothermal vent activity. This study is focused on a magnetic field low extending several kilometers along axis, coincident with a trough created by the draining of a lava lake during a highly effusive fissure eruption at 17°28'S. Similar lows are observed at three other drained lava lake troughs, including one which is at least 1800 years old, residing 400 m away from the present-day axis. We attribute these lows to the presence of shallow dike swarms. The degree to which other geologic features may contribute to the lows is constrained using geologic, geophysical, and geochemical observations and forward modeling. Compositional analyses of Alvin samples at 17°28'S do not support Fe or Ti variations as a primary source. Hypotheses requiring hydrothermal alteration and porosity variations are both inconsistent with geologic observations and near-bottom gravity data analysis from similar areas. Previous mappings between paleointensity variations and the observed magnetic field over distances of several kilometers from the axis suggest that such variations do not create the field low. The dominant source of the magnetization low is most likely the presence of a 100-200 m wide region of shallow dikes which are poorly magnetized relative to extrusives, or a region heated above magnetic blocking or Curie temperatures by intrusions during the most recent eruption (though the latter interpretation cannot explain the low at the fossil trough). In the first case, this extrusive thinning implies a change in eruptive behavior over the last 750-1500 years given the local spreading rate. For the latter case, thermal models suggest the anomaly had to have been created by a dike swarms totaling at least 45 m width during the most recent eruption(s), corresponding to ˜300 years of plate spreading. Models indicate that the source of the low is centered slightly east of the axial trough. This offset suggests that the axis has been progressively migrating westward over the past millennium, consistent with other studies covering greater length and timescales. Westward migration provides an explanation for the preferential emplacement of recent lavas flows west of the axis, evident in ABE bathymetry and submersible observations.

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance.

PubMed

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-08-20

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route.

Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance

PubMed Central

Xiang, Xianbo; Yu, Caoyang; Niu, Zemin; Zhang, Qin

2016-01-01

The changes of the seabed environment caused by a natural disaster or human activities dramatically affect the life span of the subsea buried cable. It is essential to track the cable route in order to inspect the condition of the buried cable and protect its surviving seabed environment. The magnetic sensor is instrumental in guiding the remotely-operated vehicle (ROV) to track and inspect the buried cable underseas. In this paper, a novel framework integrating the underwater cable localization method with the magnetic guidance and control algorithm is proposed, in order to enable the automatic cable tracking by a three-degrees-of-freedom (3-DOF) under-actuated autonomous underwater vehicle (AUV) without human beings in the loop. The work relies on the passive magnetic sensing method to localize the subsea cable by using two tri-axial magnetometers, and a new analytic formulation is presented to compute the heading deviation, horizontal offset and buried depth of the cable. With the magnetic localization, the cable tracking and inspection mission is elaborately constructed as a straight-line path following control problem in the horizontal plane. A dedicated magnetic line-of-sight (LOS) guidance is built based on the relative geometric relationship between the vehicle and the cable, and the feedback linearizing technique is adopted to design a simplified cable tracking controller considering the side-slip effects, such that the under-actuated vehicle is able to move towards the subsea cable and then inspect its buried environment, which further guides the environmental protection of the cable by setting prohibited fishing/anchoring zones and increasing the buried depth. Finally, numerical simulation results show the effectiveness of the proposed magnetic guidance and control algorithm on the envisioned subsea cable tracking and the potential protection of the seabed environment along the cable route. PMID:27556465

Production of Butanol (A Biofuel) from Agricultural Residues: Part I - Use of Barley Straw Hydrolysate

USDA-ARS?s Scientific Manuscript database

Fermentation of dilute sulfuric acid barley straw hydrolyzate (BSH; undiluted/untreated) by Clostridium beijerinckii P260 resulted in the production of 7.09 gL**-1 ABE (acetone butanol ethanol; AB or ABE), an ABE yield of 0.33, and productivity of 0.10 gL**-1h**-1. This level of ABE is much less th...

Creating In-Sync Environments for Children with Sensory Issues

ERIC Educational Resources Information Center

Humphries, Jane; Rains, Kari

2012-01-01

When Abe joined the program as an infant, the teachers in the classroom began to notice issues that made caring for Abe just a little more sensitive. As Abe grew into a mobile toddler, he would cover his ears when classroom noise got loud, cry when other children touched him, and often hide under tables to get away. Luckily for Abe, the staff and…

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.

Reactor Power for Large Displacement Autonomous Underwater Vehicles

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

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

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

Enhancement of lipase catalyzed-fatty acid methyl esters production from waste activated bleaching earth by nullification of lipase inhibitors.

PubMed

Dwiarti, Lies; Ali, Ehsan; Park, Enoch Y

2010-01-01

This study sought to identify inhibitory factors of lipase catalyzed-fatty acid methyl esters (FAME) production from waste activated bleaching earth (wABE). During the vegetable oil refinery process, activated bleaching earth (ABE) is used for removing the impure compounds, but adsorbs vegetable oil up to 35-40% as on a weight basis, and then the wABE is discarded as waste material. The impurities were extracted from the wABE with methanol and evaluated by infra-red (IR) spectroscopy, which revealed that some were chlorophyll-plant pigments. The chlorophylls inhibited the lipase during FAME conversion from wABE. The inhibition by a mixture of chlorophyll a and b was found to be competitive. The inhibition of the enzymatic hydrolysis of waste vegetable oil contained in wABE by chlorophyll a alone was competitive, while the inhibition by chlorophyll b alone was non-competitive. Furthermore, the addition of a small amount of alkali nullified this inhibitory effect and accelerated the FAME production rate. When 0.9% KOH (w/w wABE) was added to the transesterification reaction with only 0.05% lipase (w/w wABE), the maximum FAME production rate improved 120-fold, as compared to that without the addition of KOH. The alkali-combined lipase significantly enhanced the FAME production rate from wABE, in spite of the presence of the plant pigments, and even when a lower amount of lipase was used as a catalyst.

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2017-08-05

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

Autonomous underwater vehicle adaptive path planning for target classification

NASA Astrophysics Data System (ADS)

Edwards, Joseph R.; Schmidt, Henrik

2002-11-01

Autonomous underwater vehicles (AUVs) are being rapidly developed to carry sensors into the sea in ways that have previously not been possible. The full use of the vehicles, however, is still not near realization due to lack of the true vehicle autonomy that is promised in the label (AUV). AUVs today primarily attempt to follow as closely as possible a preplanned trajectory. The key to increasing the autonomy of the AUV is to provide the vehicle with a means to make decisions based on its sensor receptions. The current work examines the use of active sonar returns from mine-like objects (MLOs) as a basis for sensor-based adaptive path planning, where the path planning objective is to discriminate between real mines and rocks. Once a target is detected in the mine hunting phase, the mine classification phase is initialized with a derivative cost function to emphasize signal differences and enhance classification capability. The AUV moves adaptively to minimize the cost function. The algorithm is verified using at-sea data derived from the joint MIT/SACLANTCEN GOATS experiments and advanced acoustic simulation using SEALAB. The mission oriented operating system (MOOS) real-time simulator is then used to test the onboard implementation of the algorithm.

Implementing a Low-Cost Long-Range Unmanned Underwater Vehicle: The SeaDiver Glider

DTIC Science & Technology

2007-01-09

25 2. Position estimation.............................................................................26 3. Angular ...calculation velocity..............................................................27 4. Angular calculation position...25 Figure 14. Angular Positions.............................................................................................27

USE OF A LONG ENDURANCE SOLAR POWERED AUTONOMOUS UNDERWATER VEHICLE (SAUV II) TO MEASURE DISSOLVED OXYGEN CONCENTRATIONS IN GREENWICH BAY, RHODE ISLAND, USA

EPA Science Inventory

As hypoxic water masses increase worldwide in duration and extent due to coastal eutrophication, advanced technology water quality monitoring by autonomous vehicles can increase our capability to document and respond to these environmental perturbations. We evaluated the use of a...

A mission executor for an autonomous underwater vehicle

NASA Technical Reports Server (NTRS)

Lee, Yuh-Jeng; Wilkinson, Paul

1991-01-01

The Naval Postgraduate School has been conducting research into the design and testing of an Autonomous Underwater Vehicle (AUV). One facet of this research is to incrementally design a software architecture and implement it in an advanced testbed, the AUV II. As part of the high level architecture, a Mission Executor is being constructed using CLIPS (C Language Integrated Production System) version 5.0. The Mission Executor is an expert system designed to oversee progress from the AUV launch point to a goal area and back to the origin. It is expected that the executor will make informed decisions about the mission, taking into account the navigational path, the vehicle subsystem health, and the sea environment, as well as the specific mission profile which is downloaded from an offboard mission planner. Heuristics for maneuvering, avoidance of uncharted obstacles, waypoint navigation, and reaction to emergencies (essentially the expert knowledge of a submarine captain) are required. Many of the vehicle subsystems are modeled as objects using the CLIPS Object Oriented Language (COOL) embedded in CLIPS 5.0. Also, truth maintenance is applied to the knowledge base to keep configurations updated.

Hydrodynamics of an Under-actuated Plesiosaur-inspired robot

NASA Astrophysics Data System (ADS)

Weymouth, Gabriel; Devereux, Kate; Copsey, Nick; Muscutt, Luke; Downes, Jon; Ganapathisubramani, Bharath

2017-11-01

Underwater vehicles are increasingly important tools for use in science and engineering, but maneuverability and mission life seem to be mutually exclusive goals. Inspired by the unique swimming method of the plesiosaur, which used four flippers of essentially equal size and musculature, we analyzed designed and built an underwater vehicle with the potential for both gliding and active maneuvering modes. Using 2D simulations and strip theory approximation to account for the changing arc length along the flipper span, we studied the wake and forces on the foils and determined the optimum flipper geometry, spacing and kinematics. To reduce mechanical and control complexity and cost, we next studied the impact of under-actuated kinematics. Even after optimizing pivot location and range of motion, leaving the foils free to pitch was found to reduce efficiency by approximately 50%. Based on these specifications, the vehicle was built and tested over a range of free swimming and maneuvering cases using motion tracking equipment. The excellent maneuverability of the under-actuated vehicle validates the concept, and the new platform should enable further detailed experimental measurements in the future.

Efficient production of acetone-butanol-ethanol (ABE) from cassava by a fermentation-pervaporation coupled process.

PubMed

Li, Jing; Chen, Xiangrong; Qi, Benkun; Luo, Jianquan; Zhang, Yuming; Su, Yi; Wan, Yinhua

2014-10-01

Production of acetone-butanol-ethanol (ABE) from cassava was investigated with a fermentation-pervaporation (PV) coupled process. ABE products were in situ removed from fermentation broth to alleviate the toxicity of solvent to the Clostridium acetobutylicum DP217. Compared to the batch fermentation without PV, glucose consumption rate and solvent productivity increased by 15% and 21%, respectively, in batch fermentation-PV coupled process, while in continuous fermentation-PV coupled process running for 304 h, the substrate consumption rate, solvent productivity and yield increased by 58%, 81% and 15%, reaching 2.02 g/Lh, 0.76 g/Lh and 0.38 g/g, respectively. Silicalite-1 filled polydimethylsiloxane (PDMS)/polyacrylonitrile (PAN) membrane modules ensured media recycle without significant fouling, steadily generating a highly concentrated ABE solution containing 201.8 g/L ABE with 122.4 g/L butanol. After phase separation, a final product containing 574.3g/L ABE with 501.1g/L butanol was obtained. Therefore, the fermentation-PV coupled process has the potential to decrease the cost in ABE production. Copyright © 2014 Elsevier Ltd. All rights reserved.

Efficient generation of mouse models of human diseases via ABE- and BE-mediated base editing.

PubMed

Liu, Zhen; Lu, Zongyang; Yang, Guang; Huang, Shisheng; Li, Guanglei; Feng, Songjie; Liu, Yajing; Li, Jianan; Yu, Wenxia; Zhang, Yu; Chen, Jia; Sun, Qiang; Huang, Xingxu

2018-06-14

A recently developed adenine base editor (ABE) efficiently converts A to G and is potentially useful for clinical applications. However, its precision and efficiency in vivo remains to be addressed. Here we achieve A-to-G conversion in vivo at frequencies up to 100% by microinjection of ABE mRNA together with sgRNAs. We then generate mouse models harboring clinically relevant mutations at Ar and Hoxd13, which recapitulates respective clinical defects. Furthermore, we achieve both C-to-T and A-to-G base editing by using a combination of ABE and SaBE3, thus creating mouse model harboring multiple mutations. We also demonstrate the specificity of ABE by deep sequencing and whole-genome sequencing (WGS). Taken together, ABE is highly efficient and precise in vivo, making it feasible to model and potentially cure relevant genetic diseases.

Kinetic Study of Acetone-Butanol-Ethanol Fermentation in Continuous Culture

PubMed Central

Buehler, Edward A.; Mesbah, Ali

2016-01-01

Acetone-butanol-ethanol (ABE) fermentation by clostridia has shown promise for industrial-scale production of biobutanol. However, the continuous ABE fermentation suffers from low product yield, titer, and productivity. Systems analysis of the continuous ABE fermentation will offer insights into its metabolic pathway as well as into optimal fermentation design and operation. For the ABE fermentation in continuous Clostridium acetobutylicum culture, this paper presents a kinetic model that includes the effects of key metabolic intermediates and enzymes as well as culture pH, product inhibition, and glucose inhibition. The kinetic model is used for elucidating the behavior of the ABE fermentation under the conditions that are most relevant to continuous cultures. To this end, dynamic sensitivity analysis is performed to systematically investigate the effects of culture conditions, reaction kinetics, and enzymes on the dynamics of the ABE production pathway. The analysis provides guidance for future metabolic engineering and fermentation optimization studies. PMID:27486663

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

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.

Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility

PubMed Central

Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

2016-01-01

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability. PMID:27007373

Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility.

PubMed

Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

2016-03-19

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability.

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.

Integrated in situ gas stripping-salting-out process for high-titer acetone-butanol-ethanol production from sweet sorghum bagasse.

PubMed

Wen, Hao; Chen, Huidong; Cai, Di; Gong, Peiwen; Zhang, Tao; Wu, Zhichao; Gao, Heting; Li, Zhuangzhuang; Qin, Peiyong; Tan, Tianwei

2018-01-01

The production of biobutanol from renewable biomass resources is attractive. The energy-intensive separation process and low-titer solvents production are the key constraints on the economy-feasible acetone-butanol-ethanol (ABE) production by fermentation. To decrease energy consumption and increase the solvents concentration, a novel two-stage gas stripping-salting-out system was established for effective ABE separation from the fermentation broth using sweet sorghum bagasse as feedstock. The ABE condensate (143.6 g/L) after gas stripping, the first-stage separation, was recovered and introduced to salting-out process as the second-stage. K 4 P 2 O 7 and K 2 HPO 4 were used, respectively. The effect of saturated salt solution temperature on final ABE concentration was also investigated. The results showed high ABE recovery (99.32%) and ABE concentration (747.58 g/L) when adding saturated K 4 P 2 O 7 solution at 323.15 K and 3.0 of salting-out factor. On this condition, the energy requirement of the downstream distillation process was 3.72 MJ/kg of ABE. High-titer cellulosic ABE production was separated from the fermentation broth by the novel two-stage gas stripping-salting-out process. The process was effective, which reduced the downstream process energy requirement significantly.

Butanol production from food waste: a novel process for producing sustainable energy and reducing environmental pollution.

PubMed

Huang, Haibo; Singh, Vijay; Qureshi, Nasib

2015-01-01

Waste is currently a major problem in the world, both in the developing and the developed countries. Efficient utilization of food waste for fuel and chemical production can positively influence both the energy and environmental sustainability. This study investigated using food waste to produce acetone, butanol, and ethanol (ABE) by Clostridium beijerinckii P260. In control fermentation, 40.5 g/L of glucose (initial glucose 56.7 g/L) was used to produce 14.2 g/L of ABE with a fermentation productivity and a yield of 0.22 g/L/h and 0.35 g/g, respectively. In a similar fermentation 81 g/L of food waste (containing equivalent glucose of 60.1 g/L) was used as substrate, and the culture produced 18.9 g/L ABE with a high ABE productivity of 0.46 g/L/h and a yield of 0.38 g/g. Fermentation of food waste at higher concentrations (129, 181 and 228 g/L) did not remarkably increase ABE production but resulted in high residual glucose due to the culture butanol inhibition. An integrated vacuum stripping system was designed and applied to recover butanol from the fermentation broth simultaneously to relieve the culture butanol inhibition, thereby allowing the fermentation of food waste at high concentrations. ABE fermentation integrated with vacuum stripping successfully recovered the ABE from the fermentation broth and controlled the ABE concentrations below 10 g/L during fermentation when 129 g/L food waste was used. The ABE productivity with vacuum fermentation was 0.49 g/L/h, which was 109 % higher than the control fermentation (glucose based). More importantly, ABE vacuum recovery and fermentation allowed near-complete utilization of the sugars (~98 %) in the broth. In these studies it was demonstrated that food waste is a superior feedstock for producing butanol using Clostridium beijerinckii. Compared to costly glucose, ABE fermentation of food waste has several advantages including lower feedstock cost, higher productivity, and less residual sugars.

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

NASA Astrophysics Data System (ADS)

Yan, Zhe-Ping; Hou, Shu-Ping

2005-06-01

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

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

PubMed

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

2015-11-01

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

Shape optimization of an autonomous underwater vehicle with a ducted propeller using computational fluid dynamics analysis

NASA Astrophysics Data System (ADS)

Joung, Tae-Hwan; Sammut, Karl; He, Fangpo; Lee, Seung-Keon

2012-03-01

Autonomous Underwater Vehicles (AUVs) provide a useful means of collecting detailed oceano-graphic information. The hull resistance of an AUV is an important factor in determining the power requirements and range of the vehicle. This paper describes a procedure using Computational Fluid Dynamics (CFD) for determining the hull resistance of an AUV under development, for a given propeller rotation speed and within a given range of AUV velocities. The CFD analysis results reveal the distribution of the hydrodynamic values (velocity, pressure, etc.) around the AUV hull and its ducted propeller. The paper then proceeds to present a methodology for optimizing the AUV profile in order to reduce the total resistance. This paper demonstrates that shape optimization of conceptual designs is possible using the commercial CFD package contained in Ansys™. The optimum design to minimize the drag force of the AUV was identified for a given object function and a set of constrained design parameters

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…

Characterization of ultra-fine grained aluminum produced by accumulative back extrusion (ABE)

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

Alihosseini, H., E-mail: hamid.alihossieni@gmail.com; Materials Science and Engineering Department, Engineering School, Amirkabir University, Tehran; Faraji, G.

2012-06-15

In the present work, the microstructural evolutions and microhardness of AA1050 subjected to one, two and three passes of accumulative back extrusion (ABE) were investigated. The microstructural evolutions were characterized using transmission electron microscopy. The results revealed that applying three passes of accumulative back extrusion led to significant grain refinement. The initial grain size of 47 {mu}m was refined to the grains of 500 nm after three passes of ABE. Increasing the number of passes resulted in more decrease in grain size, better microstructure homogeneity and increase in the microhardness. The cross-section of ABEed specimen consisted of two different zones:more » (i) shear deformation zone, and (ii) normal deformation zone. The microhardness measurements indicated that the hardness increased from the initial value of 31 Hv to 67 Hv, verifying the significant microstructural refinement via accumulative back extrusion. - Highlights: Black-Right-Pointing-Pointer A significant grain refinement can be achieved in AA1050, Al alloy by applying ABE. Black-Right-Pointing-Pointer Microstructural homogeneity of ABEed samples increased by increasing the number of ABE cycles. Black-Right-Pointing-Pointer A substantial increase in the hardness, from 31 Hv to 67 Hv, was recorded.« less

The mechanism of hypoglycemic action of the semi-purified fractions of Averrhoa bilimbi in streptozotocin-diabetic rats.

PubMed

Pushparaj, P N; Tan, B K; Tan, C H

2001-12-21

In the present study, we have examined the possible mechanism of the hypoglycemic action of the semi-purified fractions of an ethanolic extract of Averrhoa bilimbi Linn (Oxalidaceae) leaves (ABe) in streptozotocin-diabetic male Sprague-Dawley (SD) rats. The ABe was partitioned with water and butanol to yield a butanol-soluble fraction (BuF) and a water-soluble fraction (AF). The AF was further partitioned with ethyl acetate and hexane to obtain ethyl acetate (EF) and hexane (HF) soluble fractions. The hypoglycemic property of each fraction was assessed by the oral glucose tolerance test (OGTT) at a dose of 125-mg/kg-body weight in streptozotocin (STZ)-diabetic rats (STZ 60 mg/kg i.p.). Fractions AF, BuF and the reference drug metformin (500 mg/kg body weight), produced significant blood glucose-lowering effect in the diabetic rats when compared to the vehicle (distilled water). In the long-term study, the diabetic rats were randomly divided into 4 groups and treated orally by gavage with vehicle, AF (125 mg/kg body weight), BuF (125 mg/kg body weight), and metformin (500 mg/kg body weight) respectively twice a day for 14 days. On day 7 and day 14, AF and BuF, like the reference drug, metformin, lowered the fasting blood glucose concentration significantly (P < 0.05) when compared with the vehicle. The serum insulin level was significantly increased in the AF-treated rats only on day 14 when compared to that in the vehicle-treated rats on day zero (P < 0.05). The serum insulin level in BuF-treated rats was also significantly higher (P < 0.05) on both day 7 and day 14 compared to that on day zero. Hepatic glucose-6-phosphatase activity was significantly lower (P<0.05) in AF- and metformin-treated groups, but not in BuF-treated groups, compared to that in vehicle-treated group. However, there was no change in hepatic glycogen content in AF-, BuF- and metformin-treated group compared to the vehicle-treated group. These results indicate that AF is more potent than BuF in the amelioration of hyperglycemia in STZ-diabetic rats and is a potential source for the isolation of new orally active agent(s) for anti-diabetic therapy.

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.

Dolphin Sounds-Inspired Covert Underwater Acoustic Communication and Micro-Modem

PubMed Central

Qiao, Gang; Liu, Songzuo; Bilal, Muhammad

2017-01-01

A novel portable underwater acoustic modem is proposed in this paper for covert communication between divers or underwater unmanned vehicles (UUVs) and divers at a short distance. For the first time, real dolphin calls are used in the modem to realize biologically inspired Covert Underwater Acoustic Communication (CUAC). A variety of dolphin whistles and clicks stored in an SD card inside the modem helps to realize different biomimetic CUAC algorithms based on the specified covert scenario. In this paper, the information is conveyed during the time interval between dolphin clicks. TMS320C6748 and TLV320AIC3106 are the core processors used in our unique modem for fast digital processing and interconnection with other terminals or sensors. Simulation results show that the bit error rate (BER) of the CUAC algorithm is less than 10−5 when the signal to noise ratio is over ‒5 dB. The modem was tested in an underwater pool, and a data rate of 27.1 bits per second at a distance of 10 m was achieved. PMID:29068363

Distant touch hydrodynamic imaging with an artificial lateral line.

PubMed

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

2006-12-12

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

Perceptions of Program Impact: ABE/GED in Maryland.

ERIC Educational Resources Information Center

Walker, Sharon M.; And Others

A study was conducted among adults enrolled in adult basic education (ABE) General Educational Development (GED) courses to determine their perceptions of the impact of the ABE/GED programs on their employment/economic position, skill and knowledge acquisition, community involvement, attitudinal changes, personal relationships, and continuing…

Rural Resources.

ERIC Educational Resources Information Center

Novak, Kathy

Designed as a resource for rural adult basic education (ABE) program planners, this guidebook describes model linkage strategies between ABE and job placement as well as ABE and job training services that are targeted to rural Americans. The following topics are addressed in the guide: key linkage strategies (community advisory councils,…

Adult Basic Education Teacher Trainers: Their Characteristics, Attitudes, and Values.

ERIC Educational Resources Information Center

Nave, Wallace King

This study examined relationships between adult basic education (ABE) teacher characteristics, major value orientations, and attitudes toward the ABE program. Subjects were participating in a three week national teacher trainer institute. Independent variables included age, sex, race, educational background, ABE experience, and residence. Data…

Exploring Titan with Autonomous, Buoyancy Driven Gliders

NASA Astrophysics Data System (ADS)

Morrow, M. T.; Woolsey, C. A.; Hagerman, G. M.

Buoyancy driven underwater gliders are highly efficient winged underwater vehicles which locomote by modifying their internal shape. The concept, which is already well-proven in Earth's oceans, is also an appealing technology for remote terrain exploration and environmental sampling on worlds with dense atmospheres. Because of their high efficiency and their gentle, vertical take-off and landing capability, buoyancy driven gliders might perform long duration, global mapping tasks as well as light-duty, local sampling tasks. Moreover, a sufficiently strong gradient in the planetary boundary layer may enable the vehicles to perform dynamic soaring, achieving even greater locomotive efficiency. Shape Change Actuated, Low Altitude Robotic Soarers (SCALARS) are an appealing alternative to more conventional vehicle technology for exploring planets with dense atmospheres. SCALARS are buoyancy driven atmospheric gliders with a twin-hulled, inboard wing configuration. The inboard wing generates lift, which propels the vehicle forward. Symmetric changes in mass distribution induce gravitational pitch moments that provide longitudinal control. Asymmetric changes in mass distribution induce twist in the inboard wing that provides directional control. The vehicle is actuated solely by internal shape change; there are no external seals and no exposed moving parts, save for the inflatable buoyancy ballonets. Preliminary sizing analysis and dynamic modeling indicate the viability of using SCALARS to map the surface of Titan and to investigate features of interest.

Technology Advances Enabling a New Class of Hybrid Underwater Vehicles

NASA Astrophysics Data System (ADS)

Bowen, A.

2016-02-01

Both tethered (ROV) and untethered (AUV) systems have proven to be highly valuable tools for a range of application undersea. Certain enabling technologies coupled with recent advances in robotic systems make it possible to consider supplementing many of the functions performed by these platforms with appropriately designed semi-autonomous vehicles that may be less expensive operate than traditional deep-water ROVs. Such vehicles can be deployed from smaller ships and may lead to sea-floor resident systems able to perform a range of interventions under direct human control when required. These systems are effectively a hybrid cross between ROV and AUV vehicles and poised to enable an important new class of undersea vehicle. It is now possible to radically redefine the meaning of the words "tethered vehicle" to include virtual tethering via acoustic and optical means or through the use of small diameter re-useable tethers, providing not power but only high bandwidth communications. The recent developments at Woods Hole Oceanographic Institution (WHOI), paves the way for a derivative vehicle type able to perform a range of interventions in deep water. Such battery-powered, hybrid-tethered vehicles will be able to perform tasks that might otherwise require a conventional ROV. These functions will be possible from less complex ships because of a greatly reduced dependence on large, heavy tethers and associated vehicle handling equipment. In certain applications, such vehicles can be resident within subsea facilities, able to provide operators with near instant access when required. Several key emerging technologies and capabilities make such a vehicle possible. Advances in both acoustic and optical "wireless" underwater communications and mico-tethers as pioneered by the HROV Nereus offer the potential to transform ROV type operations and thus offer planners and designers an important new dimension to subsea robotic intervention

Hardware-in-the-loop simulation for undersea vehicle applications

NASA Astrophysics Data System (ADS)

Kelf, Michael A.

2001-08-01

Torpedoes and other Unmanned Undersea Vehicles (UUV) are employed by submarines and surface combatants, as well as aircraft, for undersea warfare. These vehicles are autonomous devices whose guidance systems rival the complexity of the most sophisticated air combat missiles. The tactical environment for undersea warfare is a difficult one in terms of target detection,k classification, and pursuit because of the physics of underwater sounds. Both hardware-in-the-loop and all-digital simulations have become vital tools in developing and evaluating undersea weapon and vehicle guidance performance in the undersea environment.

Urban Resources.

ERIC Educational Resources Information Center

Novak, Kathy

Designed as a resource for urban adult basic education (ABE) program planners, this guidebook describes model linkage strategies between ABE and job placement as well as ABE and job training services that are targeted to urban Americans. The following topics are covered in the guide: linkage strategies (the meaning of the term linkages, community…

Action Implications in Adult Basic Education Programs.

ERIC Educational Resources Information Center

Ohio State Dept. of Education, Columbus.

Eight articles on adult basic education are presented. The articles adapted from 1971 workshop presentations are: Action Implications for ABE Directors by Alan Knox; ABE Budget Development, by Donald G. Butcher; Competent ABE Instructors, by William D. Dowling; Interview Techniques and Training, by Norman Kagan; Reading: The Basic in Adult Basic…

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

USGS Publications Warehouse

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

2009-01-01

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

Supercavitating Projectile Tracking System and Method

DTIC Science & Technology

2009-12-30

Distribution is unlimited 20100104106 Attorney Docket No. 96681 SUPERCAVITATING PROJECTILE TRACKING SYSTEM AND METHOD STATEMENT OF GOVERNMENT...underwater track or path 14 of a supercavitating vehicle under surface 16 of a body of water. In this embodiment, passive acoustic or pressure...transducers 12 are utilized to measure a pressure field produced by a moving supercavitating vehicle. The present invention provides a low-cost, reusable

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.

Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Woodward, Gail

2011-01-01

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

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

NASA Astrophysics Data System (ADS)

Armstrong, Roy A.; Singh, Hanumant

2006-09-01

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

A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments

PubMed Central

Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

2018-01-01

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle’s irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal. PMID:29393915

A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments.

PubMed

Yan, Zheping; Li, Jiyun; Zhang, Gengshi; Wu, Yi

2018-02-02

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle's irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal.

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

PubMed

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

2016-11-16

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

Determining Prevalence of Acute Bilirubin Encephalopathy in Developing Countries

ClinicalTrials.gov

2015-11-11

Demonstrate BIND II Score of >=5, is Valid for Detecting Moderate to Severe ABE in Neonates <14 Days Old.; Demonstrate Community-BIND Instrument, a Modified BIND II, is a Valid and Reliable Tool for Detecting ABE.; Demonstrate That Community-BIND Can be Used for Acquiring Population-based Prevalence of ABE in the Community.

Preventing Dropouts in Adult Basic Education. Research to Practice Series.

ERIC Educational Resources Information Center

Seaman, Don F.

Reasons given by Adult Basic Education (ABE) students for leaving the program are interpreted and discussed, and implications for the ABE program are suggested. The reasons are classified into four categories: environment, physiology, wants and goals, and past experiences. The chief reasons given for dropping out in relation to the ABE program…

Strategies for Success. A Study on ABE Student Retention.

ERIC Educational Resources Information Center

Jackson-Mayer, Sheila; And Others

This handbook is intended as a practical guide for adult basic education (ABE) directors, counselors, and faculty in an effort to increase ABE student retention. Following a literature review and description of the research problem, part I contains data obtained from the four major surveys administered during a project that investigated the causes…

Getting the Word Out: Communication Tips for Adult Basic & Literacy Education Professionals.

ERIC Educational Resources Information Center

Ohio Literacy Network, Columbus.

This document presents tips to help Ohio's adult basic education (ABE) and literacy education professionals publicize new and existing ABE and literacy education programs. Chapter 1 discusses the following topics related to using newspapers to publicize ABE and literacy programs: publication policies of daily and weekly newspapers; news releases,…

Use of Authentic Assessment with ABE Students.

ERIC Educational Resources Information Center

Gall, Mary Louise; And Others

This report describes a project that developed a formal process and the accompanying instruments for authentic assessment of the academic and life skills of adult basic education (ABE) students. The assessment was used to assess the skills of 50 ABE students. The students and teacher evaluated the work that was done, the results were compiled, a…

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

PubMed

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

2016-03-11

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

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

PubMed Central

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

2016-01-01

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

Underwater drag-reducing effect of superhydrophobic submarine model.

PubMed

Zhang, Songsong; Ouyang, Xiao; Li, Jie; Gao, Shan; Han, Shihui; Liu, Lianhe; Wei, Hao

2015-01-01

To address the debates on whether superhydrophobic coatings can reduce fluid drag for underwater motions, we have achieved an underwater drag-reducing effect of large superhydrophobic submarine models with a feature size of 3.5 cm × 3.7 cm × 33.0 cm through sailing experiments of submarine models, modified with and without superhydrophobic surface under similar power supply and experimental conditions. The drag reduction rate reached as high as 15%. The fabrication of superhydrophobic coatings on a large area of submarine model surfaces was realized by immobilizing hydrophobic copper particles onto a precross-linked polydimethylsiloxane (PDMS) surface. The pre-cross-linking time was optimized at 20 min to obtain good superhydrophobicity for the underwater drag reduction effect by investigating the effect of pre-cross-linking on surface wettability and water adhesive property. We do believe that superhydrophobic coatings may provide a promising application in the field of drag-reducing of vehicle motions on or under the water surface.

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

NASA Astrophysics Data System (ADS)

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

2011-03-01

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

Underwater 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.

Ocean Research Enabled by Underwater Gliders.

PubMed

Rudnick, Daniel L

2016-01-01

Underwater gliders are autonomous underwater vehicles that profile vertically by changing their buoyancy and use wings to move horizontally. Gliders are useful for sustained observation at relatively fine horizontal scales, especially to connect the coastal and open ocean. In this review, research topics are grouped by time and length scales. Large-scale topics addressed include the eastern and western boundary currents and the regional effects of climate variability. The accessibility of horizontal length scales of order 1 km allows investigation of mesoscale and submesoscale features such as fronts and eddies. Because the submesoscales dominate vertical fluxes in the ocean, gliders have found application in studies of biogeochemical processes. At the finest scales, gliders have been used to measure internal waves and turbulent dissipation. The review summarizes gliders' achievements to date and assesses their future in ocean observation.

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

DTIC Science & Technology

2014-05-09

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

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

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...

Cooperative Localization for Autonomous Underwater Vehicles

DTIC Science & Technology

2009-02-01

Another source of interference is the presence of background noise . Surface waves and marine mammals as well as the noise caused by the vehicle’s...opportunity to reach into other areas of ocean sciences by contributing to marine biology research. Her dedication along with the support from Mark Johnson...Algorithms 15 List of Acronyms 19 1 Introduction 23 1.1 Autonomous Marine Vehicles . . . . . . . . . . . . . . . . . . . . . . 25 1.1.1 Platforms

3D Photo Mosaicing of Tagiri Shallow Vent Field by an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Maki, Toshihiro; Kondo, Hayato; Ura, Tamaki; Sakamaki, Takashi; Mizushima, Hayato; Yanagisawa, Masao

Although underwater visual observation is an ideal method for detailed survey of seafloors, it is currently a costly process that requires the use of Remotely Operated Vehicles (ROVs) or Human Occupied Vehicles (HOVs), and can cover only a limited area. This paper proposes an innovative method to navigate an autonomous underwater vehicle (AUV) to create both 2D and 3D photo mosaics of seafloors with high positioning accuracy without using any vision-based matching. The vehicle finds vertical pole-like acoustic reflectors to use as positioning landmarks using a profiling sonar based on a SLAM (Simultaneous Localization And Mapping) technique. These reflectors can be either artificial or natural objects, and so the method can be applied to shallow vent fields where conventional acoustic positioning is difficult, since bubble plumes can also be used as landmarks as well as artificial reflectors. Path-planning is performed in real-time based on the positions and types of landmarks so as to navigate safely and stably using landmarks of different types (artificial reflector or bubble plume) found at arbitrary times and locations. Terrain tracker switches control reference between depth and altitude from the seafloor based on a local map of hazardous area created in real-time using onboard perceptual sensors, in order to follow rugged terrains at an altitude of 1 to 2 meters, as this range is ideal for visual observation. The method was implemented in the AUV Tri-Dog 1 and experiments were carried out at Tagiri vent field, Kagoshima Bay in Japan. The AUV succeeded in fully autonomous observation for more than 160 minutes to create a photo mosaic with an area larger than 600 square meters, which revealed the spatial distribution of detailed features such as tube-worm colonies, bubble plumes and bacteria mats. A fine bathymetry of the same area was also created using a light-section ranging system mounted on the vehicle. Finally a 3 D representation of the environment was created by merging the visual and bathymetry data.

Effect of cellulosic sugar degradation products (furfural and hydroxymethylfurfural) on acetone-butanol-ethanol (ABE) fermentation using Clostridium beijerinckii P260

USDA-ARS?s Scientific Manuscript database

Studies were performed to identify chemicals present in wheat straw hydrolysate (WSH) that enhance acetone butanol ethanol (ABE) productivity. These chemicals were identified as furfural and hydroxymethyl furfural (HMF). Control experiment resulted in the production of 21.09-21.66 gL**-1 ABE with a ...

Recruitment Issues and Strategies for Adults Who Are Not Currently Participating in Literacy and Adult Basic Education (ABE) Programs.

ERIC Educational Resources Information Center

Kohring, Aaron

Adult basic education (ABE) and literacy programs have used many different strategies and tools to recruit new students. A small sampling of Tennessee ABE programs shows the more effective recruitment strategies are word-of-mouth referrals; newspaper advertisements and articles; fliers; brochures; posters, radio messages, and public service…

The Adult Education Act 1964-1979: A Political History.

ERIC Educational Resources Information Center

DeSanctis, Vincent

The Adult Education Act, which provides federal funds for adult basic education (ABE) programs, has undergone many changes since enactment in 1964. Passage of ABE legislation as Title 11B under the Office of Economic Opportunity Act was a political solution for adult educators who had sought unsuccessfully for years for federal ABE legislation.…

Dynamic Indicators of Basic Early Literacy Skills: An Effective Tool to Assess Adult Literacy Students?

ERIC Educational Resources Information Center

Binder, Katherine S.; Snyder, Melissa A.; Ardoin, Scott P.; Morris, Robin K.

2011-01-01

This study examined the reliability and validity of administering Dynamic Indicators of Basic Early Literacy Skills (DIBELS) to adult basic education (ABE) students. Ninety ABE participants were administered DIBELS measures, the Woodcock-Johnson III Broad Reading (WJ III BR) measures, and four orthographic ability tests. Since ABE students are a…

Reasons for Nonparticipation among Iowa Adults Who Are Eligible for ABE.

ERIC Educational Resources Information Center

Beder, Hal

A study was conducted in Iowa to determine why adults eligible for adult basic education (ABE) frequently fail to participate. The study was conducted on a representative sample of 129 persons who had not completed high school, were aged 18 or older, and had not attended ABE classes, through open-ended questions refined into telephone interview…

Learning Difficulties and the Power of Labelling in ABE. Mendip Papers MP071.

ERIC Educational Resources Information Center

Bergin, Sue; Johnson, Andy

A study examined recent developments in adult basic education (ABE) in Great Britain in relation to students with learning difficulties and issues about the ways in which programs seemed to be moving. Information was collected from ABE staff and students in case study sites in northwest England from the following sources: semistructured interviews…

Policy to Performance: State ABE Transition Systems Report. Transitioning Adults to Opportunity

ERIC Educational Resources Information Center

Alamprese, Judith A.

2012-01-01

The U.S. Department of Education's Policy to Performance project was funded in 2009 to build the capacity of state adult basic education (ABE) staff to develop and implement policies and practices that would support an ABE transition system. Policy to Performance states were selected though a competitive process. State adult education directors…

Acetone-butanol-ethanol production from substandard and surplus dates by Egyptian native Clostridium strains.

PubMed

Abd-Alla, Mohamed Hemida; Zohri, Abdel-Naser Ahmed; El-Enany, Abdel-Wahab Elsadek; Ali, Shimaa Mohamed

2015-04-01

One hundred and seven mesophilic isolates of Clostridium were isolated from agricultural soils cultivated with different plants in Assuit Governorate, Egypt. Eighty isolates (out of 107) showed the ability to produce ABE (Acetone, butanol and ethanol) on T6 medium ranging from 0.036 to 31.89 g/L. The highest numbers of ABE producing isolates were obtained from soil samples of potato contributing 27 isolates, followed by 18 isolates from wheat and 10 isolates from onion. On the other hand, there were three native isolates that produced ABE more than those produced by the reference isolate Clostridium acetobutylicum ATCC 824 (11.543 g/L). The three isolates were identified based on phenotypic and gene encoding 16S rRNA as Clostridium beijerinckii ASU10 (KF372577), Clostridium chauvoei ASU55 (KF372580) and Clostridium roseum ASU58 (KF372581). The highest ABE level from substandard and surplus dates was produced by C. beijerinckii ASU10 (24.07 g/L) comprising butanol 67.15% (16.16 g/L), acetone 30.73% (7.4 g/L) and ethanol 2.12% (0.51 g/L), while C. roseum ASU58 and C. chauvoei ASU55 produced ABE contributing 20.20 and 13.79 g/L, respectively. ABE production by C. acetobutylicum ATCC 824 was 15.01 g/L. This study proved that the native strains C. beijerinckii ASU10 and C. roseum ASU58 have high competitive efficacy on ABE production from economical substrate as substandard and surplus date fruits. Additionally, using this substrate without any nutritional components is considered to be a commercial substrate for desired ABE production. Copyright © 2014 Elsevier Ltd. All rights reserved.

Automated Point Cloud Correspondence Detection for Underwater Mapping Using AUVs

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Hybrid parameter identification of a multi-modal underwater soft robot.

PubMed

Giorgio-Serchi, F; Arienti, A; Corucci, F; Giorelli, M; Laschi, C

2017-02-28

We introduce an octopus-inspired, underwater, soft-bodied robot capable of performing waterborne pulsed-jet propulsion and benthic legged-locomotion. This vehicle consists for as much as 80% of its volume of rubber-like materials so that structural flexibility is exploited as a key element during both modes of locomotion. The high bodily softness, the unconventional morphology and the non-stationary nature of its propulsion mechanisms require dynamic characterization of this robot to be dealt with by ad hoc techniques. We perform parameter identification by resorting to a hybrid optimization approach where the characterization of the dual ambulatory strategies of the robot is performed in a segregated fashion. A least squares-based method coupled with a genetic algorithm-based method is employed for the swimming and the crawling phases, respectively. The outcomes bring evidence that compartmentalized parameter identification represents a viable protocol for multi-modal vehicles characterization. However, the use of static thrust recordings as the input signal in the dynamic determination of shape-changing self-propelled vehicles is responsible for the critical underestimation of the quadratic drag coefficient.

Acetone-butanol-ethanol from sweet sorghum juice by an immobilized fermentation-gas stripping integration process.

PubMed

Cai, Di; Wang, Yong; Chen, Changjing; Qin, Peiyong; Miao, Qi; Zhang, Changwei; Li, Ping; Tan, Tianwei

2016-07-01

In this study, sweet sorghum juice (SSJ) was used as the substrate in a simplified ABE fermentation-gas stripping integration process without nutrients supplementation. The sweet sorghum bagasse (SSB) after squeezing the fermentable juice was used as the immobilized carrier. The results indicated that the productivity of ABE fermentation process was improved by gas stripping integration. A total 24g/L of ABE solvents was obtained from 59.6g/L of initial sugar after 80h of fermentation with gas stripping. Then, long-term of fed-batch fermentation with continuous gas stripping was further performed. 112.9g/L of butanol, 44.1g/L of acetone, 9.5g/L of ethanol (total 166.5g/L of ABE) was produced in overall 312h of fermentation. At the same time, concentrated ABE product was obtained in the condensate of gas stripping. Copyright © 2016 Elsevier Ltd. All rights reserved.

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.

An underwater optical wireless communication network

NASA Astrophysics Data System (ADS)

Arnon, Shlomi

2009-08-01

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

Underwater optical wireless communication network

NASA Astrophysics Data System (ADS)

Arnon, Shlomi

2010-01-01

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

Real-time visual mosaicking and navigation on the seafloor

NASA Astrophysics Data System (ADS)

Richmond, Kristof

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

Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints

PubMed Central

Campos, Ricard; Gracias, Nuno; Ridao, Pere

2016-01-01

Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project. PMID:26999144

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

NASA Astrophysics Data System (ADS)

Rout, Raja; Subudhi, Bidyadhar

2017-01-01

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

Robust Huber-based iterated divided difference filtering with application to cooperative localization of autonomous underwater vehicles.

PubMed

Gao, Wei; Liu, Yalong; Xu, Bo

2014-12-19

A new algorithm called Huber-based iterated divided difference filtering (HIDDF) is derived and applied to cooperative localization of autonomous underwater vehicles (AUVs) supported by a single surface leader. The position states are estimated using acoustic range measurements relative to the leader, in which some disadvantages such as weak observability, large initial error and contaminated measurements with outliers are inherent. By integrating both merits of iterated divided difference filtering (IDDF) and Huber's M-estimation methodology, the new filtering method could not only achieve more accurate estimation and faster convergence contrast to standard divided difference filtering (DDF) in conditions of weak observability and large initial error, but also exhibit robustness with respect to outlier measurements, for which the standard IDDF would exhibit severe degradation in estimation accuracy. The correctness as well as validity of the algorithm is demonstrated through experiment results.

New Skills for a New Economy: Adult Education's Key Role in Sustaining Economic Growth and Expanding Opportunity.

ERIC Educational Resources Information Center

Comings, John; Sum, Andrew; Uvin, Johan

The role of adult education in sustaining economic growth and expanding opportunity in Massachusetts was explored. The analysis focused on the new basic skills needed for a new economy, groups lacking the new basic skills, the demand for adult basic education (ABE), funding for ABE, building basic skills through adult education, ABE's costs and…

ABE Outreach: Teacher, Recruiter, Counselor. A Handbook for Adult Basic Education Teacher/Recruiter/Counselors. A Guide for Program Managers. Revised.

ERIC Educational Resources Information Center

Singer, Elizabeth W.

Designed for program managers and teacher/recruiter/counselors (TRC's), this handbook provides information on Brevard Community College's Adult Basic Education (ABE) Outreach program. First, background information on the ABE/TRC concept is presented, identifying the major functions of the TRC as counseling through door-to-door contact, conducting…

Adult Basic Education and Self-Esteem: Practical Strategies for Addressing Self-Esteem Problems among Basic Skills Students.

ERIC Educational Resources Information Center

Kirstein, Kurt D.

The strategies used by practicing adult basic education (ABE) teachers to retain students with poor self-esteem were examined through an Internet survey that was sent to 115 ABE instructors at community colleges in Washington. The survey, which contained questions about the prevalence of poor self-esteem among ABE dropouts, specific behaviors…

Biobutanol production from brewer's spent grain hydrolysates by Clostridium beijerinckii.

PubMed

Plaza, Pedro E; Gallego-Morales, Luis Javier; Peñuela-Vásquez, Mariana; Lucas, Susana; García-Cubero, M Teresa; Coca, Mónica

2017-11-01

Brewer's spent grain (BSG) is a promising feedstock for ABE fermentation. Sulfuric acid pretreatment of BSG at pH 1, 121°C and different solid loadings (5-15% w/w) was investigated. Enzymatic hydrolysis and ABE fermentation by Clostridium beijerinckii DSM 6422 of non-washed and washed pretreated BSG were performed to compare monosaccharide release and butanol production. Pretreatment at 15% w/w BSG resulted in higher availability of sugars in both the enzymatic hydrolysates and pretreatment liquid, and overall yields of 75gbutanol/kg BSG and 95gABE/kg BSG were obtained. When the enzymatic hydrolysate from the washed pretreated BSG was fermented, butanol (6.0±0.5g/L) and ABE (7.4±1.0g/L) concentrations were lower compared with 7.5±0.6g/L butanol and 10.0±0.8g/L ABE from a control. The fermentation of the liquid released in the pretreatment at 15% w/w resulted in a butanol production of 6.6±0.8g/L with a total ABE of 8.6±1.3g/L after overliming. Copyright © 2017 Elsevier Ltd. All rights reserved.

Distributed flow estimation and closed-loop control of an underwater vehicle with a multi-modal artificial lateral line.

PubMed

DeVries, Levi; Lagor, Francis D; Lei, Hong; Tan, Xiaobo; Paley, Derek A

2015-03-25

Bio-inspired sensing modalities enhance the ability of autonomous vehicles to characterize and respond to their environment. This paper concerns the lateral line of cartilaginous and bony fish, which is sensitive to fluid motion and allows fish to sense oncoming flow and the presence of walls or obstacles. The lateral line consists of two types of sensing modalities: canal neuromasts measure approximate pressure gradients, whereas superficial neuromasts measure local flow velocities. By employing an artificial lateral line, the performance of underwater sensing and navigation strategies is improved in dark, cluttered, or murky environments where traditional sensing modalities may be hindered. This paper presents estimation and control strategies enabling an airfoil-shaped unmanned underwater vehicle to assimilate measurements from a bio-inspired, multi-modal artificial lateral line and estimate flow properties for feedback control. We utilize potential flow theory to model the fluid flow past a foil in a uniform flow and in the presence of an upstream obstacle. We derive theoretically justified nonlinear estimation strategies to estimate the free stream flowspeed, angle of attack, and the relative position of an upstream obstacle. The feedback control strategy uses the estimated flow properties to execute bio-inspired behaviors including rheotaxis (the tendency of fish to orient upstream) and station-holding (the tendency of fish to position behind an upstream obstacle). A robotic prototype outfitted with a multi-modal artificial lateral line composed of ionic polymer metal composite and embedded pressure sensors experimentally demonstrates the distributed flow sensing and closed-loop control strategies.

Modeling and Model Identification of Autonomous Underwater Vehicles

DTIC Science & Technology

2015-06-01

setup, based on a quadrifilar pendulum , is developed to measure the moments of inertia of the vehicle. System identification techniques, based on...parametric models of the platforms: an individual channel excitation approach and a free decay pendulum test. The former is applied to THAUS, which can...excite the system in individual channels in four degrees of freedom. These results are verified in the free decay pendulum setup, which has the

Three Dimensional Guidance for the NPS Autonomous Underwater Vehicle

DTIC Science & Technology

1991-09-01

is loaded into a least-squares-fit algorithm to determine surfaces of polyhedrons . These computed surfaces are then compared with the known...the obstacle information stored in the vehicle’s environmental database , there is great potential of encountering unplanned for obstacles during the... database that holds current posture information recorded by the navigator. This data store receives a new current posture on each cycle of the control

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

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

DTIC Science & Technology

2015-05-22

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

The Dynamic Multi-objective Multi-vehicle Covering Tour Problem

DTIC Science & Technology

2013-06-01

AI Artificial Intelligence AUV Autonomous Underwater Vehicle CLP Clover Leaf Problem CSP Covering Salesman Problem CTP Covering Tour Problem CVRP...introduces a new formalization - the DMOMCTP. Related works from routing problems, Artificial Intelligence ( AI ), and MOPs are discussed briefly. As a...the rest of that framework being replaced. The codebase differs from jMetal 4.2 in that it can handle the time and DM dependent nature of the DMOMCTP

Numerical analysis of flow induced noise propagation in supercavitating vehicles at subsonic speeds.

PubMed

Ramesh, Sai Sudha; Lim, Kian Meng; Zheng, Jianguo; Khoo, Boo Cheong

2014-04-01

Flow supercavitation begins when fluid is accelerated over a sharp edge, usually at the nose of an underwater vehicle, where phase change occurs and causes low density gaseous cavity to gradually envelop the whole object (supercavity) and thereby enabling higher speeds of underwater vehicles. The process of supercavity inception/development by means of "natural cavitation" and its sustainment through ventilated cavitation result in turbulence and fluctuations at the water-vapor interface that manifest themselves as major sources of hydrodynamic noise. Therefore in the present context, three main sources are investigated, namely, (1) flow generated noise due to turbulent pressure fluctuations around the supercavity, (2) small scale pressure fluctuations at the vapor-water interface, and (3) pressure fluctuations due to direct impingement of ventilated gas-jets on the supercavity wall. An understanding of their relative contributions toward self-noise is very crucial for the efficient operation of high frequency acoustic sensors that facilitate the vehicle's guidance system. Qualitative comparisons of acoustic pressure distribution resulting from aforementioned sound sources are presented by employing a recently developed boundary integral method. By using flow data from a specially developed unsteady computational fluid dynamics solver for simulating supercavitating flows, the boundary-element method based acoustic solver was developed for computing flow generated sound.

Toward a New Pluralism in ABE/ESOL Classrooms: Teaching to Multiple "Cultures of Mind." Research Monograph. NCSALL Reports.

ERIC Educational Resources Information Center

Kegan, Robert; Broderick, Maria; Drago-Severson, Eleanor; Helsing, Deborah; Popp, Nancy; Portnow, Kathryn

This document contains information about and from a study of the experiences of 41 adults enrolled in adult basic education/English for speakers of other languages (ABE/ESOL) programs that was conducted to determine what their learning meant to them and to identify strategies for developing a new pluralism in ABE/ESOL classrooms and teaching to…

Their Words and Worlds: English as a Second Language Students in Adult Basic Education Literacy Programs

ERIC Educational Resources Information Center

Csepelyi, Tünde

2010-01-01

The focus of this article is on adult literacy in adult basic education (ABE) programs with special emphasis on English as a Second Language (ESL) students. The article intends to highlight several relevant points in ABE ESL literacy instruction. It focuses on (a) the nature of adult learning, (b) the structure of ABE programs, (c) who the…

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.

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments.

PubMed

Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

2016-07-26

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

Underwater lidar system: design challenges and application in pollution detection

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

PubMed Central

Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

2016-01-01

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

Software control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

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

1999-07-01

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

Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

PubMed

Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

2005-08-01

An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

Evaluation of industrial dairy waste (milk dust powder) for acetone-butanol-ethanol production by solventogenic Clostridium species.

PubMed

Ujor, Victor; Bharathidasan, Ashok Kumar; Cornish, Katrina; Ezeji, Thaddeus Chukwuemeka

2014-01-01

Readily available inexpensive substrate with high product yield is the key to restoring acetone-butanol-ethanol (ABE) fermentation to economic competitiveness. Lactose-replete cheese whey tends to favor the production of butanol over acetone. In the current study, we investigated the fermentability of milk dust powder with high lactose content, for ABE production by Clostridium acetobutylicum and Clostridium beijerinckii. Both microorganisms produced 7.3 and 5.8 g/L of butanol respectively, with total ABE concentrations of 10.3 and 8.2 g/L, respectively. Compared to fermentation with glucose, fermentation of milk dust powder increased butanol to acetone ratio by 16% and 36% for C. acetobutylicum and C. beijerinckii, respectively. While these results demonstrate the fermentability of milk dust powder, the physico-chemical properties of milk dust powder appeared to limit sugar utilization, growth and ABE production. Further work aimed at improving the texture of milk dust powder-based medium would likely improve lactose utilization and ABE production.

Adult Basic Education: Research, Demonstration, Staff Development and Dissemination. Proceedings of the 1978 Virgina ABE Dissemination Conference (Ingleside Resort Hotel, Staunton, Virginia, July 31-August 2, 1978).

ERIC Educational Resources Information Center

Virginia State Dept. of Education, Richmond. Adult Education Service.

This conference proceedings report contains abstracts of seven 1977-78 Virginia Adult Basic Education (ABE) projects presented at a dissemination conference for ABE administrators and teachers. The abstracts vary in length (two to seven pages) and format and focus on program objectives, procedures or strategies, expected results, findings,…

An Institute to Prepare Local Urban Adult Basic Education Administrators and Teachers to Become ABE Teacher Trainers: June 1, 1971-May 31, 1972. Final Report.

ERIC Educational Resources Information Center

Pumerantz, Phillip

The 12-month Federally funded project at the University of Bridgeport, Connecticut was designed to prepare adult basic education (ABE) administrators and teachers (serving urban Puerto Ricans, blacks, and whites) to become teacher trainers. Focus was on building a multi-regional teacher capability in ABE through teacher training models. Phase one…

Why Some Eligible Adults Choose Not To Participate in the Federal Adult Basic Education Program. Research on Adult Basic Education. Number 3 in Series of 3.

ERIC Educational Resources Information Center

Valentine, Thomas

A great discrepancy exists between the potential number of adult basic education (ABE) participants (all adults who have not graduated from high school) and those who actually choose to participate in ABE. To determine why high school dropouts choose not to participate in ABE, telephone interviews were conducted with a carefully constructed,…

Two-stage in situ gas stripping for enhanced butanol fermentation and energy-saving product recovery.

PubMed

Xue, Chuang; Zhao, Jingbo; Liu, Fangfang; Lu, Congcong; Yang, Shang-Tian; Bai, Feng-Wu

2013-05-01

Two-stage gas stripping for butanol recovery from acetone-butanol-ethanol (ABE) fermentation with Clostridium acetobutylicum JB200 in a fibrous bed bioreactor was studied. Compared to fermentation without in situ gas stripping, more ABE (10.0 g/L acetone, 19.2 g/L butanol, 1.7 g/L ethanol vs. 7.9 g/L acetone, 16.2 g/L butanol, 1.4 g/L ethanol) were produced, with a higher butanol yield (0.25 g/g vs. 0.20 g/g) and productivity (0.40 g/L·h vs. 0.30 g/L·h) due to reduced butanol inhibition. The first-stage gas stripping produced a condensate containing 175.6 g/L butanol (227.0 g/L ABE), which after phase separation formed an organic phase containing 612.3g/L butanol (660.7 g/L ABE) and an aqueous phase containing 101.3 g/L butanol (153.2 g/L ABE). After second-stage gas stripping, a highly concentrated product containing 420.3 g/L butanol (532.3 g/L ABE) was obtained. The process is thus effective in producing high-titer butanol that can be purified with much less energy. Copyright © 2012 Elsevier Ltd. All rights reserved.

Two-stage in situ gas stripping for enhanced butanol fermentation and energy-saving product recovery

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

Xue, C; Zhao, JB; Liu, FF

2013-05-01

Two-stage gas stripping for butanol recovery from acetone-butanol-ethanol (ABE) fermentation with Clostridium acetobutylicum JB200 in a fibrous bed bioreactor was studied. Compared to fermentation without in situ gas stripping, more ABE (10.0 g/L acetone, 19.2 g/L butanol, 1.7 g/L ethanol vs. 7.9 g/L acetone, 16.2 g/L butanol, 1.4 g/L ethanol) were produced, with a higher butanol yield (0.25 g/g vs. 0.20 g/g) and productivity (0.40 g/L.h vs. 0.30 g/L-h) due to reduced butanol inhibition. The first-stage gas stripping produced a condensate containing 175.6 g/L butanol (227.0 g/L ABE), which after phase separation formed an organic phase containing 612.3 g/L butanolmore » (660.7 g/L ABE) and an aqueous phase containing 101.3 g/L butanol (153.2 g/L ABE). After second-stage gas stripping, a highly concentrated product containing 420.3 g/L butanol (532.3 g/L ABE) was obtained. The process is thus effective in producing high-titer butanol that can be purified with much less energy. (C) 2012 Elsevier Ltd. All rights reserved.« less

The AstroBiology Explorer (ABE) MIDEX Mission Concept: Using Infrared Spectroscopy to Identify Organic Molecules in Space

NASA Technical Reports Server (NTRS)

Sandford, Scott A.; Ennico, Kimberly; Allamandola, Louis; Bregman, Jesse; Greene, Thomas; Hudgins, Douglas

2002-01-01

One of the principal means by which organic compounds are detected and identified in space is by infrared spectroscopy. Past IR telescopic and laboratory studies have shown that much of the carbon in the interstellar medium (ISM) is in complex organic species but the distribution, abundance and evolutionary relationships of these materials are not well understood. The Astrobiology Explorer (ABE) is a MIDEX mission concept designed to conduct IR spectroscopic observations to detect and identify these materials and address outstanding problems in astrobiology, astrochemistry, and astrophysics. ABE's core science program includes observations of planetary nebulae and stellar outflows, protostellar objects, Solar System objects, and galaxies, and lines of sight through dense molecular clouds and the diffuse ISM. ABE is a cryogenically-cooled 60 cm diameter space telescope equipped with 3 cross-dispersed R-2000 spectrometers that share a single common slit. Each spectrometer measures one spectral octave and together cover the entire 2.5-20 micron region simultaneously. The spectrometers use state-of-the-art InSb and Si:As 1024x1024 pixel detectors. ABE would operate in a heliocentric, Earth drift-away orbit and have a core science mission lasting approximately 1.5 years. ABE is currently under study at NASA's Ames Research Center in collaboration with Ball Aerospace and Technologies Corp.

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.

The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

NASA Astrophysics Data System (ADS)

Kurc, Krzysztof; Szybicki, Dariusz; Burghardt, Andrzej; Muszyńska, Magdalena

2016-04-01

The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

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.

From Antarctica to space: Use of telepresence and virtual reality in control of remote vehicles

NASA Technical Reports Server (NTRS)

Stoker, Carol; Hine, Butler P., III; Sims, Michael; Rasmussen, Daryl; Hontalas, Phil; Fong, Terrence W.; Steele, Jay; Barch, Don; Andersen, Dale; Miles, Eric

1994-01-01

In the Fall of 1993, NASA Ames deployed a modified Phantom S2 Remotely-Operated underwater Vehicle (ROV) into an ice-covered sea environment near McMurdo Science Station, Antarctica. This deployment was part of the antarctic Space Analog Program, a joint program between NASA and the National Science Foundation to demonstrate technologies relevant for space exploration in realistic field setting in the Antarctic. The goal of the mission was to operationally test the use of telepresence and virtual reality technology in the operator interface to a remote vehicle, while performing a benthic ecology study. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research Center. Local control of the vehicle was accomplished using the standard Phantom control box containing joysticks and switches, with the operator viewing stereo video camera images on a stereo display monitor. Remote control of the vehicle over the satellite link was accomplished using the Virtual Environment Vehicle Interface (VEVI) control software developed at NASA Ames. The remote operator interface included either a stereo display monitor similar to that used locally or a stereo head-mounted head-tracked display. The compressed video signal from the vehicle was transmitted to NASA Ames over a 768 Kbps satellite channel. Another channel was used to provide a bi-directional Internet link to the vehicle control computer through which the command and telemetry signals traveled, along with a bi-directional telephone service. In addition to the live stereo video from the satellite link, the operator could view a computer-generated graphic representation of the underwater terrain, modeled from the vehicle's sensors. The virtual environment contained an animate graphic model of the vehicle which reflected the state of the actual vehicle, along with ancillary information such as the vehicle track, science markers, and locations of video snapshots. The actual vehicle was driven either from within the virtual environment or through a telepresence interface. All vehicle functions could be controlled remotely over the satellite link.

Stable Research Platform Workshop

DTIC Science & Technology

1988-04-01

autonomous or manned submersibles, by providing them with a deep underwater garage for launch and recovery. A track system for bringing the vehicle...s;. 10- f(H2) Figure 5 SIO Reference 87-2.0 69 STEREO - PHOTOGRAPHY Figure 6 70 Appendix E -15 0 31 62 93 124 155 DISTANCE, x...WAVE FOLLOWER WITH MULTI-BEAM LASER OPTICAL SENSOR • STEREO -PHOTOQRAPHY • MULTI-FREQUENCY RADAR: 10-100 GHz • SURFACE TENSION SENSORS • LONG WAVE

Compact, Isolating Elastomeric Suspension for Vehicle Acoustic Vector Sensor

DTIC Science & Technology

2007-09-30

well as underwater acoustics. His Master’s thesis, funded by NUSC, was a study of near-body acoustic signal behavior entitled “Some Characteristics of ...in non-polymer based composites, including cermets . He has formulated a very wide range of materials for an equally wide range of applications, and...with a moving vehicle of an instrument responsive to particle accelerations in the surrounding medium. The overall goal of this project is to develop

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

PubMed Central

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

2012-01-01

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

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.

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

PubMed

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

2017-03-25

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles

PubMed Central

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

2017-01-01

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance. PMID:28346346

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.

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

Aqueous extracts from Uncaria tomentosa (Willd. ex Schult.) DC. reduce bronchial hyperresponsiveness and inflammation in a murine model of asthma.

PubMed

Azevedo, Bruna Cestari; Morel, Lucas Junqueira Freitas; Carmona, Fábio; Cunha, Thiago Mattar; Contini, Silvia Helena Taleb; Delprete, Piero Giuseppe; Ramalho, Fernando Silva; Crevelin, Eduardo; Bertoni, Bianca Waléria; França, Suzelei Castro; Borges, Marcos Carvalho; Pereira, Ana Maria Soares

2018-05-23

Uncaria tomentosa (Willd. Ex Schult) DC is used by indigenous tribes in the Amazonian region of Central and South America to treat inflammation, allergies and asthma. The therapeutic properties of U. tomentosa have been attributed to the presence of tetracyclic and pentacyclic oxindole alkaloids and to phenolic acids. To characterize aqueous bark extracts (ABE) and aqueous leaf extracts (ALE) of U. tomentosa and to compare their anti-inflammatory effects. Constituents of the extracts were identified by ultra performance liquid chromatography-mass spectrometry. Anti-inflammatory activities were assessed in vitro by exposing lipopolysaccharide-stimulated macrophage cells (RAW264.7-Luc) to ABE, ALE and standard mitraphylline. In vivo assays were performed using a murine model of ovalbumin (OVA)-induced asthma. OVA-sensitized animals were treated with ABE or ALE while controls received dexamethasone or saline solution. Bronchial hyperresponsiveness, production of Th1 and Th2 cytokines, total and differential counts of inflammatory cells in the bronchoalveolar lavage (BAL) and lung tissue were determined. Mitraphylline, isomitraphylline, chlorogenic acid and quinic acid were detected in both extracts, while isorhyncophylline and rutin were detected only in ALE. ABE, ALE and mitraphylline inhibited the transcription of nuclear factor kappa-B in cell cultures, ALE and mitraphylline reduced the production of interleukin (IL)-6, and mitraphylline reduced production of tumor necrosis factor-alpha. Treatment with ABE and ALE at 50 and 200 mg kg -1 , respectively, reduced respiratory elastance and tissue damping and elastance. ABE and ALE reduced the number of eosinophils in BAL, while ALE at 200 mg kg -1 reduced the levels of IL-4 and IL-5 in the lung homogenate. Peribronchial inflammation was significantly reduced by treatment with ABE and ALE at 50 and 100 mg kg -1 respectively. The results clarify for the first time the anti-inflammatory activity of U. tomentosa in a murine model of asthma. Although ABE and ALE exhibited distinct chemical compositions, both extracts inhibited the production of pro-inflammatory cytokines in vitro. In vivo assays revealed that ABE was more effective in treating asthmatic inflammation while ALE was more successful in controlling respiratory mechanics. Both extracts may have promising applications in the phytotherapy of allergic asthma. Copyright © 2018 Elsevier B.V. All rights reserved.

High Solid Fed-batch Butanol Fermentation with Simultaneous Product Recovery: Part II - Process Integration.

PubMed

Qureshi, Nasib; Klasson, K Thomas; Saha, Badal C; Liu, Siqing

2018-04-25

In these studies liquid hot water (LHW) pretreated and enzymatically hydrolyzed Sweet Sorghum Bagasse (SSB) hydrolyzates were fermented in a fed-batch reactor. As reported in the preceding paper, the culture was not able to ferment the hydrolyzate I in a batch process due to presence of high level of toxic chemicals, in particular acetic acid released from SSB during the hydrolytic process. To be able to ferment the hydrolyzate I obtained from 250 gL -1 SSB hydrolysis, a fed-batch reactor with in-situ butanol recovery was devised. The process was started with the hydrolyzate II and when good cell growth and vigorous fermentation were observed, the hydrolyzate I was slowly fed to the reactor. In this manner the culture was able to ferment all the sugars present in both the hydrolyzates to acetone butanol ethanol (ABE). In a control batch reactor in which ABE was produced from glucose, ABE productivity and yield of 0.42 gL -1 h -1 and 0.36 were obtained, respectively. In the fed-batch reactor fed with SSB hydrolyzates these productivity and yield values were 0.44 gL -1 h -1 and 0.45, respectively. ABE yield in the integrated system was high due to utilization of acetic acid to convert to ABE. In summary we were able to utilize both the hydrolyzates obtained from LHW pretreated and enzymatically hydrolyzed SSB (250 gL -1 ) and convert them to ABE. Complete fermentation was possible due to simultaneous recovery of ABE by vacuum. This article is protected by copyright. All rights reserved. © 2018 American Institute of Chemical Engineers.

High acetone-butanol-ethanol production in pH-stat co-feeding of acetate and glucose.

PubMed

Gao, Ming; Tashiro, Yukihiro; Wang, Qunhui; Sakai, Kenji; Sonomoto, Kenji

2016-08-01

We previously reported the metabolic analysis of butanol and acetone production from exogenous acetate by (13)C tracer experiments (Gao et al., RSC Adv., 5, 8486-8495, 2015). To clarify the influence of acetate on acetone-butanol-ethanol (ABE) production, we first performed an enzyme assay in Clostridium saccharoperbutylacetonicum N1-4. Acetate addition was found to drastically increase the activities of key enzymes involved in the acetate uptake (phosphate acetyltransferase and CoA transferase), acetone formation (acetoacetate decarboxylase), and butanol formation (butanol dehydrogenase) pathways. Subsequently, supplementation of acetate during acidogenesis and early solventogenesis resulted in a significant increase in ABE production. To establish an efficient ABE production system using acetate as a co-substrate, several shot strategies were investigated in batch culture. Batch cultures with two substrate shots without pH control produced 14.20 g/L butanol and 23.27 g/L ABE with a maximum specific butanol production rate of 0.26 g/(g h). Furthermore, pH-controlled (at pH 5.5) batch cultures with two substrate shots resulted in not only improved acetate consumption but also a further increase in ABE production. Finally, we obtained 15.13 g/L butanol and 24.37 g/L ABE at the high specific butanol production rate of 0.34 g/(g h) using pH-stat co-feeding method. Thus, in this study, we established a high ABE production system using glucose and acetate as co-substrates in a pH-stat co-feeding system with C. saccharoperbutylacetonicum N1-4. Copyright © 2016 The Society for Biotechnology, Japan. Published by Elsevier B.V. All rights reserved.

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

NASA Astrophysics Data System (ADS)

Thorsnes, T.; Bjarnadóttir, L. R.

2017-12-01

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

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

PubMed Central

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

2016-01-01

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

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

PubMed

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

2016-09-05

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

Agaricus blazei Extract Induces Apoptosis through ROS-Dependent JNK Activation Involving the Mitochondrial Pathway and Suppression of Constitutive NF-κB in THP-1 Cells

PubMed Central

Kim, Mun-Ock; Moon, Dong-Oh; Jung, Jin Myung; Lee, Won Sup; Choi, Yung Hyun; Kim, Gi-Young

2011-01-01

Agaricus blazei is widely accepted as a traditional medicinal mushroom, and it has been known to exhibit immunostimulatory and anti-cancer activity. However, the apoptotic mechanism in cancer cells is poorly understood. In this study, we have investigated whether A. blazei extract (ABE) exerts antiproliferative and apoptotic effects in human leukemic THP-1 cells. We observed that ABE-induced apoptosis is associated with the mitochondrial pathway, which is mediated by reactive oxygen species (ROS) generation and prolonged c-Jun N-terminal kinase (JNK) activation. In addition, the ABE treatment resulted in the accumulation of cytochrome c in the cytoplasm, an increase in caspase activity, and an upregulation of Bax and Bad. With those results in mind, we found that ABE decreases constitutive NF-κB activation and NF-κB-regulated gene products such as IAP-1 and -2. We concluded that ABE induces apoptosis with ROS-dependent JNK activation and constitutive activated NF-κB inhibition in THP-1 cells. PMID:19861509

Production of butanol from starch-based waste packing peanuts and agricultural waste.

PubMed

Jesse, T W; Ezeji, T C; Qureshi, N; Blaschek, H P

2002-09-01

We examined the fermentation of starch-based packing peanuts and agricultural wastes as a source of fermentable carbohydrates using Clostridium beijerinckii BA101. Using semidefined P2 medium containing packing peanuts and agricultural wastes, instead of glucose as a carbohydrate source, we measured characteristics of the fermentation including solvent production, productivity, and yield. With starch as substrate (control), the culture produced 24.7 g l(-1) acetone-butanol-ethanol (ABE), while with packing peanuts it produced 21.7 g l(-1) total ABE with a productivity of 0.20 g l(-1) h(-1) and a solvent (ABE) yield of 0.37. Cell growth in starch, packing peanuts, and agricultural wastes medium was different, possibly due to the different nature of these substrates. Using model agricultural waste, 20.3g l(-1) ABE was produced; when using actual waste, 14.8 g l(-1) ABE was produced. The use of inexpensive substrates will increase the economic viability of the conversion of biomass to butanol, and can provide new markets for these waste streams.

Production of acetone butanol (AB) from liquefied corn starch, a commercial substrate, using Clostridium beijerinckii coupled with product recovery by gas stripping.

PubMed

Ezeji, Thaddeus C; Qureshi, Nasib; Blaschek, Hans P

2007-12-01

A potential industrial substrate (liquefied corn starch; LCS) has been employed for successful acetone butanol ethanol (ABE) production. Fermentation of LCS (60 g l(-1)) in a batch process resulted in the production of 18.4 g l(-1) ABE, comparable to glucose: yeast extract based medium (control experiment, 18.6 g l(-1) ABE). A batch fermentation of LCS integrated with product recovery resulted in 92% utilization of sugars present in the feed. When ABE was recovered by gas stripping (to relieve inhibition) from the fed-batch reactor fed with saccharified liquefied cornstarch (SLCS), 81.3 g l(-1) ABE was produced compared to 18.6 g l(-1) (control). In this integrated system, 225.8 g l(-1) SLCS sugar (487 % of control) was consumed. In the absence of product removal, it is not possible for C. beijerinckii BA101 to utilize more than 46 g l(-1) glucose. A combination of fermentation of this novel substrate (LCS) to butanol together with product recovery by gas stripping may economically benefit this fermentation.

Recent advances on conversion and co-production of acetone-butanol-ethanol into high value-added bioproducts.

PubMed

Xin, Fengxue; Dong, Weiliang; Jiang, Yujia; Ma, Jiangfeng; Zhang, Wenming; Wu, Hao; Zhang, Min; Jiang, Min

2018-06-01

Butanol is an important bulk chemical and has been regarded as an advanced biofuel. Large-scale production of butanol has been applied for more than 100 years, but its production through acetone-butanol-ethanol (ABE) fermentation process by solventogenic Clostridium species is still not economically viable due to the low butanol titer and yield caused by the toxicity of butanol and a by-product, such as acetone. Renewed interest in biobutanol as a biofuel has spurred technological advances to strain modification and fermentation process design. Especially, with the development of interdisciplinary processes, the sole product or even the mixture of ABE produced through ABE fermentation process can be further used as platform chemicals for high value added product production through enzymatic or chemical catalysis. This review aims to comprehensively summarize the most recent advances on the conversion of acetone, butanol and ABE mixture into various products, such as isopropanol, butyl-butyrate and higher-molecular mass alkanes. Additionally, co-production of other value added products with ABE was also discussed.

Enhanced sugar production from pretreated barley straw by additive xylanase and surfactants in enzymatic hydrolysis for acetone-butanol-ethanol fermentation.

PubMed

Yang, Ming; Zhang, Junhua; Kuittinen, Suvi; Vepsäläinen, Jouko; Soininen, Pasi; Keinänen, Markku; Pappinen, Ari

2015-01-01

This study aims to improve enzymatic sugar production from dilute sulfuric acid-pretreated barley straw for acetone-butanol-ethanol (ABE) fermentation. The effects of additive xylanase and surfactants (polyethylene glycol [PEG] and Tween) in an enzymatic reaction system on straw hydrolysis yields were investigated. By combined application of 2g/100g dry-matter (DM) xylanase and PEG 4000, the glucose yield was increased from 53.2% to 86.9% and the xylose yield was increased from 36.2% to 70.2%, which were considerably higher than results obtained with xylanase or surfactant alone. The ABE fermentation of enzymatic hydrolysate produced 10.8 g/L ABE, in which 7.9 g/L was butanol. The enhanced sugar production increased the ABE yield from 93.8 to 135.0 g/kg pretreated straw. The combined application of xylanase and surfactants has a large potential to improve sugar production from barley straw pretreated with a mild acid and that the hydrolysate showed good fermentability in ABE production. Copyright © 2015 Elsevier Ltd. All rights reserved.

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

The Use of EPI-Splines to Model Empirical Semivariograms for Optimal Spatial Estimation

DTIC Science & Technology

2016-09-01

proliferation of unmanned systems in military and civilian sectors has occurred at lightning speed. In the case of Autonomous Underwater Vehicles or...SLAM is a method of position estimation that relies on map data [3]. In this process, the creation of the map occurs as the vehicle is navigating the...that ensures minimal errors. This technique is accomplished in two steps. The first step is creation of the semivariogram. The semivariogram is a

Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan

NASA Astrophysics Data System (ADS)

Ghommam, Jawhar; Saad, Maarouf

2014-05-01

In this paper, we investigate new implementable cooperative adaptive backstepping controllers for a group of underactuated autonomous vehicles that are communicating with their local neighbours to track a time-varying virtual leader of which the relative position may only be available to a portion of the team members. At the kinematic cooperative control level of the autonomous underwater vehicle, the virtual cooperative controller is basically designed on a proportional and derivative consensus algorithm presented in Ren (2010), which involves velocity information from local neighbours. In this paper, we propose a new design algorithm based on singular perturbation theory that precludes the use of the neighbours' velocity information in the cooperative design. At the dynamic cooperative control level, calculation of the partial derivatives of some stabilising functions which in turn will contain velocity information from the local neighbours is required. To facilitate the implementation of the cooperative controllers, we propose a command filter approach technique to avoid analytic differentiation of the virtual cooperative control laws. We show how Lyapunov-based techniques and graph theory can be combined together to yield a robust cooperative controller where the uncertain dynamics of the cooperating vehicles and the constraints on the communication topology which contains a directed spanning tree are explicitly taken into account. Simulation results with a dynamic model of underactuated autonomous underwater vehicles moving on the horizontal plane are presented and discussed.

A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles

PubMed Central

2017-01-01

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently. PMID:28255297

A Dynamic Bioinspired Neural Network Based Real-Time Path Planning Method for Autonomous Underwater Vehicles.

PubMed

Ni, Jianjun; Wu, Liuying; Shi, Pengfei; Yang, Simon X

2017-01-01

Real-time path planning for autonomous underwater vehicle (AUV) is a very difficult and challenging task. Bioinspired neural network (BINN) has been used to deal with this problem for its many distinct advantages: that is, no learning process is needed and realization is also easy. However, there are some shortcomings when BINN is applied to AUV path planning in a three-dimensional (3D) unknown environment, including complex computing problem when the environment is very large and repeated path problem when the size of obstacles is bigger than the detection range of sensors. To deal with these problems, an improved dynamic BINN is proposed in this paper. In this proposed method, the AUV is regarded as the core of the BINN and the size of the BINN is based on the detection range of sensors. Then the BINN will move with the AUV and the computing could be reduced. A virtual target is proposed in the path planning method to ensure that the AUV can move to the real target effectively and avoid big-size obstacles automatically. Furthermore, a target attractor concept is introduced to improve the computing efficiency of neural activities. Finally, some experiments are conducted under various 3D underwater environments. The experimental results show that the proposed BINN based method can deal with the real-time path planning problem for AUV efficiently.

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.

Computational Fluid Dynamics of the Boundary Layer Characteristics of a Pacific Bluefin Tuna

DTIC Science & Technology

2015-09-18

17  LIST OF ABBREVIATIONS AND ACRONYMS 2D Two Dimensional 3D Three Dimensional AUV Autonomous...Finally, this research has the potential to advance technology of various Navy systems, e.g., torpedo and autonomous underwater vehicle ( AUV ) drag

Shallow Water Bathymetry using the REMUS 100 Autonomous Underwater Vehicle

DTIC Science & Technology

2013-12-01

potentially meeting IHO Standards for Hydrographic Surveys, are advertised but Kongsberg Hydroid do not recommend the REMUS 100 as a platform for...data set. Outlier soundings due to measurement errors have been discarded Figure 28: REMUS 100 depth soundings in isometric projection, coloured

Target Tracking Onboard an Autonomous Underwater Vehicle: Determining Optimal Towed Array Heading in an Anisotropic Noise Field

DTIC Science & Technology

2007-09-01

The geometry depicted in Figure 2-1 and defined in (9) governs the relationship between the two coordinate systems. We obtain the three-dimensional...node = ’ Unicorn ’ else if (v_id == 4) node = ’Macrura

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

PubMed

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

2011-01-01

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

Ocean outfall plume characterization using an Autonomous Underwater Vehicle.

PubMed

Rogowski, Peter; Terrill, Eric; Otero, Mark; Hazard, Lisa; Middleton, William

2013-01-01

A monitoring mission to map and characterize the Point Loma Ocean Outfall (PLOO) wastewater plume using an Autonomous Underwater Vehicle (AUV) was performed on 3 March 2011. The mobility of an AUV provides a significant advantage in surveying discharge plumes over traditional cast-based methods, and when combined with optical and oceanographic sensors, provides a capability for both detecting plumes and assessing their mixing in the near and far-fields. Unique to this study is the measurement of Colored Dissolved Organic Matter (CDOM) in the discharge plume and its application for quantitative estimates of the plume's dilution. AUV mission planning methodologies for discharge plume sampling, plume characterization using onboard optical sensors, and comparison of observational data to model results are presented. The results suggest that even under variable oceanic conditions, properly planned missions for AUVs equipped with an optical CDOM sensor in addition to traditional oceanographic sensors, can accurately characterize and track ocean outfall plumes at higher resolutions than cast-based techniques.

Sewage outfall plume dispersion observations with an autonomous underwater vehicle.

PubMed

Ramos, P; Cunha, S R; Neves, M V; Pereira, F L; Quintaneiro, I

2005-01-01

This work represents one of the first successful applications of Autonomous Underwater Vehicles (AUVs) for interdisciplinary coastal research. A monitoring mission to study the shape and estimate the initial dilution of the S. Jacinto sewage outfall plume using an AUV was performed on July 2002. An efficient sampling strategy enabling greater improvements in spatial and temporal range of detection demonstrated that the sewage effluent plume can be clearly traced using naturally occurring tracers in the wastewater. The outfall plume was found at the surface highly influenced by the weak stratification and low currents. Dilution varying with distance downstream was estimated from the plume rise over the outfall diffuser until a nearly constant value of 130:1, 60 m from the diffuser, indicating the near field end. Our results demonstrate that AUVs can provide high-quality measurements of physical properties of effluent plumes in a very effective manner and valuable considerations about the initial mixing processes under real oceanic conditions can be further investigated.

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

PubMed

Yuan, Chengzhi; Licht, Stephen; He, Haibo

2017-09-26

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

New virtual sonar and wireless sensor system concepts

NASA Astrophysics Data System (ADS)

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

2004-05-01

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

On the Effect of an Anisotropy-Resolving Subgrid-Scale Model on Turbulent Vortex Motions

DTIC Science & Technology

2014-09-19

sense, the model by Abe (2013) can be named the ”stabilized mixed model” ( SMM , hereafter). Furthermore, considering the basic concept of the mixed model...with SMM . Further investigations of this ex- tended anisotropic SGS model will be necessary in fu- ture studies. 3 Computational Conditions Although the...basic capability of the SMM was val- idated by application to some test cases (Abe, 2013; Abe 2014), there still remain several points to be fur

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

NASA Astrophysics Data System (ADS)

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

2007-04-01

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

Ferrite Loaded Coils for Improved Wireless Power Transfer Efficiency

DTIC Science & Technology

2015-09-01

visible in yellow, from [4]. ..........................................................................................4  Figure 4.  The Odyssey AUV ...47  Figure 35.  System mockup of AUV in docking/charging station...42  xii THIS PAGE INTENTIONALLY LEFT BLANK xiii LIST OF ACRONYMS AND ABBREVIATIONS AUV Autonomous Underwater Vehicle CST

Application of continuous substrate feeding to the ABE fermentation: Relief of product inhibition using extraction, perstraction, stripping, and pervaporation

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

Qureshi, N.; Maddox, I.S.; Friedl, A.

1992-09-01

The technique of continuous substrate feeding has been applied to the batch fermentation process using freely suspended cells, for ABE (acetone-butanol-ethanol) production. To avoid the product inhibition which normally restricts ABE production to less than 20 g/L and sugar utilization to 60 g/L, a product removal technique has been integrated into the fermentation process. The techniques investigated were liquid-liquid extraction, perstraction, gas-stripping, and pervaporation. By using a substrate of whey permeate, the reactor productivity has been improved over that observed in a traditional batch fermentation, while equivalent lactose utilization and ABE production values of 180 g and 69 g, respectively,more » have been achieved in a 1-L culture volume. 17 refs., 14 figs., 5 tabs.« less

Mathematical models of ABE fermentation: review and analysis.

PubMed

Mayank, Rahul; Ranjan, Amrita; Moholkar, Vijayanand S

2013-12-01

Among different liquid biofuels that have emerged in the recent past, biobutanol produced via fermentation processes is of special interest due to very similar properties to that of gasoline. For an effective design, scale-up, and optimization of the acetone-butanol-ethanol (ABE) fermentation process, it is necessary to have insight into the micro- and macro-mechanisms of the process. The mathematical models for ABE fermentation are efficient tools for this purpose, which have evolved from simple stoichiometric fermentation equations in the 1980s to the recent sophisticated and elaborate kinetic models based on metabolic pathways. In this article, we have reviewed the literature published in the area of mathematical modeling of the ABE fermentation. We have tried to present an analysis of these models in terms of their potency in describing the overall physiology of the process, design features, mode of operation along with comparison and validation with experimental results. In addition, we have also highlighted important facets of these models such as metabolic pathways, basic kinetics of different metabolites, biomass growth, inhibition modeling and other additional features such as cell retention and immobilized cultures. Our review also covers the mathematical modeling of the downstream processing of ABE fermentation, i.e. recovery and purification of solvents through flash distillation, liquid-liquid extraction, and pervaporation. We believe that this review will be a useful source of information and analysis on mathematical models for ABE fermentation for both the appropriate scientific and engineering communities.

Underwater Docking of Autonomous Undersea Vehicles Using Optical Terminal Guidance

DTIC Science & Technology

1997-10-01

simply using a brighter beacon. Scattered light within the field-of-view is imaged almost equally into each of the four quadrants of a photodetector...received by adjacent quadrants a great deal of the forward scattered light can be rejected when the signals from the four quadrants are subsequently...employed to aim the nose of the vehicle at the light source because the illumination is equal in all four quadrants only when the tracker’s optical axis is

Dynamic Response and Maneuvering Strategies of a Hybrid Autonomous Underwater Vehicle in Hovering

DTIC Science & Technology

2009-02-01

Highlights of ECC’99, pages 391– 449. Springer, 1999. [7] F. Allgower, R. Findeisen , and Z. K. Nagy. Nonlinear model predictive con- trol: From theory...vehicle. In OCEANS, pages 2129–2134. MTS/IEEE, 2005. [17] M. Diehl, R. Findeisen , F. Allgower, H. G. Bock, and J. P. Schloder. Nominal stability of real...International Journal of Robust and Nonlinear Control, 18(8):816–830, May 2008. [22] R. Findeisen and F. Allgower. An introduction to nonlinear model

Simulation Trial Results for the Cooperative Autonomous Underwater Vehicle Demonstration (SA15)

DTIC Science & Technology

2013-05-01

acknowl- edges the location and then replies when it has found the target. Description Code Notes Hunt Target HHH pos where pos is the MGRS location of...the target to hunt Acknowledge AAA HHH pos where pos is the MGRS location of the target to hunt Found Target VVV 2.2.5 Meredith MMI (Singapore Control...phase, Reacquire, was initiated by the Meredith vehicle sending a Reacquire message with an MGRS coordinate to Mullaya (“ HHH ” pos). Mullaya would then

Follow the Leader Tracking by Autonomous Underwater Vehicles (AUVs) Using Acoustic Communications and Ranging

DTIC Science & Technology

2003-09-01

590-595, September 1996. Deitel , H.M., Deitel , P.J., Nieto, T.R., Lin, T.M., Sadhu, P., XML: How to Program , Prentice Hall, 2001. Du, Y...communications will result in a total track following error equal to the sum of the errors for the two vehicles........48 xv Figure 36. Test point programming ...Refer to (Hunter 2000), ( Deitel 2001), or similar references for additional information regarding the XML standard. Figure 17. XML example

Underwater speech communications with a modulated laser

NASA Astrophysics Data System (ADS)

Woodward, B.; Sari, H.

2008-04-01

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

Biosensor UUV payload for underwater detection

NASA Astrophysics Data System (ADS)

Kusterbeck, Anne W.; Charles, Paul T.; Melde, Brian J.; Trammell, Scott A.; Adams, André A.; Deschamps, Jeffrey R.

2010-04-01

Increased emphasis on maritime domain awareness and port security has led to the development of unmanned underwater vehicles (UUVs) capable of extended missions. These systems rely most frequently on well-developed side scan sonar and acoustic methods to locate potential targets. The Naval Research Laboratory (NRL) is developing biosensors for underwater explosives detection that complement acoustic sensors and can be used as UUV payloads to monitor areas for port and harbor security or in detection of underwater unexploded ordnance (UXO) and biochemical threats. The prototype sensor has recently been demonstrated to detect explosives in seawater at trace levels when run in a continuous sampling mode. To overcome ongoing issues with sample preparation and facilitate rapid detection at trace levels in a marine environment, we have been developing new mesoporous materials for in-line preconcentration of explosives and other small molecules, engineering microfluidic components to improve the signal, and testing alternative signal transduction methods. Additional work is being done to optimize the optical components and sensor response time. Highlights of these current studies and our ongoing efforts to integrate the biosensor with existing detection technologies to reduce false positives are described. In addition, we present the results of field tests that demonstrate the prototype biosensor performance as a UUV payload.

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

NASA Astrophysics Data System (ADS)

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

2003-09-01

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

Enhancement of n-butanol production by in situ butanol removal using permeating-heating-gas stripping in acetone-butanol-ethanol fermentation.

PubMed

Chen, Yong; Ren, Hengfei; Liu, Dong; Zhao, Ting; Shi, Xinchi; Cheng, Hao; Zhao, Nan; Li, Zhenjian; Li, Bingbing; Niu, Huanqing; Zhuang, Wei; Xie, Jingjing; Chen, Xiaochun; Wu, Jinglan; Ying, Hanjie

2014-07-01

Butanol recovery from acetone-butanol-ethanol (ABE) fed-batch fermentation using permeating-heating-gas was determined in this study. Fermentation was performed with Clostridium acetobutylicum B3 in a fibrous bed bioreactor and permeating-heating-gas stripping was used to eliminate substrate and product inhibition, which normally restrict ABE production and sugar utilization to below 20 g/L and 60 g/L, respectively. In batch fermentation (without permeating-heating-gas stripping), C. acetobutylicum B3 utilized 60 g/L glucose and produced 19.9 g/L ABE and 12 g/L butanol, while in the integrated process 290 g/L glucose was utilized and 106.27 g/L ABE and 66.09 g/L butanol were produced. The intermittent gas stripping process generated a highly concentrated condensate containing approximately 15% (w/v) butanol, 4% (w/v) acetone, a small amount of ethanol (<1%), and almost no acids, resulting in a highly concentrated butanol solution [∼ 70% (w/v)] after phase separation. Butanol removal by permeating-heating-gas stripping has potential for commercial ABE production. Copyright © 2014 The Authors. Published by Elsevier Ltd.. All rights reserved.

Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions

DTIC Science & Technology

2000-10-30

Alexander Malahoff of the University of Hawaii, Dr. Homayoun Seraji of the Jet Propulsion Laboratory, and Mr. Dick Turlington of the Pacific Missile...AUV. The angular orientation sensor is housed within a 1-inch OD cylindrical pressure vessel (6000-m capable) made low- Fe grade-2 titanium. For a

Acoustic Based Tactical Control of Underwater Vehicles

DTIC Science & Technology

2003-06-01

NOTES The views expressed in this thesis are those of the author and do not reflect the official policy or position of the Department of Defense or......heading error corrections from stationary acoustic beacon buoys. On the outbound leg of each cablelaying mission, Theseus used the fiber optic cable

Discovery of the Depths

ERIC Educational Resources Information Center

Katsioloudis, Petros J.

2009-01-01

Throughout history the oceans have directly or indirectly influenced humans. The importance of knowing how to protect this valuable resource and insure it for future generations is vital. Underwater Vehicles are tools essential for this process, and therefore research and development to perfect these devices is needed. However, the main goal of…

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...

Development of a High Reliability Compact Air Independent PEMFC Power System

NASA Technical Reports Server (NTRS)

Wynne, B.; Diffenderfer, C.; Ferguson, S.; Keyser, J.; Miller, M.; Sievers, B.; Song, Y.; Araghi, K.; Vasquez, A.

2013-01-01

Autonomous Underwater Vehicles (AUV's) have received increased attention in recent years as military and commercial users look for means to maintain a mobile and persistent presence in the undersea world. Teledyne Energy Systems, Inc. (TESI) is committed to meeting the energy needs for these missions

Mission Executor for an Autonomous Underwater Vehicle

DTIC Science & Technology

1991-09-01

which must control and intepret sensory output for navigation and reconition of various obstructions and provide adaptability strategies for local...envemmjnm -, cLdvhelama 0"in idmLMLISw (.?OFchdmjmiheu 1)))) CroW4%cdmdahuwm 7b~.mWl) Film 6-1L OvatE Mission Asumma Ride complications, just that the

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…

Ground Robotics Capabilities Conference and Exhibition Held in Miami, Florida on March 16-18, 2010

DTIC Science & Technology

2010-03-18

Underwater Vehicle Environmentally Non-Disturbing Under- ice Robotic Antarctic Explorer (ENDURANCE) 4/10/07 Elachi ASU 23 Possible future submersible...seeking liquid water on Europa or Enceladus 1 Ground Robotics Capability Conference and Exhibit Mr. George Solhan Office of Naval Research Code 30

Unmanned Surface and Underwater Vehicles

DTIC Science & Technology

2007-07-03

applications of such platforms that already exist or are discussed in literature. TNO report I TNO-DV 2006 A455 117/120 9 References [ 11 ... 11 1.1 R eading instructions... 11 2 Research on the context of different types of UVs ............................................. 13 2.1 D efi nition of U V s

Bcl-2 and caspase-3 are major regulators in Agaricus blazei-induced human leukemic U937 cell apoptosis through dephoshorylation of Akt.

PubMed

Jin, Cheng-Yun; Moon, Dong-Oh; Choi, Yung Hyun; Lee, Jae-Dong; Kim, Gi-Young

2007-08-01

Agaricus blazei is a medicinal mushroom that possesses antimetastatic, antitumor, antimutagenic, and immunostimulating effects. However, the molecular mechanisms involved in A. blazei-mediated apoptosis remain unclear. In the present study, to elucidate the role of the Bcl-2 in A. blazei-mediated apoptosis, U937 cells were transfected with either empty vector (U937/vec) or vector containing cDNA encoding full-length Bcl-2 (U937/Bcl-2). As compared with U937/vec, U937/Bcl-2 cells exhibited a 4-fold greater expression of Bcl-2. Treatment of U937/vec with 1.0-4.0 mg/ml of A. blazei extract (ABE) for 24 h resulted in a significant induction of morphologic features indicative of apoptosis. In contrast, U937/Bcl-2 exposed to the same ABE treatment only exhibited a slight induction of apoptotic features. ABE-induced apoptosis was accompanied by downregulation of antiapoptotic proteins such as X-linked inhibitor of apoptosis protein (XIAP), inhibitor of apoptosis protein (cIAP)-2 and Bcl-2, activation of caspase-3, and cleavage of poly(ADP-ribose)polymerase (PARP). Ectopic expression of Bcl-2 was associated with significantly induced expression of antiapoptotic proteins, such as cIAP-2 and Bcl-2, but not XIAP. Ectopic expression of Bcl-2 also reduced caspase-3 activation and PARP cleavage in ABE treated U937 cells. Furthermore, treatment with the caspase-3 inhibitor z-DEVD-fmk was sufficient to restore cell viability following ABE treatment. This increase in viability was ascribed to downregulation of caspase-3 and blockage of PARP and PLC-gamma cleavage. ABE also triggered the downregulation of Akt, and combined treatment with LY294002 (an inhibitor of Akt) significantly decreased cell viability. The results indicated that major regulators of ABE-induced apoptosis in human leukemic U937 cells are Bcl-2 and caspase-3, which are associated with dephosphorylation of the Akt signal pathway.

A novel in situ gas stripping-pervaporation process integrated with acetone-butanol-ethanol fermentation for hyper n-butanol production.

PubMed

Xue, Chuang; Liu, Fangfang; Xu, Mengmeng; Zhao, Jingbo; Chen, Lijie; Ren, Jiangang; Bai, Fengwu; Yang, Shang-Tian

2016-01-01

Butanol is considered as an advanced biofuel, the development of which is restricted by the intensive energy consumption of product recovery. A novel two-stage gas stripping-pervaporation process integrated with acetone-butanol-ethanol (ABE) fermentation was developed for butanol recovery, with gas stripping as the first-stage and pervaporation as the second-stage using the carbon nanotubes (CNTs) filled polydimethylsiloxane (PDMS) mixed matrix membrane (MMM). Compared to batch fermentation without butanol recovery, more ABE (27.5 g/L acetone, 75.5 g/L butanol, 7.0 g/L ethanol vs. 7.9 g/L acetone, 16.2 g/L butanol, 1.4 g/L ethanol) were produced in the fed-batch fermentation, with a higher butanol productivity (0.34 g/L · h vs. 0.30 g/L · h) due to reduced butanol inhibition by butanol recovery. The first-stage gas stripping produced a condensate containing 155.6 g/L butanol (199.9 g/L ABE), which after phase separation formed an organic phase containing 610.8 g/L butanol (656.1 g/L ABE) and an aqueous phase containing 85.6 g/L butanol (129.7 g/L ABE). Fed with the aqueous phase of the condensate from first-stage gas stripping, the second-stage pervaporation using the CNTs-PDMS MMM produced a condensate containing 441.7 g/L butanol (593.2 g/L ABE), which after mixing with the organic phase from gas stripping gave a highly concentrated product containing 521.3 g/L butanol (622.9 g/L ABE). The outstanding performance of CNTs-PDMS MMM can be attributed to the hydrophobic CNTs giving an alternative route for mass transport through the inner tubes or along the smooth surface of CNTs. This gas stripping-pervaporation process with less contaminated risk is thus effective in increasing butanol production and reducing energy consumption. © 2015 Wiley Periodicals, Inc.

Acetone-butanol-ethanol competitive sorption simulation from single, binary, and ternary systems in a fixed-bed of KA-I resin.

PubMed

Wu, Jinglan; Zhuang, Wei; Ying, Hanjie; Jiao, Pengfei; Li, Renjie; Wen, Qingshi; Wang, Lili; Zhou, Jingwei; Yang, Pengpeng

2015-01-01

Separation of butanol based on sorption methodology from acetone-butanol-ethanol (ABE) fermentation broth has advantages in terms of biocompatibility and stability, as well as economy, and therefore gains much attention. In this work a chromatographic column model based on the solid film linear driving force approach and the competitive Langmuir isotherm equations was used to predict the competitive sorption behaviors of ABE single, binary, and ternary mixture. It was observed that the outlet concentration of weaker retained components exceeded the inlet concentration, which is an evidence of competitive adsorption. Butanol, the strongest retained component, could replace ethanol almost completely and also most of acetone. In the end of this work, the proposed model was validated by comparison of the experimental and predicted ABE ternary breakthrough curves using the real ABE fermentation broth as a feed solution. © 2014 American Institute of Chemical Engineers.

Ar-40/Ar-39 and U-Th-Pb dating of separated clasts from the Abee E4 chondrite

NASA Technical Reports Server (NTRS)

Bogard, D. D.; Unruh, D. M.; Tatsumoto, M.

1983-01-01

Ar-40/Ar-39 and U-Th-Pb are investigated for three clasts from the Abee (E4) enstatite chondrite, yielding Ar-40/Ar-39 plateau ages (and/or maximum ages) of 4.5 Gy, while two of the clasts give average ages of 4.4 Gy. The 4.4-4.5 Gy range does not resolve possible age differences among the clasts. The U-Th-Pb data are consistent with the interpretation that initial clast formation occurred 4.58 Gy ago, and that the clasts have since remained closed systems which have been contaminated with terrestrial Pb. The thermal history of Abee deduced from Ar data seems consistent with that deduced from magnetic data, suggesting that various Abee components experienced separate histories until brecciation no later than 4.4 Gy ago, experiencing no significant subsequent heating.

Shared Autonomy Manipulation Data with a Seabotix vLBV300

DOE Data Explorer

Hollinger, Geoffrey; Lawrance, Nicholas

2017-06-19

This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.

The acid-base impact of free water removal from, and addition to, plasma.

PubMed

Haskins, Steve C; Hopper, Kate; Rezende, Marlis L

2006-03-01

Water, compared with plasma at a pH of 7.4, is a weak acid. The addition of free water to a patient should have an acidifying effect (dilutional acidosis) and the removal of it, an alkalinizing effect (concentrational alkalosis). The specific effects of free water loss or gain in a relatively complex fluid such as plasma has, to the authors' knowledge, not been reported. This information would be useful in the interpretation of the effect of changes in free water in patients. Plasma samples from goats were either evaporated in a tonometer to 80% of baseline volume or hydrated by the addition of distilled water to 120% of baseline volume. The pH and partial pressure of carbon dioxide, sodium, potassium, ionized calcium, chloride, lactate, phosphorous, albumin, and total protein concentrations were measured. Actual base excess (ABE), standard bicarbonate, anion gap, strong ion difference, strong ion gap, unmeasured anions, and the effects of sodium, chloride, phosphate, and albumin changes on ABE were calculated. Most parameters changed 20% in proportion to the magnitude of dehydration or hydration. Bicarbonate concentration, however, increased only 11% in the evaporation trial and decreased only -2% in the dehydration trial. The evaporation trial was associated with a mild, but significant, metabolic alkalotic effect (ABE increased 3.2 mM/L), whereas the hydration trial was associated with a slight, insignificant metabolic acidotic effect (ABE decreased only 0.6 mM/L). The calculated free water ABE effect (change in sodium concentration) was offset by opposite changes in calculated chloride, lactate, phosphate, and albumin ABE effects.

Periodic peristalsis increasing acetone-butanol-ethanol productivity during simultaneous saccharification and fermentation of steam-exploded corn straw.

PubMed

Li, Jingwen; Wang, Lan; Chen, Hongzhang

2016-11-01

The acetone-butanol-ethanol (ABE) fermentation of lignocellulose at high solids content has recently attracted extensive attention. However, the productivity of high solids ABE fermentation of lignocellulose is typically low in traditional processes due to the lack of efficient intensifying methods. In the present study, periodic peristalsis, a novel intensifying method, was applied to improve ABE production by the simultaneous saccharification and fermentation (SSF) of steam-exploded corn straw using Clostridium acetobutylicum ATCC824. The ABE concentration and the ABE productivity of SSF at a solids content of 17.5% (w/w) with periodic peristalsis were 17.1 g/L and 0.20 g/(L h), respectively, which were higher than those obtained under static conditions (15.2 g/L and 0.14 g/(L h)). The initial sugar conversion rate over the first 12 h with periodic peristalsis was 4.67 g/(L h) at 10 FPU/g cellulase dosage and 15% (w/w) solids content, an increase of 49.7% compared with the static conditions. With periodic peristalsis, the period of batch fermentation was shortened from 108 h to 84 h. The optimal operating regime was a low frequency (6 h -1 ) of periodic peristalsis in the acid-production phase (0-48 h) of SSF. Therefore, periodic peristalsis should be an effective intensifying method to increase the productivity of ABE fermentation at high solids content. Copyright © 2016 The Society for Biotechnology, Japan. Published by Elsevier B.V. All rights reserved.

In-situ Chemical Exploration and Mapping using an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Camilli, R.; Bingham, B. S.; Jakuba, M.; Whelan, J.; Singh, H.; Whiticar, M.

2004-12-01

Recent advances in in-situ chemical sensing have emphasized several issues associated with making reliable chemical measurements in the ocean. Such measurements are often aliased temporally and or spatially, and may suffer from instrumentation artifacts, such as slow response time, limited dynamic range, hysteresis, and environmental sensitivities (eg., temperature and pressure). We focus on the in-situ measurement of light hydrocarbons. Specifically we examine data collected using a number of methods including: a vertical profiler, autonomous underwater vehicles (AUV) surveys, and adaptive spatio-temporal survey techniques. We present data collected using a commercial METS sensor on a vertical profiler to identify and map structures associated with ocean bottom methane sources in the Saanich inlet off Vancouver, Canada. This sensor was deployed in parallel with a submersible mass spectrometer and a shipboard equilibrator-gas chromatograph. Our results illustrate that spatial offsets as small as centimeters can produce significant differences in measured concentration. In addition, differences in response times between instruments can also alias the measurements. The results of this preliminary experiment underscore the challenges of quantifying ocean chemical processes with small-scale spatial variability and temporal variability that is often faster than the response times of many available instruments. We explore the capabilities and current limitations of autonomous underwater vehicles for extending the spatial coverage of new in-situ sensor technologies. We present data collected from deployments of Seabed, a passively stable, hover capable AUV, at large-scale gas blowout features located along the U.S. Atlantic margin. Although these deployments successfully revealed previously unobservable oceanographic processes, temporal aliasing caused by sensor response as well as tidal variability manifests itself, illustrating the possibilities for misinterpretation of localized periodic anomalies. Finally we present results of recent experimental chemical plume mapping surveys that were conducted off the coast of Massachusetts using adaptive behaviors that allow the AUV to optimize its mission plan to autonomously search for chemical anomalies. This adaptive operation is based on coupling the chemical sensor payload within a closed-loop architecture with the vehicle's navigation control system for real-time autonomous data assimilation and decision making processes. This allows the vehicle to autonomously refine the search strategy, thereby improving feature localization capabilities and enabling surveys at an appropriate temporal and spatial resolution.

More than a "Basic Skill": Breaking down the Complexities of Summarizing for ABE/ESL Learners

ERIC Educational Resources Information Center

Ouellette-Schramm, Jennifer

2015-01-01

This article describes the complex cognitive and linguistic challenges of summarizing expository text at vocabulary, syntactic, and rhetorical levels. It then outlines activities to help ABE/ESL learners develop corresponding skills.

A Distributed Data-Gathering Protocol Using AUV in Underwater Sensor Networks.

PubMed

Khan, Jawaad Ullah; Cho, Ho-Shin

2015-08-06

In this paper, we propose a distributed data-gathering scheme using an autonomous underwater vehicle (AUV) working as a mobile sink to gather data from a randomly distributed underwater sensor network where sensor nodes are clustered around several cluster headers. Unlike conventional data-gathering schemes where the AUV visits either every node or every cluster header, the proposed scheme allows the AUV to visit some selected nodes named path-nodes in a way that reduces the overall transmission power of the sensor nodes. Monte Carlo simulations are performed to investigate the performance of the proposed scheme compared with several preexisting techniques employing the AUV in terms of total amount of energy consumption, standard deviation of each node's energy consumption, latency to gather data at a sink, and controlling overhead. Simulation results show that the proposed scheme not only reduces the total energy consumption but also distributes the energy consumption more uniformly over the network, thereby increasing the lifetime of the network.

A Distributed Data-Gathering Protocol Using AUV in Underwater Sensor Networks

PubMed Central

Khan, Jawaad Ullah; Cho, Ho-Shin

2015-01-01

In this paper, we propose a distributed data-gathering scheme using an autonomous underwater vehicle (AUV) working as a mobile sink to gather data from a randomly distributed underwater sensor network where sensor nodes are clustered around several cluster headers. Unlike conventional data-gathering schemes where the AUV visits either every node or every cluster header, the proposed scheme allows the AUV to visit some selected nodes named path-nodes in a way that reduces the overall transmission power of the sensor nodes. Monte Carlo simulations are performed to investigate the performance of the proposed scheme compared with several preexisting techniques employing the AUV in terms of total amount of energy consumption, standard deviation of each node’s energy consumption, latency to gather data at a sink, and controlling overhead. Simulation results show that the proposed scheme not only reduces the total energy consumption but also distributes the energy consumption more uniformly over the network, thereby increasing the lifetime of the network. PMID:26287189

Object Classification in Semi Structured Enviroment Using Forward-Looking Sonar

PubMed Central

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

2017-01-01

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

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

NASA Astrophysics Data System (ADS)

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

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

Simultaneous mapping of the unsteady flow fields by Particle Displacement Velocimetry (PDV)

NASA Technical Reports Server (NTRS)

Huang, Thomas T.; Fry, David J.; Liu, Han-Lieh; Katz, Joseph; Fu, Thomas C.

1992-01-01

Current experimental and computational techniques must be improved in order to advance the prediction capability of the longitudinal vortical flows shed by underwater vehicles. The generation, development, and breakdown mechanisms of the shed vortices at high Reynolds numbers are not fully understood. The ability to measure hull separated vortices associated with vehicle maneuvering does not exist at present. The existing point-by-point measurement techniques can only capture approximately the large 'mean' eddies but fail to meet the dynamics of small vortices during the initial stage of generation. A new technique, which offers a previously unavailable capability to measure the unsteady cross-flow distribution in the plane of the laser light sheet, is called Particle Displacement Velocimetry (PDV). PDV consists of illuminating a thin section of the flowfield with a pulsed laser. The water is seeded with microscopic, neutrally buoyant particles containing imbedded fluorescing dye which responds with intense spontaneous fluorescence with the illuminated section. The seeded particles in the vortical flow structure shed by the underwater vehicle are illuminated by the pulse laser and the corresponding particle traces are recorded in a single photographic frame. Two distinct approaches were utilized for determining the velocity distribution from the particle traces. The first method is based on matching the traces of the same particle and measuring the distance between them. The direction of the flow can be identified by keeping one of the pulses longer than the other. The second method is based on selecting a small window within the image and finding the mean shift of all the particles within that region. The computation of the auto-correlation of the intensity distribution within the selected sample window is used to determine the mean displacement of particles. The direction of the flow is identified by varying the intensity of the laser light between pulses. Considerable computational resources are required to compute the auto-correction of the intensity distribution. Parallel processing will be employed to speed up the data reduction. A few examples of measured unsteady vortical flow structures shed by the underwater vehicles will be presented.

Divided attention enhances explicit but not implicit conceptual memory: an item-specific account of the attentional boost effect.

PubMed

Spataro, Pietro; Mulligan, Neil W; Bechi Gabrielli, Giulia; Rossi-Arnaud, Clelia

2017-02-01

The Attentional Boost Effect (ABE) refers to the counterintuitive finding that words encoded with to-be-responded targets in a divided-attention condition are remembered better than words encoded with distractors. Previous studies suggested that the ABE-related enhancement of verbal memory depends upon the activation of abstract lexical representations. In the present study, we extend this hypothesis by embedding it in the context of a broader perspective, which proposes that divided attention in the ABE paradigm affects item-specific, but not relational, processing. To this purpose, we examined the ABE in the matched tasks of category-cued recall (CCRT: explicit memory) and category exemplar generation (CEGT: implicit memory). In addition, study time was varied (500, 1500 or 4000 ms), to further determine whether the attentional boost manipulation could influence late-phase elaborative processing. In agreement with the predictions of the item-specific account, the results showed that exemplars encoded with targets were recalled better than exemplars encoded with distractors in the CCRT, but not in the CEGT. Moreover, performance in the CCRT increased with study time, whereas the size of the ABE-related enhancement tended to decrease, further confirming that this effect hinges upon early phase encoding processes.

An Observability Metric for Underwater Vehicle Localization Using Range Measurements

PubMed Central

Arrichiello, Filippo; Antonelli, Gianluca; Aguiar, Antonio Pedro; Pascoal, Antonio

2013-01-01

The paper addresses observability issues related to the general problem of single and multiple Autonomous Underwater Vehicle (AUV) localization using only range measurements. While an AUV is submerged, localization devices, such as Global Navigation Satellite Systems, are ineffective, due to the attenuation of electromagnetic waves. AUV localization based on dead reckoning techniques and the use of affordable motion sensor units is also not practical, due to divergence caused by sensor bias and drift. For these reasons, localization systems often build on trilateration algorithms that rely on the measurements of the ranges between an AUV and a set of fixed transponders using acoustic devices. Still, such solutions are often expensive, require cumbersome calibration procedures and only allow for AUV localization in an area that is defined by the geometrical arrangement of the transponders. A viable alternative for AUV localization that has recently come to the fore exploits the use of complementary information on the distance from the AUV to a single transponder, together with information provided by on-board resident motion sensors, such as, for example, depth, velocity and acceleration measurements. This concept can be extended to address the problem of relative localization between two AUVs equipped with acoustic sensors for inter-vehicle range measurements. Motivated by these developments, in this paper, we show that both the problems of absolute localization of a single vehicle and the relative localization of multiple vehicles can be treated using the same mathematical framework, and tailoring concepts of observability derived for nonlinear systems, we analyze how the performance in localization depends on the types of motion imparted to the AUVs. For this effect, we propose a well-defined observability metric and validate its usefulness, both in simulation and by carrying out experimental tests with a real marine vehicle during which the performance of an Extended Kalman Filter state observer is shown to depend on the types of motion imparted to the vehicle.

Development of a Semi-Autonomous Underwater Vehicle for Intervention Missions

DTIC Science & Technology

2002-06-30

Cancilliere of the Naval Undersea Warfare Center, Dr. Alexander Malahoff of the University of Hawaii, Dr. Homayoun Seraji of the Jet Propulsion Laboratory...1-inch OD cylindrical pressure vessel (6000-m capable) made low- Fe grade-2 titanium. For a 6000-m depth capability, we have constructed a 7071-grade

Autonomous Underwater Munitions and Explosives of Concern Detection System

DTIC Science & Technology

2015-03-01

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

Large Scale Structure From Motion for Autonomous Underwater Vehicle Surveys

DTIC Science & Technology

2004-09-01

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

Decentralized Single-beacon Acoustic Navigation: Combined Communication and Navigation for Underwater Vehicles

DTIC Science & Technology

2010-06-01

Ascension Island on the southern Mid-Atlantic Ridge. Photo credits: WHOI. with a reported horizontal accuracy of 10 cm [19]. An Applanix POS/MV-320...for Marine Ves- sels), Applanix , Richmond Hill, ON, Canada, Nov. 2008, http://www.applanix.com/media/downloads/products/specs/ posmv datasheet.pdf. [3

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

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

PubMed Central

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

2011-01-01

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

A Polar Initial Alignment Algorithm for Unmanned Underwater Vehicles

PubMed Central

Yan, Zheping; Wang, Lu; Wang, Tongda; Zhang, Honghan; Zhang, Xun; Liu, Xiangling

2017-01-01

Due to its highly autonomy, the strapdown inertial navigation system (SINS) is widely used in unmanned underwater vehicles (UUV) navigation. Initial alignment is crucial because the initial alignment results will be used as the initial SINS value, which might affect the subsequent SINS results. Due to the rapid convergence of Earth meridians, there is a calculation overflow in conventional initial alignment algorithms, making conventional initial algorithms are invalid for polar UUV navigation. To overcome these problems, a polar initial alignment algorithm for UUV is proposed in this paper, which consists of coarse and fine alignment algorithms. Based on the principle of the conical slow drift of gravity, the coarse alignment algorithm is derived under the grid frame. By choosing the velocity and attitude as the measurement, the fine alignment with the Kalman filter (KF) is derived under the grid frame. Simulation and experiment are realized among polar, conventional and transversal initial alignment algorithms for polar UUV navigation. Results demonstrate that the proposed polar initial alignment algorithm can complete the initial alignment of UUV in the polar region rapidly and accurately. PMID:29168735

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.

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.

Bidirectional Drive-And-Brake Mechanism

NASA Technical Reports Server (NTRS)

Swan, Scott A.

1991-01-01

Vehicle that crawls along monorail combines features of both bicycle and railroad handcar. Bidirectional drive-and-brake mechanism includes selectable-pawl-and-ratchet overrunning clutch (drive mechanism) and mating stationary and rotating conical surfaces pressing against each other (brake mechanism). Operates similarly to bicycle drive-and-brake mechanism except limits rotation of sprocket in both directions and brakes at both limits. Conceived for use by astronaut traveling along structure in outer space, concept also applied on Earth to make very small railraod handcars or crawling vehicles for use on large structures, in pipelines under construction, or underwater.

Design and Implementation of a Collision Avoidance System for the NPS autonomous Underwater Vehicle (AUV II) Utilizing Ultrasonic Sensors

DTIC Science & Technology

1991-09-01

exectti:n by providing geographic waypoints and tasks to the guidance system. The guidance system provides desired vehicle postures, ( x , y, z, 0), as...Maker Guidance System Patter ( x ,y,zlt) Recognition LOS Cross Track No Cubic Spiral Heading Spee Depth Mode Commands Navigation Autopilot System Systems...20log2r + 2otr (Eq 3.3) where ( x is the attenuation coefficient of sound in water at the frequency in use and r is the length of the transmission

In Vitro Longitudinal Relaxivity Profile of Gd(ABE-DTTA), an Investigational Magnetic Resonance Imaging Contrast Agent

PubMed Central

Varga-Szemes, Akos; Kiss, Pal; Rab, Andras; Suranyi, Pal; Lenkey, Zsofia; Simor, Tamas; Bryant, Robert G.; Elgavish, Gabriel A.

2016-01-01

Purpose MRI contrast agents (CA) whose contrast enhancement remains relatively high even at the higher end of the magnetic field strength range would be desirable. The purpose of this work was to demonstrate such a desired magnetic field dependency of the longitudinal relaxivity for an experimental MRI CA, Gd(ABE-DTTA). Materials and Methods The relaxivity of 0.5mM and 1mM Gd(ABE-DTTA) was measured by Nuclear Magnetic Relaxation Dispersion (NMRD) in the range of 0.0002 to 1T. Two MRI and five NMR instruments were used to cover the range between 1.5 to 20T. Parallel measurement of a Gd-DTPA sample was performed throughout as reference. All measurements were carried out at 37°C and pH 7.4. Results The relaxivity values of 0.5mM and 1mM Gd(ABE-DTTA) measured at 1.5, 3, and 7T, within the presently clinically relevant magnetic field range, were 15.3, 11.8, 12.4 s-1mM-1 and 18.1, 16.7, and 13.5 s-1mM-1, respectively. The control 4 mM Gd-DTPA relaxivities at the same magnetic fields were 3.6, 3.3, and 3.0 s-1mM-1, respectively. Conclusions The longitudinal relaxivity of Gd(ABE-DTTA) measured within the presently clinically relevant field range is three to five times higher than that of most commercially available agents. Thus, Gd(ABE-DTTA) could be a practical choice at any field strength currently used in clinical imaging including those at the higher end. PMID:26872055

Protective potential of Averrhoa bilimbi fruits in ameliorating the hepatic key enzymes in streptozotocin-induced diabetic rats.

PubMed

Kurup, Surya B; S, Mini

2017-01-01

Diabetes is a mutifactorial disease which leads to several complications. Currently available drug regimens for management of diabetes have certain drawbacks. Need for safer and effective medicines from natural sources having potent antidiabetic activity. Averrhoa bilimbi Linn. (Oxalidaceae) is a medicinal plant and is reported to possess hypoglycemic activity. To investigate the antidiabetic potential of Averrhoa bilimbi fruit extract in streptozotocin-induced diabetic rats. Diabetes was induced in male Sprague Dawley rats by single intraperitoneal injection of streptozotocin (STZ) (40mg/kg body weight). The diabetic rats were treated orally with ethyl acetate fraction of A. bilimbi fruits (ABE) (25mg/kg body weight) and metformin (100mg/kg body weight) by intragastric intubation for 60days. After 60days, the rats were sacrificed; blood, liver and pancreas were collected. Several indices such as blood glucose, plasma insulin, toxicity markers and the activities of carbohydrate-metabolizing enzymes were assayed. The phytochemicals present in the ABE was identified by gas chromatography-mass spectrometry analysis. ABE significantly (p<0.05) reduced the level of blood glucose and hepatic toxicity markers and increased plasma insulin in diabetic rats. ABE modulated the activities of carbohydrate-metabolizing enzymes, significantly increased the activities of hexokinase (59%) and pyruvate kinase (68%) and reduced the activities of glucose-6-phosphatase (32%) and fructose-1, 6-bisphosphatase (20%). The histological studies of the pancreas also supported our findings. The results were compared with metformin, a standard oral hypoglycemic drug. GC-MS analysis of ABE revealed the presence of 11 chemical constituents in the extract. ABE exerts its antidiabetic effect by promoting glucose metabolism via glycolysis and inhibiting hepatic endogenous glucose production via gluconeogenesis. Copyright © 2016 Elsevier Masson SAS. All rights reserved.

Multisensor system for the protection of critical infrastructure of a seaport

NASA Astrophysics Data System (ADS)

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

2012-06-01

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

Energetic Extremes in Aquatic Locomotion by Coral Reef Fishes

PubMed Central

Fulton, Christopher J.; Johansen, Jacob L.; Steffensen, John F.

2013-01-01

Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s−1) while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting), streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed. PMID:23326566

Distributed Underwater Sensing: A Paradigm Change for the Future

NASA Astrophysics Data System (ADS)

Yang, T. C.

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

Large-scale assessment of benthic communities across multiple marine protected areas using an autonomous underwater vehicle.

PubMed

Ferrari, Renata; Marzinelli, Ezequiel M; Ayroza, Camila Rezende; Jordan, Alan; Figueira, Will F; Byrne, Maria; Malcolm, Hamish A; Williams, Stefan B; Steinberg, Peter D

2018-01-01

Marine protected areas (MPAs) are designed to reduce threats to biodiversity and ecosystem functioning from anthropogenic activities. Assessment of MPAs effectiveness requires synchronous sampling of protected and non-protected areas at multiple spatial and temporal scales. We used an autonomous underwater vehicle to map benthic communities in replicate 'no-take' and 'general-use' (fishing allowed) zones within three MPAs along 7o of latitude. We recorded 92 taxa and 38 morpho-groups across three large MPAs. We found that important habitat-forming biota (e.g. massive sponges) were more prevalent and abundant in no-take zones, while short ephemeral algae were more abundant in general-use zones, suggesting potential short-term effects of zoning (5-10 years). Yet, short-term effects of zoning were not detected at the community level (community structure or composition), while community structure varied significantly among MPAs. We conclude that by allowing rapid, simultaneous assessments at multiple spatial scales, autonomous underwater vehicles are useful to document changes in marine communities and identify adequate scales to manage them. This study advanced knowledge of marine benthic communities and their conservation in three ways. First, we quantified benthic biodiversity and abundance, generating the first baseline of these benthic communities against which the effectiveness of three large MPAs can be assessed. Second, we identified the taxonomic resolution necessary to assess both short and long-term effects of MPAs, concluding that coarse taxonomic resolution is sufficient given that analyses of community structure at different taxonomic levels were generally consistent. Yet, observed differences were taxa-specific and may have not been evident using our broader taxonomic classifications, a classification of mid to high taxonomic resolution may be necessary to determine zoning effects on key taxa. Third, we provide an example of statistical analyses and sampling design that once temporal sampling is incorporated will be useful to detect changes of marine benthic communities across multiple spatial and temporal scales.

Large-scale assessment of benthic communities across multiple marine protected areas using an autonomous underwater vehicle

PubMed Central

Ayroza, Camila Rezende; Jordan, Alan; Figueira, Will F.; Byrne, Maria; Malcolm, Hamish A.; Williams, Stefan B.; Steinberg, Peter D.

2018-01-01

Marine protected areas (MPAs) are designed to reduce threats to biodiversity and ecosystem functioning from anthropogenic activities. Assessment of MPAs effectiveness requires synchronous sampling of protected and non-protected areas at multiple spatial and temporal scales. We used an autonomous underwater vehicle to map benthic communities in replicate ‘no-take’ and ‘general-use’ (fishing allowed) zones within three MPAs along 7o of latitude. We recorded 92 taxa and 38 morpho-groups across three large MPAs. We found that important habitat-forming biota (e.g. massive sponges) were more prevalent and abundant in no-take zones, while short ephemeral algae were more abundant in general-use zones, suggesting potential short-term effects of zoning (5–10 years). Yet, short-term effects of zoning were not detected at the community level (community structure or composition), while community structure varied significantly among MPAs. We conclude that by allowing rapid, simultaneous assessments at multiple spatial scales, autonomous underwater vehicles are useful to document changes in marine communities and identify adequate scales to manage them. This study advanced knowledge of marine benthic communities and their conservation in three ways. First, we quantified benthic biodiversity and abundance, generating the first baseline of these benthic communities against which the effectiveness of three large MPAs can be assessed. Second, we identified the taxonomic resolution necessary to assess both short and long-term effects of MPAs, concluding that coarse taxonomic resolution is sufficient given that analyses of community structure at different taxonomic levels were generally consistent. Yet, observed differences were taxa-specific and may have not been evident using our broader taxonomic classifications, a classification of mid to high taxonomic resolution may be necessary to determine zoning effects on key taxa. Third, we provide an example of statistical analyses and sampling design that once temporal sampling is incorporated will be useful to detect changes of marine benthic communities across multiple spatial and temporal scales. PMID:29547656

Enhanced acetone-butanol-ethanol production from lignocellulosic hydrolysates by using starchy slurry as supplement.

PubMed

Yang, Ming; Kuittinen, Suvi; Vepsäläinen, Jouko; Zhang, Junhua; Pappinen, Ari

2017-11-01

This study aims to improve acetone-butanol-ethanol production from the hydrolysates of lignocellulosic material by supplementing starchy slurry as nutrients. In the fermentations of glucose, xylose and the hydrolysates of Salix schwerinii, the normal supplements such as buffer, minerals, and vitamins solutions were replaced with the barley starchy slurry. The ABE production was increased from 0.86 to 14.7g/L by supplementation of starchy slurry in the fermentation of xylose and the utilization of xylose increased from 29% to 81%. In the fermentations of hemicellulosic and enzymatic hydrolysates from S. schwerinii, the ABE yields were increased from 0 and 0.26 to 0.35 and 0.33g/g sugars, respectively. The results suggested that the starchy slurry supplied the essential nutrients for ABE fermentation. The starchy slurry as supplement could improve the ABE production from both hemicellulosic and cellulosic hydrolysate of lignocelluloses, and it is particularly helpful for enhancing the utilization of xylose from hemicelluloses. Copyright © 2017 Elsevier Ltd. All rights reserved.

Sustainable biobutanol production from pineapple waste by using Clostridium acetobutylicum B 527: Drying kinetics study.

PubMed

Khedkar, Manisha A; Nimbalkar, Pranhita R; Gaikwad, Shashank G; Chavan, Prakash V; Bankar, Sandip B

2017-02-01

Present investigation explores the use of pineapple peel, a food industry waste, for acetone-butanol-ethanol (ABE) production using Clostridium acetobutylicum B 527. Proximate analysis of pineapple peel shows that it contains 35% cellulose, 19% hemicellulose, and 16% lignin on dry basis. Drying experiments on pineapple peel waste were carried out in the temperature range of 60-120°C and experimental drying data was modeled using moisture diffusion control model to study its effect on ABE production. The production of ABE was further accomplished via acid hydrolysis, detoxification, and fermentation process. Maximum total sugar release obtained by using acid hydrolysis was 97g/L with 95-97% and 10-50% removal of phenolics and acetic acid, respectively during detoxification process. The maximum ABE titer obtained was 5.23g/L with 55.6% substrate consumption when samples dried at 120°C were used as a substrate (after detoxification). Copyright © 2016 Elsevier Ltd. All rights reserved.

Effective multiple stages continuous acetone-butanol-ethanol fermentation by immobilized bioreactors: Making full use of fresh corn stalk.

PubMed

Chang, Zhen; Cai, Di; Wang, Yong; Chen, Changjing; Fu, Chaohui; Wang, Guoqing; Qin, Peiyong; Wang, Zheng; Tan, Tianwei

2016-04-01

In order to make full use of the fresh corn stalk, the sugar containing juice was used as the sole substrate for acetone-butanol-ethanol production without any nutrients supplement, and the bagasse after squeezing the juice was used as the immobilized carrier. A total 21.34g/L of ABE was produced in batch cells immobilization system with ABE yield of 0.35g/g. A continuous fermentation containing three stages with immobilized cells was conducted and the effect of dilution rate on fermentation was investigated. As a result, the productivity and ABE solvents concentration reached 0.80g/Lh and 19.93g/L, respectively, when the dilution rate in each stage was 0.12/h (corresponding to a dilution rate of 0.04/h in the whole system). And the long-term operation indicated the continuous multiple stages ABE fermentation process had good stability and showed the great potential in future industrial applications. Copyright © 2016 Elsevier Ltd. All rights reserved.

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.

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles.

PubMed

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-08-13

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well.

Data supporting Al-Abed et al., Environ. Sci.: Nano, 2016,

EPA Pesticide Factsheets

Data files representing each of the Figures and Tables published in Al-Abed et al., Environ. Sci.: Nano, 2016,3, 593. The data file names identify the Figure or Table and each file contains an internal set of data definitionsThis dataset is associated with the following publication:Al-Abed, S.R., J. Virkutyte, J. Ortenzio , R.M. McCarrick, L. Degn, R. Zucker , N. Coates , K. Cleveland, H. Ma, S. Diamond, K. Dreher , and W. Boyes. Environmental aging alters AI(OH)3 coating of TiO2 nanoparticles enhancing their photocatalytic and phototoxicity activities. Environmental Science: Nano. RSC Publishing, Cambridge, UK, N/A, (2016).

Collaborative Partnerships in Maryland To Reduce Adult Illiteracy.

ERIC Educational Resources Information Center

National Inst. for Work and Learning, Washington, DC.

A study examined existing collaborative activities between private or public employers and adult basic education (ABE), general educational development (GED), and English as a second language (ESL) programs in Maryland's 24 local education agencies. Information was gathered directly from 16 ABE administrators (including 4 community college…

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.

STS-55 MS3 Harris, wearing EMU and CCA, prepares for EVA simulation at JSC WETF

NASA Technical Reports Server (NTRS)

1991-01-01

STS-55 Columbia, Orbiter Vehicle (OV) 102, Mission Specialist 3 (MS3) Bernard A. Harris, Jr, suited in the extravehicular mobility unit (EMU) upper torso and communications carrier assembly (CCA), smiles as he prepares for an underwater simulation in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool. This portrait-like view captures Harris as he checks out his communications equipment. Once fully suited, Harris will be lowered into the WETF's 25-foot deep pool for an underwater contingency extravehicular activity (EVA) simulation. There is no scheduled EVA for the 1993 flight but each spaceflight crew includes astronauts trained for a variety of contingency tasks that could require exiting the shirt-sleeve environment of a Shuttle's cabin.

Comparative shotgun proteomic analysis of Clostridium acetobutylicum from butanol fermentation using glucose and xylose

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

Sivagnanam, Kumaran; Raghavan, Vijaya G. S.; Shah, Manesh B

2011-01-01

Background: Butanol is a second generation biofuel produced by Clostridium acetobutylicum through acetonebutanol- ethanol (ABE) fermentation process. Shotgun proteomics provides a direct approach to study the whole proteome of an organism in depth. This paper focuses on shotgun proteomic profiling of C. acetobutylicum from ABE fermentation using glucose and xylose to understand the functional mechanisms of C. acetobutylicum proteins involved in butanol production. Results: We identified 894 different proteins in C. acetobutylicum from ABE fermentation process by two dimensional - liquid chromatography - tandem mass spectrometry (2D-LC-MS/MS) method. This includes 717 proteins from glucose and 826 proteins from the xylosemore » substrate. A total of 649 proteins were found to be common and 22 significantly differentially expressed proteins were identified between glucose and xylose substrates. Conclusion: Our results demonstrate that flagellar proteins are highly up-regulated with glucose compared to xylose substrate during ABE fermentation. Chemotactic activity was also found to be lost with the xylose substrate due to the absence of CheW and CheV proteins. This is the first report on the shotgun proteomic analysis of C. acetobutylicum ATCC 824 in ABE fermentation between glucose and xylose substrate from a single time data point and the number of proteins identified here is more than any other study performed on this organism up to this report.« less

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

FY 1992-1993 RDT&E Descriptive Summaries: DARPA

DTIC Science & Technology

1991-02-01

combining natural language and user workflow model information. * Determine effectiveness of auditory models as preprocessors for robust speech...for indexing and retrieving design knowledge. * Evaluate ability of message understanding systems to extract crisis -situation data from news wires...energy effects , underwater vehicles, neutrino detection, speech, tailored nuclear weapons, hypervelocity, nanosecond timing, and MAD/RPV. FY 1991 Planned

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

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

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…

GOOSE CAM: The Development of a Practical Underwater Exploration Platform

ERIC Educational Resources Information Center

Miller, William R.; Mitchell, Colleen; Miller, Jeffrey D.

2009-01-01

We challenged an Aquatic Biology class to find a way to access, observe, and record aquatic habitats and organisms without causing disruption. Using off the shelf components the class was guided in the design and assembly of a remote controlled, video broadcasting, data collecting, floating vehicle based on a molded goose decoy. GOOSE-CAM or…

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

DTIC Science & Technology

2010-01-28

James Fein from ONR, Mr. Chris Hillenbrand became the ONR Program Officer for the SAUVIM project. In 2002, Dr. David Drumheller became the new ONR...Gary McMurtry, Dr. Song K. Choi & Mr. Oliver T. Easterday Past Personnel: Mr. Yann Douyere, Mr. Alan Parsa & Mr. Max D. Cremer Objectives The

STS-53 MS Clifford, in EMU, dons gloves with technicians' assistance at JSC

NASA Technical Reports Server (NTRS)

1992-01-01

STS-53 Discovery, Orbiter Vehicle (OV) 103, Mission Specialist (MS) Michael R.U. Clifford, wearing extravehicular mobility unit (EMU) and communications carrier assembly (CCA), dons gloves with assistance from two technicians. Clifford is preparing for an underwater contingency extravehicular activity (EVA) simulation in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool.

STS-53 MS Voss,in EMU, dons gloves with technicians' assistance at JSC's WETF

NASA Technical Reports Server (NTRS)

1992-01-01

STS-53 Discovery, Orbiter Vehicle (OV) 103, Mission Specialist (MS) James S. Voss, wearing extravehicular mobility unit (EMU) and communications carrier assembly (CCA), dons his gloves with assistance from two technicians. Voss is preparing for an underwater contingency extravehicular activity (EVA) simulation in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool.

The ABE/AMH Manual. An Instructional Guide for ABE Programs Serving Mentally Handicapped Adults.

ERIC Educational Resources Information Center

Lehman, Scott C.; Edgar, S. Keith

This handbook provides adult basic education teachers with instructional materials for working with adult mentally handicapped students. Section 1 examines planning programs for adult mentally retarded students (getting started, specific considerations, various kinds of program sites) and implementing instruction (staff selection and training).…

The University of Missouri Adult Basic Education System.

ERIC Educational Resources Information Center

Mocker, Donald W.; Veri, Clive C.

The University of Missouri adult basic education (ABE) system, developed from the ABE laboratory with the help of Title III funds, consists of a series of subsystems designed to effect behavioral change in undereducated adults through an individualized flexible approach to learning. The subsystems of diagnostic testing; individual counseling,…

Assessment of in situ butanol recovery by vacuum during acetone butanol ethanol (ABE) fermentation

USDA-ARS?s Scientific Manuscript database

Butanol fermentation is product limiting due to butanol toxicity to microbial cells. Butanol (boiling point: 118 deg C) boils at a greater temperature than water (boiling point: 100 deg C) and application of vacuum technology to integrated acetone-butanol-ethanol (ABE) fermentation and recovery may ...

Counseling the Adult Basic Education Student.

ERIC Educational Resources Information Center

Champagne, Delight E.

This guide is designed for use by counselors and teachers working with adult basic education (ABE) students. Discussed first is the importance of viewing adult learners as clients. The unique characteristics of the ABE student are examined. Presented next is an adult counseling model that includes the following program participation phases:…

The BEST Blueprint. Quality ABE in the Workplace.

ERIC Educational Resources Information Center

Westberry, Susan

The Basic Educational Skills Training (BEST) workplace literacy demonstration model was designed to provide adult basic education (ABE) services simultaneously for multiple employers in Maury County, Tennessee. The BEST model focused on job-related instruction. The goal of the program was to achieve increased safety, productivity, and employee…

Dropout and Persistence in Adult Basic Education.

ERIC Educational Resources Information Center

Clark, Lisa K.

A review of research on dropouts from adult basic education (ABE) reveals several theoretical models relevant to the study of dropout and persistence in ABE, shows specific variables related to dropout behavior, provides insights as to who drops out and why, identifies some characteristics of disadvantaged adult learners, and reveals some problems…

Computer Assisted Teaching Comparisons with Handicapped. Final Report.

ERIC Educational Resources Information Center

Main, JoDell K.

A project was conducted to see if computer-assisted instruction could be used successfully with the low-level, non-reading adult. The experimental classroom group consisted of mentally handicapped and other educationally handicapped adults in adult basic education (ABE) programs. (Long-range implementation is aimed at ABE students who have a…

Annotated A.B.E. Bibliography.

ERIC Educational Resources Information Center

Anderson, Ethel E., Comp.

Based on lists submitted by practitioners working in the 0 to grade 9 levels of English-speaking adult basic education (ABE) in Canada, this annotated bibliography is composed of 283 items currently in use. Six categories are included: (1) reading, which covers reading systems, instructional material, phonics, and independent reading; (2) language…

Learned Helplessness and Dyslexia: A Carts and Horses Issue?

ERIC Educational Resources Information Center

Kerr, H.

2001-01-01

Surveys attitudes towards and beliefs about dyslexia among Adult Basic Education (ABE) teachers and providers. Finds doubt, uncertainty and confusion about dyslexia and considerable misgiving. Discusses attribution theory and learned helplessness in the context of ABE. Argues that a diagnosis of dyslexia may be a maladaptive attribution and so…

The Functional Illiterate: Is Correctional Education Doing Its Job?

ERIC Educational Resources Information Center

Loeffler, Cynthia A.; Martin, Thomas C.

A study researched the existence of established Adult Basic Education (ABE) curricula for incarcerated adult inmate/students in state correctional education programs, specifically the functionally illiterate. All 50 State Departments of Corrections were surveyed by questionnaire; 44 responded. ABE was a basis for curricula according to 37.6% of…

Maintaining "Professional Distance": A Dilemma for the ABE Teacher.

ERIC Educational Resources Information Center

Willing, Delight C.; Haney, Hutch

1994-01-01

Too often, many adult educators are unaware of the problems resulting from failing to maintain an appropriate "professional distance" from their adult basic education (ABE) or English-as-a-Second-Language (ESL) students when those students encounter personal problems or crises that appear to be interfering with their learning. ABE…

Health Literacy and Adult Basic Education Assessments

ERIC Educational Resources Information Center

Golbeck, Amanda L.; Ahlers-Schmidt, Carolyn R.; Paschal, Angelia M.

2005-01-01

Adult basic education (ABE) is an ideal venue for developing health literacy skills. Literacy and numeracy assessments used in ABE were identified and the most common were examined for health components. Only the Comprehensive Adult Student Assessment System (CASAS) included health. The two most common health literacy assessments used in general…

Organizational Culture in Adult Basic Education in the Netherlands.

ERIC Educational Resources Information Center

Berg, M. J. M. van den

Recent legislation on adult basic education (ABE) in the Netherlands has two important aims: to offer one uniform organizational financial structure and to improve educational quality. ABE institutes have concentrated on restructuring the organization and merging the precursors. The change in structure is supported by a change in organizational…

Exploring the Eastern United States Continental Shelf with the NOAA Cooperative Institute for Ocean Exploration, Research, and Technology

NASA Astrophysics Data System (ADS)

Glickson, D.; Pomponi, S. A.

2016-02-01

The Cooperative Institute for Ocean Exploration, Research, and Technology (CIOERT) serves NOAA priorities in three theme areas: exploring the eastern U.S. continental shelf, improving the understanding of coral and sponge ecosystems, and developing advanced underwater technologies. CIOERT focuses on the exploration and research of ecosystems and habitats along frontier regions of the eastern U.S. continental shelf that are of economic, scientific, or cultural importance or of natural hazards concern. One particular focus is supporting ocean exploration and research through the use of advanced underwater technologies and techniques in order to improve the understanding of vulnerable deep and shallow coral and sponge ecosystems. CIOERT expands the scope and efficiency of exploration and research by developing, testing, and applying new and/or innovative uses of existing technologies to ocean exploration and research activities. In addition, CIOERT is dedicated to expanding ocean literacy and building NOAA's technical and scientific workforce through hands-on, at-sea experiences. A recent CIOERT cruise characterized Gulf of Mexico mesophotic and deepwater reef ecosystems off the west Florida shelf, targeting northern Pulley Ridge. This project created and ground-truthed new sonar maps made with an autonomous underwater vehicle; conducted video and photographic transects of benthic habitat and fish using a remotely operated vehicle; and examined the connectivity of fauna from shallow to deep reef ecosystems. CIOERT was established in 2009 by FAU-Harbor Branch Oceanographic Institute, with University of North Carolina, Wilmington, SRI International, and the University of Miami. The primary NOAA partner is the Office of Oceanic and Atmospheric Research's Office of Ocean Exploration and Research.

Exploring the Eastern United States Continental Shelf with the NOAA Cooperative Institute for Ocean Exploration, Research, and Technology

NASA Astrophysics Data System (ADS)

Glickson, D.; Pomponi, S.

2015-12-01

The Cooperative Institute for Ocean Exploration, Research, and Technology (CIOERT) serves NOAA priorities in three theme areas: exploring the eastern U.S. continental shelf, improving the understanding of coral and sponge ecosystems, and developing advanced underwater technologies. CIOERT focuses on the exploration and research of ecosystems and habitats along frontier regions of the eastern U.S. continental shelf that are of economic, scientific, or cultural importance or of natural hazards concern. One particular focus is supporting ocean exploration and research through the use of advanced underwater technologies and techniques in order to improve the understanding of vulnerable deep and shallow coral and sponge ecosystems. CIOERT expands the scope and efficiency of exploration and research by developing, testing, and applying new and/or innovative uses of existing technologies to ocean exploration and research activities. In addition, CIOERT is dedicated to expanding ocean literacy and building NOAA's technical and scientific workforce through hands-on, at-sea experiences. A recent CIOERT cruise characterized Gulf of Mexico mesophotic and deepwater reef ecosystems off the west Florida shelf, targeting northern Pulley Ridge. This project created and ground-truthed new sonar maps made with an autonomous underwater vehicle; conducted video and photographic transects of benthic habitat and fish using a remotely operated vehicle; and examined the connectivity of fauna from shallow to deep reef ecosystems. CIOERT was established in 2009 by FAU-Harbor Branch Oceanographic Institute, with University of North Carolina, Wilmington, SRI International, and the University of Miami. The primary NOAA partner is the Office of Oceanic and Atmospheric Research's Office of Ocean Exploration and Research.

YTTRIUM BERYLLIDE AND COMPOUNDS OF THE TYPE ABe$sub 1$$sub 3$

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

Matyushenko, N.N.; Tikhinskii, G.F.

1963-11-01

Studies were made on the Be-Y system in order to establish the existence of intermetallides in it and to systematize the compounds of type ABe/sub 13/ according to their formula volumes. The existence of a cubic phase YBe/sub 13/, isomorphous with NaZn/sub 13/ and with a lattice period a = 10.238 plus or minus 0.002 A, was established. It was concluded that the known ABe/sub 13/ beryllides can be divided into three groups according to their volume relationships to the volume of the A component: Sc, Hf, Zr; Mg, Er, Y, Ca, Am; Np, U, Pu, Th, Ce, La. (P.C.H.)

A high-frequency warm shallow water acoustic communications channel model and measurements.

PubMed

Chitre, Mandar

2007-11-01

Underwater acoustic communication is a core enabling technology with applications in ocean monitoring using remote sensors and autonomous underwater vehicles. One of the more challenging underwater acoustic communication channels is the medium-range very shallow warm-water channel, common in tropical coastal regions. This channel exhibits two key features-extensive time-varying multipath and high levels of non-Gaussian ambient noise due to snapping shrimp-both of which limit the performance of traditional communication techniques. A good understanding of the communications channel is key to the design of communication systems. It aids in the development of signal processing techniques as well as in the testing of the techniques via simulation. In this article, a physics-based channel model for the very shallow warm-water acoustic channel at high frequencies is developed, which are of interest to medium-range communication system developers. The model is based on ray acoustics and includes time-varying statistical effects as well as non-Gaussian ambient noise statistics observed during channel studies. The model is calibrated and its accuracy validated using measurements made at sea.

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

PubMed

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

2017-03-11

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

Examining Some Aspects of Alternative Basic Education Programmes in Ethiopia

ERIC Educational Resources Information Center

Onwu, Gilbert O. M.; Agu, Augustine

2010-01-01

This study examines some aspects of the quality of Alternative Basic Education (ABE) provision in Ethiopia. Educational indicators of quality were formulated under two general topic areas of ABE programme process and content, and pupil learning outcomes. A qualitative-interpretative research approach and survey design was used to collect data from…

The Learner Persistence Project at Quinsigamond Community College

ERIC Educational Resources Information Center

Kefallinou, Maria

2009-01-01

Quinsigamond Community College's (QCC's) Adult Community Learning Center is located in Worcester, Massachusetts, and offers ESOL and ABE/GED classes to students who reside in Worcester and the surrounding towns (urban area). Its ABE/GED program has historically had low retention and persistence. Students often left before the end of the year or…

Application of the Virginia STEPS (Student/Teacher Education Planning System) by Basic Skills Education Teachers.

ERIC Educational Resources Information Center

Seguin, Barbara; Swanson, Lois

The Virginia STEPS (Student/Teacher Education Planning System) was developed to enable adult basic education (ABE) students to become independent learners responsible for planning, carrying out, evaluating, and making adjustments in their education. ABE instructors at Blackhawk Technical College in Wisconsin have adapted the STEPS model to make…

Achievement Motivation Training--Effects on ABE/ASE Students' Psychosocial Self-Perceptions.

ERIC Educational Resources Information Center

Martin, Larry G.

A study was conducted to identify psychosocial needs of Adult Basic Education (ABE)/Adult Secondary Education (ASE) students by using the Self-Description Questionnaire (SDQ). A second purpose was to test effectiveness of Achievement Motivation Training (AMT) as a technique to counterbalance the negative impact of these students' former…

Bioproduction of butanol in bioreactors: new insights from simultaneous in situ butanol recovery to eliminate product toxicity

USDA-ARS?s Scientific Manuscript database

Simultaneous acetone butanol ethanol (ABE) fermentation by Clostridium beijerinckii 260 and in situ product recovery was investigated using a vacuum process operated in two modes: continuous and intermittent. Integrated batch fermentations and ABE recovery were conducted at 37 deg C using a 14-L bio...

Adult Basic Education Basic Computer Literacy Handbook.

ERIC Educational Resources Information Center

Manini, Catalina M.; Cervantes, Juan

This handbook, in both English and Spanish versions, is intended for use with adult basic education (ABE) students. It contains five sections of basic computer literacy activities and information about the ABE computer literacy course offered at Dona Ana Community College (DACC) in New Mexico. The handbook begins with forewords by the handbook's…

Personality Characteristics and Learning Style Preferences of Adult Basic Education Students. Research Monograph.

ERIC Educational Resources Information Center

Manzo, Anthony V.; And Others

The study described in the report identifies personality characteristics and learning styles of adult basic education (ABE) students on the basis of three instruments: the Luscher Color Test, the Manzo Bestiary Inventory, and the Learning Preference Inventory. The volunteer sample consisted of 83 ABE students. Subsample comparison groups consisted…

Teaching as a Social Practice: The Experiences of Two Moroccan Adult Literacy Tutors

ERIC Educational Resources Information Center

Erguig, Reddard

2012-01-01

This article offers an ethnographic case study of two Adult Basic Education (ABE) teachers' characteristics and their literacy instruction. It draws on the New Literacy Studies tradition and used ethnographic tools (in-depth interviews, classroom observation and the think-aloud protocol) to explore the characteristics of two ABE teachers and…

IQ Zoo and Teaching Operant Concepts

ERIC Educational Resources Information Center

Bihm, Elson M.; Gillaspy, J. Arthur, Jr.; Lammers, William J.; Huffman, Stephanie P.

2010-01-01

Psychology texts often cite the work of Marian and Keller Breland and their business, Animal Behavior Enterprises (ABE), to demonstrate operant conditioning and the "misbehavior of organisms" from an evolutionary perspective. Now available on the Internet at the official IQ Zoo website (http://www3.uca.edu/iqzoo/), the artifacts of ABE's work, in…

Massachusetts Adult Basic Education Curriculum Framework for Mathematics and Numeracy

ERIC Educational Resources Information Center

Massachusetts Department of Education, 2005

2005-01-01

Over the past number of years, several initiatives have set the stage for writing the Massachusetts ABE (Adult Basic Education) Curriculum Frameworks for Mathematics and Numeracy. This current version of the "Massachusetts ABE Mathematics Curriculum Frameworks" is a second revision of that first framework, but it is heavily influenced by…

Adult Basic Education Curriculum Guide for ABE Programs Serving Psychiatrically Ill Adult Students.

ERIC Educational Resources Information Center

Collier, Ezma V.

This curriculum guide is designed for use in adult basic education (ABE) programs serving psychiatrically ill adult students. Covered in the individual units are the following topics: personal hygiene and grooming, nutrition and health, money and money management, transportation and safety, government and law, values clarification, and…

National Issues Forums in an ABE Setting. Final Report.

ERIC Educational Resources Information Center

Molek, Carol

National Issues Forums (NIFs) were conducted for adult basic education (ABE) students in a Pennsylvania adult education and job training center. The forums provide a process of sharing thoughts and opinions about areas of pressing national concerns in an open exchange of everyone's opinion. After instructors participated in NIFs, they developed a…

Documenting Outcomes for Learners and Their Communities: A Report on a NCSALL Action Research Project. NCSALL Reports.

ERIC Educational Resources Information Center

Bingman, Mary Beth

Action research focused on developing approaches local programs can use to document outcomes of student participation in adult basic education (ABE) programs. Teams of teachers and administrators from three ABE programs examined current documentation practices, were introduced to approaches to documentaion, and developed documentation processes…

Does Prison-Based Adult Basic Education Improve Postrelease Outcomes for Male Prisoners in Florida?

ERIC Educational Resources Information Center

Cho, Rosa Minhyo; Tyler, John H.

2013-01-01

The authors use administrative data from Florida to determine the extent to which prison-based adult basic education (ABE) improves inmate's postrelease labor market outcomes, such as earnings and employment. Using two nonexperimental comparison groups, the authors find evidence that ABE participation is associated with higher postrelease earnings…

Defining Success in Adult Basic Education Settings: Multiple Stakeholders, Multiple Perspectives

PubMed Central

Tighe, Elizabeth L.; Barnes, Adrienne E.; Connor, Carol M.; Steadman, Sharilyn C.

2015-01-01

This study employed quantitative and qualitative research approaches to investigate what constitutes “success” in Adult Basic Education (ABE) programs from the perspectives of multiple educational stakeholders: the state funding agency, the teachers, and the students. Success was defined in multiple ways. In the quantitative section of the study, we computed classroom value-added scores (used as a metric of the state’s definition of success) to identify more and less effective ABE classrooms in two Florida counties. In the qualitative section of the study, we observed and conducted interviews with teachers and students in the selected classrooms to investigate how these stakeholders defined success in ABE. Iterative consideration of the qualitative data revealed three principal markers of success: (a) instructional strategies and teacher-student interactions; (b) views on standardized testing; and (c) student motivational factors. In general, classrooms with higher value-added scores were characterized by multiple instructional approaches, positive and collaborative teacher-student interactions, and students engaging in goal setting and citing motivational factors such as family and personal fulfillment. The implications for ABE programs are discussed. PMID:26279590

Acetone-butanol-ethanol production from Kraft paper mill sludge by simultaneous saccharification and fermentation.

PubMed

Guan, Wenjian; Shi, Suan; Tu, Maobing; Lee, Yoon Y

2016-01-01

Paper mill sludge (PS), a solid waste from pulp and paper industry, was investigated as a feedstock for acetone-butanol-ethanol (ABE) production by simultaneous saccharification and fermentation (SSF). ABE fermentation of paper sludge by Clostridium acetobutylicum required partial removal of ash in PS to enhance its enzymatic digestibility. Enzymatic hydrolysis was found to be a rate-limiting step in the SSF. A total of 16.4-18.0g/L of ABE solvents were produced in the SSF of de-ashed PS with solid loading of 6.3-7.4% and enzyme loading of 10-15FPU/g-glucan, and the final solvent yield reached 0.27g/g sugars. No pretreatment and pH control were needed in ABE fermentation of paper sludge, which makes it an attractive feedstock for butanol production. The results suggested utilization of paper sludge should not only consider the benefits of buffering effect of CaCO3 in fermentation, but also take into account its inhibitory effect on enzymatic hydrolysis. Published by Elsevier Ltd.

Efficient production of fatty acid methyl ester from waste activated bleaching earth using diesel oil as organic solvent.

PubMed

Kojima, Seiji; Du, Dongning; Sato, Masayasu; Park, Enoch Y

2004-01-01

Fatty acid methyl ester (FAME) production from waste activated bleaching earth (ABE) discarded by the crude oil refining industry was investigated using fossil fuel as a solvent in the esterification of triglycerides. Lipase from Candida cylindracea showed the highest stability in diesel oil. Using diesel oil as a solvent, 3 h was sufficient to obtain a yield of approximately 100% of FAME in the presence of 10% lipase from waste ABE. Kerosene was also a good solvent in the esterification of triglycerides embedded in the waste ABE. Fuel analysis showed that the FAME produced using diesel oil as a solvent complied with the Japanese diesel standard and the 10% residual carbon amount was lower than that of FAME produced using other solvents. Use of diesel oil as solvent in the FAME production from the waste ABE simplified the process, because there was no need to separate the organic solvent from the FAME-solvent mixture. These results demonstrate a promising reutilization method for the production of FAME, for use as a biodiesel, from industrial waste resources containing waste vegetable oils.

Linkage and Branch Analysis of High-Mannose Oligosaccharides Using Closed-Ring Labeling of 8-Aminopyrene-1,3,6-Trisulfonate and P-Aminobenzoic Ethyl Ester and Negative Ion Trap Mass Spectrometry

NASA Astrophysics Data System (ADS)

Chen, Shu-Ting; Her, Guor-Rong

2012-08-01

A strategy based on negative ion electrospray ionization tandem mass spectrometry and closed-ring labeling with both 8-aminopyrene-1,3,6-trisulfonate (APTS) and p-aminobenzoic acid ethyl ester (ABEE) was developed for linkage and branch determination of high-mannose oligosaccharides. X-type cross-ring fragment ions obtained from APTS-labeled oligosaccharides by charge remote fragmentation provided information on linkages near the non-reducing terminus. In contrast, A-type cross-ring fragment ions observed from ABEE-labeled oligosaccharides yielded information on linkages near the reducing terminus. This complementary information provided by APTS- and ABEE-labeled oligosaccharides was utilized to delineate the structures of the high-mannose oligosaccharides. As a demonstration of this approach, the linkages and branches of high-mannose oligosaccharides Man5GlcNAc2, Man6GlcNAc2, Man8GlcNAc2, and Man9GlcNAc2 cleaved from the ribonuclease B were assigned from MS2 spectra of ABEE- and APTS-labeled derivatives.

Two-stage pervaporation process for effective in situ removal acetone-butanol-ethanol from fermentation broth.

PubMed

Cai, Di; Hu, Song; Miao, Qi; Chen, Changjing; Chen, Huidong; Zhang, Changwei; Li, Ping; Qin, Peiyong; Tan, Tianwei

2017-01-01

Two-stage pervaporation for ABE recovery from fermentation broth was studied to reduce the energy cost. The permeate after the first stage in situ pervaporation system was further used as the feedstock in the second stage of pervaporation unit using the same PDMS/PVDF membrane. A total 782.5g/L of ABE (304.56g/L of acetone, 451.98g/L of butanol and 25.97g/L of ethanol) was achieved in the second stage permeate, while the overall acetone, butanol and ethanol separation factors were: 70.7-89.73, 70.48-84.74 and 9.05-13.58, respectively. Furthermore, the theoretical evaporation energy requirement for ABE separation in the consolidate fermentation, which containing two-stage pervaporation and the following distillation process, was estimated less than ∼13.2MJ/kg-butanol. The required evaporation energy was only 36.7% of the energy content of butanol. The novel two-stage pervaporation process was effective in increasing ABE production and reducing energy consumption of the solvents separation system. Copyright © 2016 Elsevier Ltd. All rights reserved.

Investigation of gas stripping and pervaporation for improved feasibility of two-stage butanol production process.

PubMed

Setlhaku, Mpho; Heitmann, Sebastian; Górak, Andrzej; Wichmann, Rolf

2013-05-01

Gas stripping and pervaporation are investigated for butanol recovery in a two-stage acetone-butanol-ethanol (ABE) fermentation process. The first stage is operated in a continuous mode and the second stage as a fed-batch. Gas stripping coupled to the second stage and operated intermittently enabled additional glucose feeding in the second stage and up to 59 g/L butanol and 73 g/L total ABE solvents in the condensate. Concentration of 167 g/L butanol and 269 g/L ABE in the permeate was measured in ex situ pervaporation experiments using a PDMS membrane at temperature of 37 °C and pressure of 10mbars. The "operating window" tool is introduced to evaluate the feasibility of the existing ABE fermentations operated as continuous with cell recycle, as two-stages, with biomass immobilization or with integrated product removal. This tool enables the identification of the most favorable process configuration, which is the combination of cell immobilization and integrated product removal. Copyright © 2013 Elsevier Ltd. All rights reserved.

Sonar Based Navigation of an Autonomous Underwater Vehicle

DTIC Science & Technology

1994-06-01

3.1.4 Obstacles that are not on the map are marked, known initial position. 35 Eommd Trejecay of AUV 25 Elied -Solid ine Actual :Dashed line 20, 15 I...actual trajectory. Efifets of Camn*= in do Pai~on of AUV. 20 15- 5- 0 S 10 15 20 25 30 35 Figure 3.16 The effects of currents in the trajectory of the...vehicle. 38 E~med T~MjMMa~ ofAUV 20Eadalmd 3affid one Actual :Dashed hMe 15- 0- 0 5 10 15 20 25 30 35 X (irn faet) Figure 3.17 Position estimation

Terrain interaction with the quarter scale beam walker

NASA Technical Reports Server (NTRS)

Chun, Wendell H.; Price, S.; Spiessbach, A.

1990-01-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Terrain Interaction With The Quarter Scale Beam Walker

NASA Astrophysics Data System (ADS)

Chun, Wendell H.; Price, R. S.; Spiessbach, Andrew J.

1990-03-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles

PubMed Central

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-01-01

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well. PMID:26287194

Combined Detoxification and In-situ Product Removal by a Single Resin During Lignocellulosic Butanol Production

PubMed Central

Gao, Kai; Rehmann, Lars

2016-01-01

Phragmites australis (an invasive plant in North America) was used as feedstock for ABE (acetone-butanol-ethanol) fermentation by Clostridium saccharobutylicum. Sulphuric acid pretreated phragmites hydrolysate (SAEH) without detoxification inhibited butanol production (0.73 g/L butanol from 30 g/L sugars). The treatment of SAEH with resin L-493 prior the fermentation resulted in no inhibitory effects and an ABE titer of 14.44 g/L, including 5.49 g/L butanol was obtained, corresponding to an ABE yield and productivity of 0.49 g/g and 0.60 g/L/h, respectively. Dual functionality of the resin was realized by also using it as an in-situ product removal agent. Integrating in-situ product removal allowed for the use of high substrate concentrations without the typical product inhibition. Resin-detoxified SAEH was supplemented with neat glucose and an effective ABE titer of 33 g/L (including 13.7 g/L acetone, 16.4 g/L butanol and 1.9 g/L ethanol) was achieved with resin-based in-situ product removal, corresponding to an ABE yield and productivity of 0.41 g/g and 0.69 g/L/h, respectively. Both detoxification of the substrate and the products was achieved by the same resin, which was added prior the fermentation. Integrating hydrolysate detoxification and in-situ butanol removal in a batch process through single resin can potentially simplify cellulosic butanol production. PMID:27459906

Analysis of an ABE Scheme with Verifiable Outsourced Decryption.

PubMed

Liao, Yongjian; He, Yichuan; Li, Fagen; Jiang, Shaoquan; Zhou, Shijie

2018-01-10

Attribute-based encryption (ABE) is a popular cryptographic technology to protect the security of users' data in cloud computing. In order to reduce its decryption cost, outsourcing the decryption of ciphertexts is an available method, which enables users to outsource a large number of decryption operations to the cloud service provider. To guarantee the correctness of transformed ciphertexts computed by the cloud server via the outsourced decryption, it is necessary to check the correctness of the outsourced decryption to ensure security for the data of users. Recently, Li et al. proposed a full verifiability of the outsourced decryption of ABE scheme (ABE-VOD) for the authorized users and unauthorized users, which can simultaneously check the correctness of the transformed ciphertext for both them. However, in this paper we show that their ABE-VOD scheme cannot obtain the results which they had shown, such as finding out all invalid ciphertexts, and checking the correctness of the transformed ciphertext for the authorized user via checking it for the unauthorized user. We first construct some invalid ciphertexts which can pass the validity checking in the decryption algorithm. That means their "verify-then-decrypt" skill is unavailable. Next, we show that the method to check the validity of the outsourced decryption for the authorized users via checking it for the unauthorized users is not always correct. That is to say, there exist some invalid ciphertexts which can pass the validity checking for the unauthorized user, but cannot pass the validity checking for the authorized user.

Analysis of an ABE Scheme with Verifiable Outsourced Decryption

PubMed Central

He, Yichuan; Li, Fagen; Jiang, Shaoquan; Zhou, Shijie

2018-01-01

Attribute-based encryption (ABE) is a popular cryptographic technology to protect the security of users’ data in cloud computing. In order to reduce its decryption cost, outsourcing the decryption of ciphertexts is an available method, which enables users to outsource a large number of decryption operations to the cloud service provider. To guarantee the correctness of transformed ciphertexts computed by the cloud server via the outsourced decryption, it is necessary to check the correctness of the outsourced decryption to ensure security for the data of users. Recently, Li et al. proposed a full verifiability of the outsourced decryption of ABE scheme (ABE-VOD) for the authorized users and unauthorized users, which can simultaneously check the correctness of the transformed ciphertext for both them. However, in this paper we show that their ABE-VOD scheme cannot obtain the results which they had shown, such as finding out all invalid ciphertexts, and checking the correctness of the transformed ciphertext for the authorized user via checking it for the unauthorized user. We first construct some invalid ciphertexts which can pass the validity checking in the decryption algorithm. That means their “verify-then-decrypt” skill is unavailable. Next, we show that the method to check the validity of the outsourced decryption for the authorized users via checking it for the unauthorized users is not always correct. That is to say, there exist some invalid ciphertexts which can pass the validity checking for the unauthorized user, but cannot pass the validity checking for the authorized user. PMID:29320418

Combined Detoxification and In-situ Product Removal by a Single Resin During Lignocellulosic Butanol Production

NASA Astrophysics Data System (ADS)

Gao, Kai; Rehmann, Lars

2016-07-01

Phragmites australis (an invasive plant in North America) was used as feedstock for ABE (acetone-butanol-ethanol) fermentation by Clostridium saccharobutylicum. Sulphuric acid pretreated phragmites hydrolysate (SAEH) without detoxification inhibited butanol production (0.73 g/L butanol from 30 g/L sugars). The treatment of SAEH with resin L-493 prior the fermentation resulted in no inhibitory effects and an ABE titer of 14.44 g/L, including 5.49 g/L butanol was obtained, corresponding to an ABE yield and productivity of 0.49 g/g and 0.60 g/L/h, respectively. Dual functionality of the resin was realized by also using it as an in-situ product removal agent. Integrating in-situ product removal allowed for the use of high substrate concentrations without the typical product inhibition. Resin-detoxified SAEH was supplemented with neat glucose and an effective ABE titer of 33 g/L (including 13.7 g/L acetone, 16.4 g/L butanol and 1.9 g/L ethanol) was achieved with resin-based in-situ product removal, corresponding to an ABE yield and productivity of 0.41 g/g and 0.69 g/L/h, respectively. Both detoxification of the substrate and the products was achieved by the same resin, which was added prior the fermentation. Integrating hydrolysate detoxification and in-situ butanol removal in a batch process through single resin can potentially simplify cellulosic butanol production.

The AstroBiology Explorer (ABE) MIDEX Mission Concept: Using Infrared Spectroscopy to Identify Organic Molecules in Space

NASA Technical Reports Server (NTRS)

Sandford, Scott A.; Vincenzi, Donald (Technical Monitor)

2002-01-01

One of the principal means by which organic compounds are detected and identified in space is by infrared spectroscopy. Past IR studies (telescopic and laboratory) have demonstrated that much of the carbon in the interstellar medium (ISM) is in complex organic species of a variety of types, but the distribution, abundance, and evolutionary relationships of these materials are not well understood. The Astrobiology Explorer (ABE) is a MIDEAST mission concept designed to conduct IR spectroscopic observations to detect and identify these materials to address outstanding important problems in astrobiology, astrochemistry, and astrophysics. Systematic studies include the observation of planetary nebulae and stellar outflows, protostellar objects, Solar System Objects, and galaxies, and multiple lines of sight through dense molecular clouds and the diffuse ISM. ABE will also search for evidence of D enrichment in complex molecules in all these environments. The mission is currently under study at NASA's Ames Research Center in collaboration with Ball Aerospace and Technologies Corp. ABE is a cryogenically-cooled 60 cm diameter space telescope equipped with 3 cryogenic cross-dispersed spectrographs that share a single common slit. The 3 spectrometers each measure single spectral octaves (2.5-5, 5-10, 10-20 microns) and together cover the entire 2.5 - 20 micron region simultaneously. The spectrometers use state-of-the-art 1024x1024 pixel detectors, with a single InSb array for the 2.5-5 micron region and two Si:As arrays for the 5-10 and 10-20 micron regions. The spectral resolution is wavelength dependent but is greater than 2000 across the entire spectral range. ABE would operate in a heliocentric, Earth drift-away orbit and is designed to take maximum advantage of this environment for cooling, thermal stability, and mission lifetime. ABE would have a core science mission lasting approximately 1.5 years.

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

76 FR 59391 - Notice of Availability of Government-Owned Inventions; Available for Licensing

Federal Register 2010, 2011, 2012, 2013, 2014

2011-09-26

... Issued 4/12/2011//U.S. Patent No. 7,926,275: Closed Brayton Cycle Direct Contact Reactor/Storage Tank... With Precursor Bubble Issued 4/19/2011//U.S. Patent No. 7,929,375: Method and Apparatus for Improved...: Hydrogen Generator Apparatus for an Underwater Vehicle Issued 5/10/2011//U.S. Patent No. 7,940,602...

Precision Control and Maneuvering of the Phoenix Autonomous Underwater Vehicle for Entering a Recovery Tube

DTIC Science & Technology

1996-09-01

T1wo such modes have buen iinrylvni teted: a full target-track mode0 and a target- edge-track mode. Whun using thc full target-track mode the sonai ...direction is reversed. Rather than tracking across the target all the way to the opposing edge, however, the sonai is scanned only until three returns

Environmental Influences On Diel Calling Behavior In Baleen Whales

DTIC Science & Technology

2015-09-30

and calm seas were infrequent and short (Figure 1b), making traditional shipboard marine mammal observations difficult. The real time detection...first use of real-time detection and reporting of marine mammal calls from autonomous underwater vehicles to adaptively plan research activities. 3...conferences: • 6th International Workshop on Detection, Classification, Localization, and Density Estimation (DCLDE) of Marine Mammals using

A Novel INS and Doppler Sensors Calibration Method for Long Range Underwater Vehicle Navigation

PubMed Central

Tang, Kanghua; Wang, Jinling; Li, Wanli; Wu, Wenqi

2013-01-01

Since the drifts of Inertial Navigation System (INS) solutions are inevitable and also grow over time, a Doppler Velocity Log (DVL) is used to aid the INS to restrain its error growth. Therefore, INS/DVL integration is a common approach for Autonomous Underwater Vehicle (AUV) navigation. The parameters including the scale factor of DVL and misalignments between INS and DVL are key factors which limit the accuracy of the INS/DVL integration. In this paper, a novel parameter calibration method is proposed. An iterative implementation of the method is designed to reduce the error caused by INS initial alignment. Furthermore, a simplified INS/DVL integration scheme is employed. The proposed method is evaluated with both river trial and sea trial data sets. Using 0.03°/h(1σ) ring laser gyroscopes, 5 × 10−5 g(1σ) quartz accelerometers and DVL with accuracy 0.5% V ± 0.5 cm/s, INS/DVL integrated navigation can reach an accuracy of about 1‰ of distance travelled (CEP) in a river trial and 2‰ of distance travelled (CEP) in a sea trial. PMID:24169542

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

PubMed Central

Zhang, Wei; Wei, Shilin; Teng, Yanbin; Zhang, Jianku; Wang, Xiufang; Yan, Zheping

2017-01-01

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment. PMID:29186878

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.

On the role of tip curvature on flapping plates.

PubMed

Martin, Nathan; Gharib, Morteza

2018-01-09

During the flapping motion of a fish's tail, the caudal fin exhibits antero-posterior bending and dorso-ventral bending, the latter of which is referred to as chord-wise bending herein. The impact of chord-wise tip curvature on the hydrodynamic forces for flapping plates is investigated to explore potential mechanisms to improve the maneuverability or the performance of autonomous underwater vehicles. First, actuated chord-wise tip curvature is explored. Comparison of rigid curved geometries to a rigid flat plate as a baseline suggests that an increased curvature decreases the generated forces. An actuated plate with a dynamic tip curvature is created to illustrate a modulation of this decrease in forces. Second, the impact of curvature is isolated using curved plates with an identical planform area. Comparison of rigid curved geometries as a baseline corroborates the result that an increased curvature decreases the generated forces, with the exception that presenting a concave geometry into the flow increases the thrust and the efficiency. A passively-actuated plate is designed to capitalize on this effect by presenting a concave geometry into the flow throughout the cycle. The dynamically and passively actuated plates show potential to improve the maneuverability and the efficiency of autonomous underwater vehicles, respectively.

Estimating the neutrally buoyant energy density of a Rankine-cycle/fuel-cell underwater propulsion system

NASA Astrophysics Data System (ADS)

Waters, Daniel F.; Cadou, Christopher P.

2014-02-01

A unique requirement of underwater vehicles' power/energy systems is that they remain neutrally buoyant over the course of a mission. Previous work published in the Journal of Power Sources reported gross as opposed to neutrally-buoyant energy densities of an integrated solid oxide fuel cell/Rankine-cycle based power system based on the exothermic reaction of aluminum with seawater. This paper corrects this shortcoming by presenting a model for estimating system mass and using it to update the key findings of the original paper in the context of the neutral buoyancy requirement. It also presents an expanded sensitivity analysis to illustrate the influence of various design and modeling assumptions. While energy density is very sensitive to turbine efficiency (sensitivity coefficient in excess of 0.60), it is relatively insensitive to all other major design parameters (sensitivity coefficients < 0.15) like compressor efficiency, inlet water temperature, scaling methodology, etc. The neutral buoyancy requirement introduces a significant (∼15%) energy density penalty but overall the system still appears to offer factors of five to eight improvements in energy density (i.e., vehicle range/endurance) over present battery-based technologies.

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).

Adult Basic Education in British Columbia's Public Post-Secondary Institutions. An Articulation Handbook. 2007-2008 Edition

ERIC Educational Resources Information Center

Ministry of Advanced Education, 2007

2007-01-01

This is the twenty-second edition of the Adult Basic Education (ABE) Articulation Handbook for British Columbia's public postsecondary institutions. The purpose of ABE articulation is to ensure learners have access to quality courses, receive appropriate credits and are able to transfer easily among publicly-funded colleges, university colleges,…

Aviation: Boatswain's Mate E 1 and C; Rate Training Manual.

ERIC Educational Resources Information Center

Naval Education and Training Command, Pensacola, FL.

The rate training manual has been prepared for enlisted personnel of the Navy and Naval Reserve who are studying for advancement in the Aviation Boatswain's Mate E rating. It is primarily based on the professional requirements or qualifications for ABE 1 and ABE C, as contained in the Manual of Qualifications for Advancement NavPers 18068…

Project Reach: Annual Report--Year 1. June 1, 1969-June 14, 1970.

ERIC Educational Resources Information Center

McClelland, Samuel D.

Project Reach, a Federally funded two-year program at the University of Notre Dame, studied three methods of increasing the scope and effectiveness of a local adult basic education (ABE) program in St. Joseph County, Indiana. The methods were: (1) a paraprofessional training program for six former ABE students in still photography, color film…

Microbial production of a biofuel (acetone-butanol-ethanol) in a continuous bioreactor: impact of bleed and simultaneous product removal

USDA-ARS?s Scientific Manuscript database

Acetone butanol ethanol (ABE) was produced in an integrated continuous fermentation and product recovery system using a microbial strain Clostridium beijerinckii BA101 for ABE production and fermentation gases (CO2 and H2) for product removal by gas stripping. This represents a continuation of our ...

What Are the Security Requirements for a Two-State Solution between Israel and Palestine?

DTIC Science & Technology

2011-03-01

Economic Viability of a Palestinian State...no. 2 (Spring, 1997), 215–229, http://www.jstor.org/stable/4329054. 103 Abed, The Economic Viability of a Palestinian State, 9. 58 might have...LIST OF REFERENCES Abed, George T. The Economic Viability of a Palestinian State. (Washington D.C.: Institute for Palestine Studies, 1990).

A Participative Process for the Design and Production of Adult Basic Education Training Resources.

ERIC Educational Resources Information Center

Villa, Jane Kathryn; Chalmers, Michael

1981-01-01

Reviews the three-stage participative process used to create and test resources for Adult Basic Education (ABE) staff development in North Carolina. Introduces the 1980 State plan for ABE and its objectives. Describes workshops for program directors and instructors which resulted in staff development handbooks. Explains the evaluation process.…

The Use of the Adjective Check List to Describe the Adult Basic Education Student.

ERIC Educational Resources Information Center

Wilson, Russell C.

The study's purpose was to use the Adjective Check List (ACL), a self-administered personality assessment instrument, to determine whether there were response differences between a sample of Adult Basic Education (ABE) students and the general test norms. The ACL was administered to 142 students in ABE high school completion programs in Des…

Trust Territory of the Pacific Islands Adult Basic Education Program. Evaluation Report, Fiscal Year 1979.

ERIC Educational Resources Information Center

McCune, Donald A.

The Adult Basic Education (ABE) program conducted by the Trust Territory of the Pacific Islands was evaluated. Data were collected via staff interviews and record reviews during site visits at ABE facilities located in five of six district comprising the Trust Territory. Focus of the evaluation activities was on program administration,…

The Attentional Boost Effect and Context Memory

ERIC Educational Resources Information Center

Mulligan, Neil W.; Smith, S. Adam; Spataro, Pietro

2016-01-01

Stimuli co-occurring with targets in a detection task are better remembered than stimuli co-occurring with distractors--the attentional boost effect (ABE). The ABE is of interest because it is an exception to the usual finding that divided attention during encoding impairs memory. The effect has been demonstrated in tests of item memory but it is…

The Three R's of Adult Basic Education: Recruitment, Retention, Reward.

ERIC Educational Resources Information Center

Pike, Vicki

This illustrated handbook was prepared for adult basic education (ABE) coordinators and teachers and is suggested for use in new teacher orientation, in-service education, or as resource material. The ABE concerns of recruitment of adults for programs, retention of students, and rewards for those completing the program are discussed with many "do"…

Where We Live: A Curriculum Guide. ABE Materials that Address Housing Issues.

ERIC Educational Resources Information Center

Ellowitch, Azi

This curriculum was developed to give adult basic education (ABE) teachers starting points for developing their own units around housing-related issues. The texts have been chosen thematically, rather than by skill level. The materials are designed for group work--oral reading and discussion. Readings focus on housing repairs, court procedures,…

Adult Basic Education: British Columbia's Public Post-Secondary Institutions. An Articulation Handbook. 2008-2009 Edition

ERIC Educational Resources Information Center

Ministry of Advanced Education and Labour Market Development, 2008

2008-01-01

The purpose of Adult Basic Education (ABE) articulation is to ensure learners have access to quality courses, receive appropriate credits and are able to transfer easily among publicly-funded colleges, university colleges, universities and institutes in British Columbia. Articulation also involves liaison with the school system's ABE programs to…

Barriers to Persistence in Adult Basic Education: The Experiences of African American Learners

ERIC Educational Resources Information Center

Thomas, Simone

2011-01-01

One of the most pervasive issues facing educators and administrators in Adult Basic Education (ABE) is student persistence. The purposes of this qualitative study were 1) to identify the experiences that African American adult learners associated with their decisions to leave ABE programs; 2) to ascertain the impact of participants'…

Exploring the Dimensionality of Morphological Awareness and Its Relations to Vocabulary Knowledge in Adult Basic Education Students

ERIC Educational Resources Information Center

Tighe, Elizabeth L.; Schatschneider, Christopher

2015-01-01

The purpose of this study was to examine the construct of morphological awareness and its relations to vocabulary knowledge in Adult Basic Education (ABE) students. Morphological awareness has emerged as an important predictor of children's and ABE students' reading comprehension abilities; however, there has been a dearth of research…

Using the ICOT Instrument to Improve Instructional Technology Usage in the ABE Classroom

ERIC Educational Resources Information Center

Lentz, Brannon W.

2011-01-01

The International Society for Technology (ISTE) in Education promotes the use of a specific tool--the ISTE Classroom Observation Tool (ICOT)--to measure and improve the use of instructional technologies in Adult Basic Education (ABE) classrooms. The purpose of this article is to describe an application process for the use of the ICOT instrument…

World Perspective Case Descriptions on Educational Programs for Adults: Hong Kong.

ERIC Educational Resources Information Center

Mak, Grace

Adult basic education (ABE) in Hong Kong includes mostly basic Chinese, but also some arithmetic and English. The emphasis is on teaching learners life skills. Both government-run programs and partially government-subsidized programs run by voluntary agencies such as Caritas and the YMCA are common. A case study was made of the Caritas ABE Centre…

Tutor Training Packet. "Ready-Set-ABE" To Ease Students' Transition into ABE Level Studies.

ERIC Educational Resources Information Center

Molek, Carol

This training packet, consisting of a workshop guide, two instructional guides, and assorted pamphlets and brochures, is intended for use by volunteer tutors who are themselves learning how to work with adults enrolled in an adult literacy program. The following topics are covered in the training workshop guide: the objectives and workings of…

A Statewide Profile of Adult Basic Education.

ERIC Educational Resources Information Center

Essex, Martin W.; And Others

A survey of 72 adult basic education (ABE) programs in Ohio was conducted during the 1968-69 school year. Sixty-nine directors handled 447 ABE classes; however, about 40% were handled by three of them. Public school classrooms were the most frequently used facilities (68%). Night classes accounted for 85%. Most of the directors' time was devoted…

Metal separations using aqueous biphasic partitioning systems

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

Chaiko, D.J.; Zaslavsky, B.; Rollins, A.N.

1996-05-01

Aqueous biphasic extraction (ABE) processes offer the potential for low-cost, highly selective separations. This countercurrent extraction technique involves selective partitioning of either dissolved solutes or ultrafine particulates between two immiscible aqueous phases. The extraction systems that the authors have studied are generated by combining an aqueous salt solution with an aqueous polymer solution. They have examined a wide range of applications for ABE, including the treatment of solid and liquid nuclear wastes, decontamination of soils, and processing of mineral ores. They have also conducted fundamental studies of solution microstructure using small angle neutron scattering (SANS). In this report they reviewmore » the physicochemical fundamentals of aqueous biphase formation and discuss the development and scaleup of ABE processes for environmental remediation.« less

Concept design and hydrodynamic optimization of an innovative SWATH USV by CFD methods

NASA Astrophysics Data System (ADS)

Brizzolara, Stefano; Curtin, Tom; Bovio, Marco; Vernengo, Giuliano

2012-02-01

The paper presents the main characteristics of an innovative platform which has been conceived and designed to extend the operational capabilities of current unmanned surface vehicles in terms of platform stability in waves and of powering requirement at a relatively high speed. The main idea which rules the project is the realization of a small autonomous surface unit (about 6 m in length) capable of undertaking several tasks in the marine environment even with moderate rough sea conditions. The designed vessel has the ability to locate, recover, and launch other members of the autonomous fleet (like AUVs or other underwater devices) and at the same time could carry out a surveillance service of the surrounding areas. To manage these tasks, the vehicle is designed to provide a fairly good autonomy which is needed to face intermediate-range missions (100 nautical miles). The choice of a small waterplane area twin hull (SWATH) form has been motivated by its excellent properties of seakeeping qualities, combined with a non-conventional low resistance underwater hull shape, currently under patenting process, which is able to reduce to a minimum the resistance of the vessel especially at higher speeds. To obtain the most efficient profile of the underwater bodies, a systematic optimization with an automatic procedure based on a parametric definition of the geometry, a state-of-the-art computational fluid dynamics (CFD) flow solver, and a differential evolution global minimization algorithm have been created and used. As expected, all the final CFD computations on the best design have demonstrated the superior efficiency of the developed unconventional SWATH technology with respect to different alternatives of current hull typologies.

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

PubMed

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

2017-01-01

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

Map based navigation for autonomous underwater vehicles

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

Tuohy, S.T.; Leonard, J.J.; Bellingham, J.G.

1995-12-31

In this work, a map based navigation algorithm is developed wherein measured geophysical properties are matched to a priori maps. The objectives is a complete algorithm applicable to a small, power-limited AUV which performs in real time to a required resolution with bounded position error. Interval B-Splines are introduced for the non-linear representation of two-dimensional geophysical parameters that have measurement uncertainty. Fine-scale position determination involves the solution of a system of nonlinear polynomial equations with interval coefficients. This system represents the complete set of possible vehicle locations and is formulated as the intersection of contours established on each map frommore » the simultaneous measurement of associated geophysical parameters. A standard filter mechanisms, based on a bounded interval error model, predicts the position of the vehicle and, therefore, screens extraneous solutions. When multiple solutions are found, a tracking mechanisms is applied until a unique vehicle location is determined.« less

Undersea research vehicle for 20,000-ft depths

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

Not Available

1985-05-01

This article describes the design and operation of a remotely operated underwater vehicle called RUM III. The vehicle is capable of working to depths of 20,000 feet and is designed to do more work at greater depths than any other unmanned research vehicle. RUM III is about the size of a compact car and its design provides deep ocean research capabilities now only available with manned submersibles, and does so without the limitations of manned devices. It is suitable for a variety of geological, geophysical and ecological studies, and can also be used by scientists to conduct detailed investigations inmore » regions of the ocean floor that are relatively easy to see with cameras and sonar, but difficult to sample directly because of hostile deep-sea environments. RUM III is light enough to sit and maneuver on soft ocean-bottom sediments.« less

Audit-based education lowers systolic blood pressure in chronic kidney disease: the Quality Improvement in CKD (QICKD) trial results

PubMed Central

de Lusignana, Simon; Gallagher, Hugh; Jones, Simon; Chan, Tom; van Vlymen, Jeremy; Tahir, Aumran; Thomas, Nicola; Jain, Neerja; Dmitrieva, Olga; Rafi, Imran; McGovern, Andrew; Harris, Kevin

2013-01-01

Strict control of systolic blood pressure is known to slow progression of chronic kidney disease (CKD). Here we compared audit-based education (ABE) to guidelines and prompts or usual practice in lowering systolic blood pressure in people with CKD. This 2-year cluster randomized trial included 93 volunteer general practices randomized into three arms with 30 ABE practices, 32 with guidelines and prompts, and 31 usual practices. An intervention effect on the primary outcome, systolic blood pressure, was calculated using a multilevel model to predict changes after the intervention. The prevalence of CKD was 7.29% (41,183 of 565,016 patients) with all cardiovascular comorbidities more common in those with CKD. Our models showed that the systolic blood pressure was significantly lowered by 2.41 mm Hg (CI 0.59–4.29 mm Hg), in the ABE practices with an odds ratio of achieving at least a 5 mm Hg reduction in systolic blood pressure of 1.24 (CI 1.05–1.45). Practices exposed to guidelines and prompts produced no significant change compared to usual practice. Male gender, ABE, ischemic heart disease, and congestive heart failure were independently associated with a greater lowering of systolic blood pressure but the converse applied to hypertension and age over 75 years. There were no reports of harm. Thus, individuals receiving ABE are more likely to achieve a lower blood pressure than those receiving only usual practice. The findings should be interpreted with caution due to the wide confidence intervals. PMID:23536132

Continuous butanol fermentation and feed starch retrogradation: butanol fermentation sustainability using Clostridium beijerinckii BA101.

PubMed

Ezeji, T C; Qureshi, N; Blaschek, H P

2005-01-26

Use of starch solution as feed for butanol bioconversion processes employing Clostridium beijerinckii BA101 may have added economic advantage over the use of glucose. Acetone butanol ethanol (ABE) was produced from 30 gL(-1) starch solution using a continuous process. The bioreactor was fed at a dilution rate of 0.02 h(-1) and starch solution/feed volume (3 L) was replaced every 72 h. The continuous reactor fed with cornstarch solution (feed temperature 19 degrees C) produced approximately 6.0 gL(-1) total ABE. Increasing the feed storage temperature to 37 degrees C improved ABE production to 7.2 gL(-1) suggesting that retrogradation was occurring more rapidly at 19 degrees C. In both these cases the fermentation drifted toward acid production after approximately 260 h, consistent with the retrogradation of starch overtime. The use of soluble starch, which is less prone to retrogradation, resulted in the production of 9.9 gL(-1) ABE at 37 degrees C feed storage temperature, as compared to 7.2 gL(-1) ABE when cornstarch was used. It should be noted that gelatinized starch retrogradation takes place after sterilization and prior to use of the feed medium, and does not occur during long-term storage of the raw corn material in the months leading up to processing. The degree of hydrolysis of gelatinized starch decreased from 68.8 to 56.2% in 3 days when stored at 37 degrees C. Soluble starch which does not retrograde demonstrated no change in the degree of hydrolysis.

The attentional boost effect and context memory.

PubMed

Mulligan, Neil W; Smith, S Adam; Spataro, Pietro

2016-04-01

Stimuli co-occurring with targets in a detection task are better remembered than stimuli co-occurring with distractors-the attentional boost effect (ABE). The ABE is of interest because it is an exception to the usual finding that divided attention during encoding impairs memory. The effect has been demonstrated in tests of item memory but it is unclear if context memory is likewise affected. Some accounts suggest enhanced perceptual encoding or associative binding, predicting an ABE on context memory, whereas other evidence suggests a more abstract, amodal basis of the effect. In Experiment 1, context memory was assessed in terms of an intramodal perceptual detail, the font and color of the study word. Experiment 2 examined context memory cross-modally, assessing memory for the modality (visual or auditory) of the study word. Experiments 3 and 4 assessed context memory with list discrimination, in which 2 study lists are presented and participants must later remember which list (if either) a test word came from. In all experiments, item (recognition) memory was also assessed and consistently displayed a robust ABE. In contrast, the attentional-boost manipulation did not enhance context memory, whether defined in terms of visual details, study modality, or list membership. There was some evidence that the mode of responding on the detection task (motoric response as opposed to covert counting of targets) may impact context memory but there was no evidence of an effect of target detection, per se. In sum, the ABE did not occur in context memory with verbal materials. (c) 2016 APA, all rights reserved).

Practices and Problems of Adult Basic Education in Rural Areas.

ERIC Educational Resources Information Center

Richardson, E. Gordon

The percentages of adults needing adult basic education (ABE) programs in rural areas may not differ from those found in metropolitan areas, but the delivery of the system may be different. For example, the rural ABE teaching staff probably will be recruited from the ranks of the regular elementary or high school teachers to teach at night also,…

Production of Butanol (a Biofuel) from Agricultural Residues: Part II - Use of Corn Stover and Switchgrass Hydrolysates

USDA-ARS?s Scientific Manuscript database

Acetone butanol ethanol (ABE or AB, or solvent) was produced from hydrolyzed corn stover and switchgrass using Clostridium beijerinckii P260. A control experiment using glucose resulted in the production of 21.06 gL**-1 total ABE. In this experiment, an AB yield and productivity of 0.41 and 0.31 g...

Additional and Realistic Dimensions for Adult Basic Education - ABE for Real?

ERIC Educational Resources Information Center

Patten, W. George

Adult basic education (ABE) programs are not adequate to prepare the unemployed and undereducated to gain entry into the labor market and conceivably higher education. Some indications of the scope of the problem can be seen in a recent Division of Adult Education, U.S. Office of Education, report which indicated that more than fifty-one million…

Pilot Project in Computer Assisted Instruction for Adult Basic Education Students. Adult Learning Centers, the Adult Program, 1982-83.

ERIC Educational Resources Information Center

Buckley, Elizabeth; Johnston, Peter

In February 1977, computer assisted instruction (CAI) was introducted to the Great Neck Adult Learning Centers (GNALC) to promote greater cognitive and affective growth of educationally disadvantaged adults. The project expanded to include not only adult basic education (ABE) students studying in the learning laboratory, but also ABE students…

ABE Phase III: Progress and Problems. September 1, 1969-April 1, 1970.

ERIC Educational Resources Information Center

Southwestern Cooperative Educational Lab., Albuquerque, NM.

Interim information concerning the ABE III grants is provided in the three parts of this report. Part 1 (outline) describes the goals and objectives of each component; Part 2 describes accomplishments and problems to date; and Part 3 deals with coordination and supervision activities undertaken by the Lab. The components of the program are: (1)…

Toward Privacy-preserving Content Access Control for Information Centric Networking

DTIC Science & Technology

2014-03-01

REPORT Toward Privacy-preserving Content Access Control for Information Centric Networking 14. ABSTRACT 16. SECURITY CLASSIFICATION OF: Information...regardless the security mechanisms provided by different content hosting servers. However, using ABE has a drawback that the enforced content access...Encryption (ABE) is a flexible approach to enforce the content access policies regardless the security mechanisms provided by different content hosting

An Evaluation of the Employee Training and Development Process for Nicolet Area Technical College's Basic Education Program.

ERIC Educational Resources Information Center

Karl, Luis C.

The adult basic education (ABE) program at Nicolet Area Technical College (NATC) evaluated its training and development (T&D) process for new basic education instructors. The study gathered monitoring and screening criteria that addressed valuable components for use in an instrument for validating effectiveness of the ABE program (T&D)…

The Contributions of Phonological and Morphological Awareness to Literacy Skills in the Adult Basic Education Population

ERIC Educational Resources Information Center

Fracasso, Lucille E.; Bangs, Kathryn; Binder, Katherine S.

2016-01-01

The Adult Basic Education (ABE) population consists of a wide range of abilities with needs that may be unique to this set of learners. The purpose of this study was to better understand the relative contributions of phonological decoding and morphological awareness to spelling, vocabulary, and comprehension across a sample of ABE students. In…

CaCO3 supplementation alleviates the inhibition of formic acid on acetone/butanol/ethanol fermentation by Clostridium acetobutylicum.

PubMed

Qi, Gaoxiang; Xiong, Lian; Lin, Xiaoqing; Huang, Chao; Li, Hailong; Chen, Xuefang; Chen, Xinde

2017-01-01

To investigate the inhibiting effect of formic acid on acetone/butanol/ethanol (ABE) fermentation and explain the mechanism of the alleviation in the inhibiting effect under CaCO 3 supplementation condition. From the medium containing 50 g sugars l -1 and 0.5 g formic acid l -1 , only 0.75 g ABE l -1 was produced when pH was adjusted by KOH and fermentation ended prematurely before the transformation from acidogenesis to solventogenesis. In contrast, 11.4 g ABE l -1 was produced when pH was adjusted by 4 g CaCO 3 l -1 . The beneficial effect can be ascribed to the buffering capacity of CaCO 3 . Comparative analysis results showed that the undissociated formic acid concentration and acid production coupled with ATP and NADH was affected by the pH buffering capacity of CaCO 3 . Four millimole undissociated formic acid was the threshold at which the transformation to solventogenesis occurred. The inhibiting effect of formic acid on ABE fermentation can be alleviated by CaCO 3 supplementation due to its buffering capacity.

Shotgun proteomic monitoring of Clostridium acetobutylicum during stationary phase of butanol fermentation using xylose and comparison with the exponential phase

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

Sivagnanam, Kumaran; Raghavan, Vijaya G. S.; Shah, Manesh B

2012-01-01

Economically viable production of solvents through acetone butanol ethanol (ABE) fermentation requires a detailed understanding of Clostridium acetobutylicum. This study focuses on the proteomic profiling of C. acetobutylicum ATCC 824 from the stationary phase of ABE fermentation using xylose and compares with the exponential growth by shotgun proteomics approach. Comparative proteomic analysis revealed 22.9% of the C. acetobutylicum genome and 18.6% was found to be common in both exponential and stationary phases. The proteomic profile of C. acetobutylicum changed during the ABE fermentation such that 17 proteins were significantly differentially expressed between the two phases. Specifically, the expression of fivemore » proteins namely, CAC2873, CAP0164, CAP0165, CAC3298, and CAC1742 involved in the solvent production pathway were found to be significantly lower in the stationary phase compared to the exponential growth. Similarly, the expression of fucose isomerase (CAC2610), xylulose kinase (CAC2612), and a putative uncharacterized protein (CAC2611) involved in the xylose utilization pathway were also significantly lower in the stationary phase. These findings provide an insight into the metabolic behavior of C. acetobutylicum between different phases of ABE fermentation using xylose.« less

First results from a new interdisciplinary robotic vehicle for under-ice research

NASA Astrophysics Data System (ADS)

Nicolaus, M.; Katlein, C.; Schiller, M.

2016-12-01

Research at the ice-water interface below drifting sea-ice is crucial for the investigation of the fluxes of energy, momentum and matter across the atmosphere-ice-ocean boundary. Transmission of solar energy through the ice and snow layers causes warming of the upper ocean and melting of the ice itself. It is also a key factor for in and under-ice primary production, supplying the ice associated food-chain and causing carbon export to deeper water layers and the sea floor. The complex geometry of sea ice does not only cause a large spatial variability in optical properties of the ice cover, but also influences biomass accumulations and especially the hydrodynamic interaction between the ice cover and the uppermost layers of the ocean. Access to the ice underside is however still sparse, as diving operations are risky and logistically challenging. In the last decade, robotic underwater technologies have evolved significantly and enabled the first targeted large-scale observations by remotely operated and autonomous underwater vehicles. A new remotely operated vehicle was commissioned for under ice research at the Alfred Wegener Institute supported by the FRAM infrastructure program of the Helmholtz-Society. Apart from proven under-ice navigation and operation capabilities, the vehicle provides an extended interdisciplinary sensor platform supporting oceanographic, biological, biogeochemical and physical sea-ice research. Here we present the first preliminary data obtained with the new vehicle during the PS101 expedition of the German icebreaker RV Polarstern to the Central Arctic in September and October 2016. Apart from measurements of spectral light transmittance of sea ice during the autumn freeze-up, we show vertical profiles of the bio-optical and oceanographic properties of the upper water column. This data is combined with under-ice topography obtained from upward-looking multibeam sonar, still imagery and HD-video material.

The Design of a Navigator for a Testbed Autonomous Underwater Vehicle

DTIC Science & Technology

1989-12-01

AD-A231 733 NAVAL POSTGRADUATE SCHOOL Monterey, California DTC C ’S B’- i I A VDI ELECTE 1i EB 0 6 991| D THESIS E THE DESIGN OF A NAVIGATOR FOR A...255,255,0); /* yellow (512-1023) * for (i= 1024; i< 2048 ; ++i) mapcolor(i,255 ,0,255); 1* magenta (1024-2047 )*/ color(BLACK); clearo; swapbufferso; 1

Autonomous & Adaptive Oceanographic Feature Tracking on Board Autonomous Underwater Vehicles

DTIC Science & Technology

2015-02-01

44 3.6 Tracking the Marine ermocline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 3.6.1 ermocline Definition ...intelligent autonomy algorithms to adapt the vehicle’s motion to changes in the environment, effectively seeking out and tracking an oceanographic...interface, H is the mean water depth, and f is the Coriolis parameter (twice the earth’s angular velocity about its vertical axis) [38]. at is, the

A Novel Method to Predict Circulation Control Noise

DTIC Science & Technology

2016-03-17

Semi-empirical aeracoustic prediction code for wind turbines . In NREL/ TP-500-34478, National Wind Technology Center. MOSHER, M. 1983 Acoustics of...velocimetry, unsteady pressure and phased-acoustic- array data are acquired simultaneously in an aeroacoustic wind -tunnel facility. The velocity field...her open-jet wind tunnels or flight testing which makes noise prediction for underwater vehicles especially difficult . 1 In this document , a

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.

The Analysis of a Longitudinal Control System for Underwater Vehicles

DTIC Science & Technology

1975-10-01

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

Acoustic Communications and Navigation for Mobile Under-Ice Sensors

DTIC Science & Technology

2017-02-04

From- To) 04/02/2017 Final Report 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Acoustic Communications and Navigation for Mobile Under-Ice Sensors...development and fielding of a new acoustic communications and navigation system for use on autonomous platforms (gliders and profiling floats) under the...contact below the ice. 15. SUBJECT TERMS Arctic Ocean, Undersea Workstations & Vehicles, Signal Processing, Navigation, Underwater Acoustics 16

Towards an Autonomous Space In-Situ Marine Sensorweb

NASA Technical Reports Server (NTRS)

Chien, S.; Doubleday, J.; Tran, D.; Thompson, D.; Mahoney, G.; Chao, Y.; Castano, R.; Ryan, J.; Kudela, R.; Palacios, S.;

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.

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

NASA Astrophysics Data System (ADS)

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

2017-07-01

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