Underwater image enhancement through depth estimation based on random forest

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Communicating the Issue of Underwater Noise Pollution: The Deaf as a Fish Project.

PubMed

Sebastianutto, Linda; Stocker, Michael; Picciulin, Marta

2016-01-01

Aquatic noise pollution is largely ignored by the lay public. How experts communicate this issue is critical to move public opinion. In 2010, the Cassa di Risparmio di Gorizia (CaRiGO) bank sponsored the Deaf as a Fish project that included local underwater noise monitoring, a boat census, a pamphlet for nonexperts, and some seminars and public meetings. This project allowed us to raise interest in this issue. Using accurate and understandable language in a light-humored setting goes far toward cultivating trust from a public audience that can be intimidated or suspicious of complicated scientific messaging.

First records of bentfin devil ray (Mobula thurstoni) and the examination in physical factors of its habitat in the western waters of Morotai Island (North Moluccas)

NASA Astrophysics Data System (ADS)

Mukharror, D. A.; Baiti, I. T.; Harahap, S. A.; Prihadi, D. J.; Ichsan, M.; Pridina, N.

2018-04-01

Bentfin devil ray (Mobula thurstoni) was recorded for the first time in Morotai waters on 3rd March 2017. In a conservation management context, it is important to clarify the population of Mobula thurstoni and their relations with their habitat. Thus, we examined the existence of Mobula thurstoni with the physical parameters: depth, temperature, visibility, current, weather, and tidal. We measured the existence of Mobula thurstoni with the Underwater Visual Census (UVC) combined with Diver Operated Video (DOV) census. The research from 3rd March to 14th July 2017 (50 dives) showed the Frequency of Occurence (FO) is 50% per single dive. The highest aggregation of 30 Mobula thurstoni was recorded at 14th May 2017 and the average sighting was 3.1 Mobula thurstoni per single dive. Among the examined parameters, it was found that strong factor affecting the sighting of Mobula thurstoni were at the depth of 30-35 m, temperature of 30°C, visibility of 16-20 m, low current (< 1 knot), sunny weather, and tidal category of B. Analysis of UVC and DOV results show that the research location was categorised as feeding location for the Mobula thurstoni.

Biofluorescence as a survey tool for cryptic marine species.

PubMed

De Brauwer, Maarten; Hobbs, Jean-Paul A; Ambo-Rappe, Rohani; Jompa, Jamaluddin; Harvey, Euan S; McIlwain, Jennifer L

2017-10-06

As ecosystems come under increasing anthropogenic pressure, rare species face the highest risk of extinction. Paradoxically, data necessary to evaluate the conservation status of rare species are often lacking because of the challenges of detecting species with low abundance. One group of fishes subject to this undersampling bias are those with cryptic body patterns. Twenty-one percent of cryptic fish species assessed for their extinction risk (International Union for Conservation of Nature [IUCN]) are data deficient. We developed a nondestructive method for surveying cryptically patterned marine fishes based on the presence of biofluorescence (underwater biofluorescence census, UBC). Blue LED torches were used to investigate how widespread biofluorescence was in cryptic reef fishes in the Coral Triangle region. The effectiveness of UBC to generate abundance data was tested on a data-deficient pygmy seahorse species (Hippocampus bargibanti) and compared with data obtained from standard underwater visual census (UVC) surveys. We recorded 95 reef fish species displaying biofluorescence, 73 of which had not been previously described as biofluorescent. Of those fish with cryptic patterns, 87% were biofluorescent compared with 9% for noncryptic fishes. The probability of species displaying biofluorescence was 70.9 times greater for cryptic species than for noncryptic species. Almost twice the number of H. bargibanti was counted using the UBC compared with UVC. For 2 triplefin species (Ucla xenogrammus, Enneapterygius tutuilae), the abundance detected with UBC was triple that detected with UVC. The UBC method was effective at finding cryptic species that would otherwise be difficult to detect and thus will reduce interobserver variability inherent to UVC surveys. Biofluorescence is ubiquitous in cryptic fishes, making this method applicable across a wide range of species. Data collected using UBC could be used with multiple IUCN criteria to assess the extinction risk of cryptic species. Adopting this technique will enhance researchers' ability to survey cryptic species and facilitate management and conservation of cryptic marine species. © 2017 Society for Conservation Biology.

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

PubMed

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

2012-01-01

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

Underwater and surface behavior of homing juvenile northern elephant seals.

PubMed

Matsumura, Moe; Watanabe, Yuuki Y; Robinson, Patrick W; Miller, Patrick J O; Costa, Daniel P; Miyazaki, Nobuyuki

2011-02-15

Northern elephant seals, Mirounga angustirostris, travel between colonies along the west coast of North America and foraging areas in the North Pacific. They also have the ability to return to their home colony after being experimentally translocated. However, the mechanisms of this navigation are not known. Visual information could serve an important role in navigation, either primary or supplementary. We examined the role of visual cues in elephant seal navigation by translocating three seals and recording their heading direction continuously using GPS, and acceleration and geomagnetic data loggers while they returned to the colony. The seals first reached the coast and then proceeded to the colony by swimming along the coast. While underwater the animals exhibited a horizontally straight course (mean net-to-gross displacement ratio=0.94±0.02). In contrast, while at the surface they changed their headings up to 360 deg. These results are consistent with the use of visual cues for navigation to the colony. The seals may visually orient by using landmarks as they swim along the coast. We further assessed whether the seals could maintain a consistent heading while underwater during drift dives where one might expect that passive spiraling during drift dives could cause disorientation. However, seals were able to maintain the initial course heading even while underwater during drift dives where there was spiral motion (to within 20 deg). This behavior may imply the use of non-visual cues such as acoustic signals or magnetic fields for underwater orientation.

Habitats as Surrogates of Taxonomic and Functional Fish Assemblages in Coral Reef Ecosystems: A Critical Analysis of Factors Driving Effectiveness

PubMed Central

Van Wynsberge, Simon; Andréfouët, Serge; Hamel, Mélanie A.; Kulbicki, Michel

2012-01-01

Species check-lists are helpful to establish Marine Protected Areas (MPAs) and protect local richness, endemicity, rarity, and biodiversity in general. However, such exhaustive taxonomic lists (i.e., true surrogate of biodiversity) require extensive and expensive censuses, and the use of estimator surrogates (e.g., habitats) is an appealing alternative. In truth, surrogate effectiveness appears from the literature highly variable both in marine and terrestrial ecosystems, making it difficult to provide practical recommendations for managers. Here, we evaluate how the biodiversity reference data set and its inherent bias can influence effectiveness. Specifically, we defined habitats by geomorphology, rugosity, and benthic cover and architecture criteria, and mapped them with satellite images for a New-Caledonian site. Fish taxonomic and functional lists were elaborated from Underwater Visual Censuses, stratified according to geomorphology and exposure. We then tested if MPA networks designed to maximize habitat richness, diversity and rarity could also effectively maximize fish richness, diversity, and rarity. Effectiveness appeared highly sensitive to the fish census design itself, in relation to the type of habitat map used and the scale of analysis. Spatial distribution of habitats (estimator surrogate’s distribution), quantity and location of fish census stations (target surrogate’s sampling), and random processes in the MPA design all affected effectiveness to the point that one small change in the data set could lead to opposite conclusions. We suggest that previous conclusions on surrogacy effectiveness, either positive or negative, marine or terrestrial, should be considered with caution, except in instances where very dense data sets were used without pseudo-replication. Although this does not rule out the validity of using surrogates of species lists for conservation planning, the critical joint examination of both target and estimator surrogates is needed for every case study. PMID:22815891

Habitat use by Centropomus undecimalis in a rocky area of estuarine beach in north-east Brazil.

PubMed

Dantas, D V; Barletta, M

2016-07-01

The influence of habitat, diel period, tidal phase and moon phase on the spatial distribution of Centropomus undecimalis was investigated at the mouth of the Timbo estuary, north-east Brazil. Underwater visual censuses were conducted in three areas comprising a mix of mud, sand and beach rock substrata; with one of the areas having additional structural complexity in the form of unused wooden debris. The area with debris housed significantly higher densities of juvenile and adult C. undecimalis whereas sub-adults were more abundant in an area lacking the wooden debris. Juvenile abundance was greatest during the day, whereas sub-adult and adults were more abundant at night. There were significant interactions between habitat, diel period, tidal phase and moon phase for all ages of C. undecimalis. These results emphasize the need to account for a range of environmental factors when planning for the conservation of estuarine and coastal habitats. © 2016 The Fisheries Society of the British Isles.

Environmental DNA illuminates the dark diversity of sharks

PubMed Central

Boussarie, Germain; Bonnin, Lucas; Kulbicki, Michel; Vigliola, Laurent

2018-01-01

In the era of “Anthropocene defaunation,” large species are often no longer detected in habitats where they formerly occurred. However, it is unclear whether this apparent missing, or “dark,” diversity of megafauna results from local species extirpations or from failure to detect elusive remaining individuals. We find that despite two orders of magnitude less sampling effort, environmental DNA (eDNA) detects 44% more shark species than traditional underwater visual censuses and baited videos across the New Caledonian archipelago (south-western Pacific). Furthermore, eDNA analysis reveals the presence of previously unobserved shark species in human-impacted areas. Overall, our results highlight a greater prevalence of sharks than described by traditional survey methods in both impacted and wilderness areas. This indicates an urgent need for large-scale eDNA assessments to improve monitoring of threatened and elusive megafauna. Finally, our findings emphasize the need for conservation efforts specifically geared toward the protection of elusive, residual populations. PMID:29732403

Commercially important species associated with horse mussel (Modiolus modiolus) biogenic reefs: A priority habitat for nature conservation and fisheries benefits.

PubMed

Kent, Flora E A; Mair, James M; Newton, Jason; Lindenbaum, Charles; Porter, Joanne S; Sanderson, William G

2017-05-15

Horse mussel reefs (Modiolus modiolus) are biodiversity hotspots afforded protection by Marine Protected Areas (MPAs) in the NE Atlantic. In this study, horse mussel reefs, cobble habitats and sandy habitats were assessed using underwater visual census and drop-down video techniques in three UK regions. Megafauna were enumerated, differences in community composition and individual species abundances were analysed. Samples of conspicuous megafauna were also collected from horse mussel reefs in Orkney for stable isotope analysis. Communities of conspicuous megafauna were different between horse mussel habitats and other habitats throughout their range. Three commercially important species: whelks (Buccinum undatum), queen scallops (Aequipecten opercularis) and spider crabs (Maja brachydactyla) were significantly more abundant (by as much as 20 times) on horse mussel reefs than elsewhere. Isotopic analysis provided insights into their trophic relationship with the horse mussel reef. Protection of M. modiolus habitat can achieve biodiversity conservation objectives whilst benefiting fisheries also. Copyright © 2017 Elsevier Ltd. All rights reserved.

Visual training improves underwater vision in children.

PubMed

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

2006-10-01

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

The "Tracked Roaming Transect" and distance sampling methods increase the efficiency of underwater visual censuses.

PubMed

Irigoyen, Alejo J; Rojo, Irene; Calò, Antonio; Trobbiani, Gastón; Sánchez-Carnero, Noela; García-Charton, José A

2018-01-01

Underwater visual census (UVC) is the most common approach for estimating diversity, abundance and size of reef fishes in shallow and clear waters. Abundance estimation through UVC is particularly problematic in species occurring at low densities and/or highly aggregated because of their high variability at both spatial and temporal scales. The statistical power of experiments involving UVC techniques may be increased by augmenting the number of replicates or the area surveyed. In this work we present and test the efficiency of an UVC method based on diver towed GPS, the Tracked Roaming Transect (TRT), designed to maximize transect length (and thus the surveyed area) with respect to diving time invested in monitoring, as compared to Conventional Strip Transects (CST). Additionally, we analyze the effect of increasing transect width and length on the precision of density estimates by comparing TRT vs. CST methods using different fixed widths of 6 and 20 m (FW3 and FW10, respectively) and the Distance Sampling (DS) method, in which perpendicular distance of each fish or group of fishes to the transect line is estimated by divers up to 20 m from the transect line. The TRT was 74% more time and cost efficient than the CST (all transect widths considered together) and, for a given time, the use of TRT and/or increasing the transect width increased the precision of density estimates. In addition, since with the DS method distances of fishes to the transect line have to be estimated, and not measured directly as in terrestrial environments, errors in estimations of perpendicular distances can seriously affect DS density estimations. To assess the occurrence of distance estimation errors and their dependence on the observer's experience, a field experiment using wooden fish models was performed. We tested the precision and accuracy of density estimators based on fixed widths and the DS method. The accuracy of the estimates was measured comparing the actual total abundance with those estimated by divers using FW3, FW10, and DS estimators. Density estimates differed by 13% (range 0.1-31%) from the actual values (average = 13.09%; median = 14.16%). Based on our results we encourage the use of the Tracked Roaming Transect with Distance Sampling (TRT+DS) method for improving density estimates of species occurring at low densities and/or highly aggregated, as well as for exploratory rapid-assessment surveys in which divers could gather spatial ecological and ecosystem information on large areas during UVC.

The "Tracked Roaming Transect" and distance sampling methods increase the efficiency of underwater visual censuses

PubMed Central

2018-01-01

Underwater visual census (UVC) is the most common approach for estimating diversity, abundance and size of reef fishes in shallow and clear waters. Abundance estimation through UVC is particularly problematic in species occurring at low densities and/or highly aggregated because of their high variability at both spatial and temporal scales. The statistical power of experiments involving UVC techniques may be increased by augmenting the number of replicates or the area surveyed. In this work we present and test the efficiency of an UVC method based on diver towed GPS, the Tracked Roaming Transect (TRT), designed to maximize transect length (and thus the surveyed area) with respect to diving time invested in monitoring, as compared to Conventional Strip Transects (CST). Additionally, we analyze the effect of increasing transect width and length on the precision of density estimates by comparing TRT vs. CST methods using different fixed widths of 6 and 20 m (FW3 and FW10, respectively) and the Distance Sampling (DS) method, in which perpendicular distance of each fish or group of fishes to the transect line is estimated by divers up to 20 m from the transect line. The TRT was 74% more time and cost efficient than the CST (all transect widths considered together) and, for a given time, the use of TRT and/or increasing the transect width increased the precision of density estimates. In addition, since with the DS method distances of fishes to the transect line have to be estimated, and not measured directly as in terrestrial environments, errors in estimations of perpendicular distances can seriously affect DS density estimations. To assess the occurrence of distance estimation errors and their dependence on the observer’s experience, a field experiment using wooden fish models was performed. We tested the precision and accuracy of density estimators based on fixed widths and the DS method. The accuracy of the estimates was measured comparing the actual total abundance with those estimated by divers using FW3, FW10, and DS estimators. Density estimates differed by 13% (range 0.1–31%) from the actual values (average = 13.09%; median = 14.16%). Based on our results we encourage the use of the Tracked Roaming Transect with Distance Sampling (TRT+DS) method for improving density estimates of species occurring at low densities and/or highly aggregated, as well as for exploratory rapid-assessment surveys in which divers could gather spatial ecological and ecosystem information on large areas during UVC. PMID:29324887

Utility and validation of day and night snorkel counts for estimating bull trout abundance in first-to-third order streams

Treesearch

Russell F. Thurow; James T. Peterson; John W. Guzevich

2006-01-01

Despite the widespread use of underwater observation to census stream-dwelling fishes, the accuracy of snorkeling methods has rarely been validated. We evaluated the efficiency of day and night snorkel counts for estimating the abundance of bull trout Salvelinus confluentus in 215 sites within first- to third-order streams. We used a dual-gear...

Introduction of non-native marine fish species to the Canary Islands waters through oil platforms as vectors

NASA Astrophysics Data System (ADS)

Pajuelo, José G.; González, José A.; Triay-Portella, Raül; Martín, José A.; Ruiz-Díaz, Raquel; Lorenzo, José M.; Luque, Ángel

2016-11-01

This work documents the introduction of non-native fish species to the Canary Islands (central-eastern Atlantic) through oil rigs. Methodological approaches have included surveys by underwater visual censuses around and under oil platforms and along the docking area of rigs at the Port of Las Palmas. Eleven non-native fish species were registered. Paranthias furcifer, Abudefduf hoefleri, Acanthurus bahianus, Acanthurus chirurgus, and Acanthurus coeruleus are first recorded from the Canaries herein. Other three species could not be identified, although they have never been observed in the Canaries. Cephalopholis taeniops, Abudefduf saxatilis, and Acanthurus monroviae had been previously recorded. Native areas of these species coincide with the areas of origin and the scale of oil rigs with destination the Port of Las Palmas. The absence of native species in the censuses at rigs and their presence at rigs docking area, together with the observation of non-native species after the departure of platforms, reject the possibility that these non-native species were already present in the area introduced by another vector. C. taeniops, A. hoefleri, A. saxatilis, A. chirurgus, A. coeruleus and A. monroviae are clearly seafarer species. A. bahianus seems to be a potential seafarer species. P. furcifer is a castaway species. For the moment, the number of individuals of the non-native species in marine ecosystems of the Canaries seems to be low, and more investigation is needed for controlling these translocations.

Diversity of Coral Fish At Saebus Island, East Java, Indonesia

NASA Astrophysics Data System (ADS)

Fatimah, Siti; Putra, Tri Widya Laksana; Kondang, Putranto; Suratman; Gamelia, Larossa; Syahputra, Hendry; Rahmadayanti; Rizmaaadi, Mada; Ambariyanto, Ambariyanto

2018-02-01

Coral reef ecosystem is known as an important place to live various types of fish, where coral conditions will affect the diversity and abundance of the fish. In healthy coral reef ecosystems generally can be found many types of fish with high density. This research aims to investigate the diversity and abundance of coral fishes at Saebus Island, East Java. The observation conducted at 4 stations, according to cardinal point by UVS (underwater visual census) methods with belt transect with the visibility of 2,5 m horizontally, and 5 m vertically. The length of transect was 100 m parallel with coastline, with the area of observation is 500 m2. The censuses were conducted at 2 different depths (3 and 10 m). This study found 70 kinds of coral fish originated form 20 family at all stations. These fishes were from 3 different fish categories i.e. 7 target fishes, 13 indicator fishes, and 50 major fishes. Three different fishes that dominated target fish, indicator fish and major fish were Epinephelus fasciatus, Chaetodon baronessa and Aulostomus chinensis, respectively. There was similar value of fish diversity index at two different depths which were 3.635 and 3,623. While uniformity index at the depth of 3m was 0.153 and at 10m was 0.217, and domination index at the depth of 3m was 0.11 and at 10m was 0.167. These values suggest that diversity of coral fish at Saebus island can be categorized as high diversity.

Superior underwater vision in a human population of sea gypsies.

PubMed

Gislén, Anna; Dacke, Marie; Kröger, Ronald H H; Abrahamsson, Maths; Nilsson, Dan-Eric; Warrant, Eric J

2003-05-13

Humans are poorly adapted for underwater vision. In air, the curved corneal surface accounts for two-thirds of the eye's refractive power, and this is lost when air is replaced by water. Despite this, some tribes of sea gypsies in Southeast Asia live off the sea, and the children collect food from the sea floor without the use of visual aids. This is a remarkable feat when one considers that the human eye is not focused underwater and small objects should remain unresolved. We have measured the visual acuity of children in a sea gypsy population, the Moken, and found that the children see much better underwater than one might expect. Their underwater acuity (6.06 cycles/degree) is more than twice as good as that of European children (2.95 cycles/degree). Our investigations show that the Moken children achieve their superior underwater vision by maximally constricting the pupil (1.96 mm compared to 2.50 mm in European children) and by accommodating to the known limit of human performance (15-16 D). This extreme reaction-which is routine in Moken children-is completely absent in European children. Because they are completely dependent on the sea, the Moken are very likely to derive great benefit from this strategy.

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

DTIC Science & Technology

2006-10-01

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

Monocular Vision-Based Underwater Object Detection

PubMed Central

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

2017-01-01

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

Overestimating Fish Counts by Non-Instantaneous Visual Censuses: Consequences for Population and Community Descriptions

PubMed Central

Ward-Paige, Christine; Mills Flemming, Joanna; Lotze, Heike K.

2010-01-01

Background Increasingly, underwater visual censuses (UVC) are used to assess fish populations. Several studies have demonstrated the effectiveness of protected areas for increasing fish abundance or provided insight into the natural abundance and structure of reef fish communities in remote areas. Recently, high apex predator densities (>100,000 individuals·km−2) and biomasses (>4 tonnes·ha−1) have been reported for some remote islands suggesting the occurrence of inverted trophic biomass pyramids. However, few studies have critically evaluated the methods used for sampling conspicuous and highly mobile fish such as sharks. Ideally, UVC are done instantaneously, however, researchers often count animals that enter the survey area after the survey has started, thus performing non-instantaneous UVC. Methodology/Principal Findings We developed a simulation model to evaluate counts obtained by divers deploying non-instantaneous belt-transect and stationary-point-count techniques. We assessed how fish speed and survey procedure (visibility, diver speed, survey time and dimensions) affect observed fish counts. Results indicate that the bias caused by fish speed alone is huge, while survey procedures had varying effects. Because the fastest fishes tend to be the largest, the bias would have significant implications on their biomass contribution. Therefore, caution is needed when describing abundance, biomass, and community structure based on non-instantaneous UVC, especially for highly mobile species such as sharks. Conclusions/Significance Based on our results, we urge that published literature state explicitly whether instantaneous counts were made and that survey procedures be accounted for when non-instantaneous counts are used. Using published density and biomass values of communities that include sharks we explore the effect of this bias and suggest that further investigation may be needed to determine pristine shark abundances and the existence of inverted biomass pyramids. Because such studies are used to make important management and conservation decisions, incorrect estimates of animal abundance and biomass have serious and significant implications. PMID:20661304

Please mind the gap - Visual census and cryptic biodiversity assessment at central Red Sea coral reefs.

PubMed

Pearman, John K; Anlauf, Holger; Irigoien, Xabier; Carvalho, Susana

2016-07-01

Coral reefs harbor the most diverse assemblages in the ocean, however, a large proportion of the diversity is cryptic and, therefore, undetected by standard visual census techniques. Cryptic and exposed communities differ considerably in species composition and ecological function. This study compares three different coral reef assessment protocols: i) visual benthic reef surveys: ii) visual census of Autonomous Reef Monitoring Structures (ARMS) plates; and iii) metabarcoding techniques of the ARMS (including sessile, 106-500 μm and 500-2000 μm size fractions), that target the cryptic and exposed communities of three reefs in the central Red Sea. Visual census showed a dominance of Cnidaria (Anthozoa) and Rhodophyta on the reef substrate, while Porifera, Bryozoa and Rhodophyta were the most abundant groups on the ARMS plates. Metabarcoding, targeting the 18S rRNA gene, significantly increased estimates of the species diversity (p < 0.001); revealing that Annelida were generally the dominant phyla (in terms of reads) of all fractions and reefs. Furthermore, metabarcoding detected microbial eukaryotic groups such as Syndiniophyceae, Mamiellophyceae and Bacillariophyceae as relevant components of the sessile fraction. ANOSIM analysis showed that the three reef sites showed no differences based on the visual census data. Metabarcoding showed a higher sensitivity for identifying differences between reef communities at smaller geographic scales than standard visual census techniques as significant differences in the assemblages were observed amongst the reefs. Comparison of the techniques showed no similar patterns for the visual techniques while the metabarcoding of the ARMS showed similar patterns amongst fractions. Establishing ARMS as a standard tool in reef monitoring will not only advance our understanding of local processes and ecological community response to environmental changes, as different faunal components will provide complementary information but also improve the estimates of biodiversity in coral reef benthic communities. This study lays the foundations for further studies looking at integrating traditional reef survey methodologies with complementary approaches, such as metabarcoding, which investigate other components of the reef community. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

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

PubMed

Nian, Rui; Liu, Fang; He, Bo

2013-07-16

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

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

PubMed Central

Nian, Rui; Liu, Fang; He, Bo

2013-01-01

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

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

NASA Astrophysics Data System (ADS)

Maruyama, Hirotaka; Tanioka, Kenkichi; Uchida, Tetsuo

1994-11-01

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

Correlation Between Existence of Reef Sharks with Abundance of Reef Fishes in South Waters of Morotai Island (North Moluccas)

NASA Astrophysics Data System (ADS)

Mukharror, Darmawan Ahmad; Tiara Baiti, Isnaini; Ichsan, Muhammad; Pridina, Niomi; Triutami, Sanny

2017-10-01

Despite increasing academic research citation on biology, abundance, and the behavior of the blacktip reef sharks, the influence of reef fish population on the density of reef sharks: Carcharhinus melanopterus and Triaenodon obesus population in its habitat were largely unassessed. This present study examined the correlation between abundance of reef fishes family/species with the population of reef sharks in Southern Waters of Morotai Island. The existence of reef sharks was measured with the Audible Stationary Count (ASC) methods and the abundance of reef fishes was surveyed using Underwater Visual Census (UVC) combined with Diver Operated Video (DOV) census. The coefficient of Determination (R2) was used to investigate the degree of relationships between sharks and the specific reef fishes species. The research from 8th April to 4th June 2015 showed the strong positive correlations between the existence of reef sharks with abundance of reef fishes. The correlation values between Carcharhinus melanopterus/Triaenodon obesus with Chaetodon auriga was 0.9405, blacktip/whitetip reef sharks versus Ctenochaetus striatus was 0.9146, and Carcharhinus melanopterus/Triaenodon obesus to Chaetodon kleinii was 0.8440. As the shark can be worth more alive for shark diving tourism than dead in a fish market, the abundance of these reef fishes was important as an early indication parameter of shark existence in South Water of Morotai Island. In the long term, this highlights the importance of reef fishes abundance management in Morotai Island’s Waters to enable the establishment of appropriate and effective reef sharks conservation.

Underwater disorientation as induced by two helicopter ditching devices.

PubMed

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

2000-09-01

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

Geometric and Optic Characterization of a Hemispherical Dome Port for Underwater Photogrammetry

PubMed Central

Menna, Fabio; Nocerino, Erica; Fassi, Francesco; Remondino, Fabio

2016-01-01

The popularity of automatic photogrammetric techniques has promoted many experiments in underwater scenarios leading to quite impressive visual results, even by non-experts. Despite these achievements, a deep understanding of camera and lens behaviors as well as optical phenomena involved in underwater operations is fundamental to better plan field campaigns and anticipate the achievable results. The paper presents a geometric investigation of a consumer grade underwater camera housing, manufactured by NiMAR and equipped with a 7′′ dome port. After a review of flat and dome ports, the work analyzes, using simulations and real experiments, the main optical phenomena involved when operating a camera underwater. Specific aspects which deal with photogrammetric acquisitions are considered with some tests in laboratory and in a swimming pool. Results and considerations are shown and commented. PMID:26729133

Cognitive factors in the close visual and magnetic particle inspection of welds underwater.

PubMed

Leach, J; Morris, P E

1998-06-01

Underwater close visual inspection (CVI) and magnetic particle inspection (MPI) are major components of the commercial diver's job of nondestructive testing and the maintenance of subsea structures. We explored the accuracy of CVI in Experiment 1 and that of MPI in Experiment 2 and observed high error rates (47% and 24%, respectively). Performance was strongly correlated with embedded figures and visual search tests and was unrelated to length of professional diving experience, formal inspection qualification, or age. Cognitive tests of memory for designs, spatial relations, dotted outlines, and block design failed to correlate with performance. Actual or potential applications of this research include more reliable inspection reporting, increased effectiveness from current inspection techniques, and directions for the refinement of subsea inspection equipment.

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

NASA Astrophysics Data System (ADS)

Barat, Christian; Phlypo, Ronald

2010-12-01

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

Virtual Diving in the Underwater Archaeological Site of Cala Minnola

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Low-contrast underwater living fish recognition using PCANet

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Visual direction finding by fishes

NASA Technical Reports Server (NTRS)

Waterman, T. H.

1972-01-01

The use of visual orientation, in the absence of landmarks, for underwater direction finding exercises by fishes is reviewed. Celestial directional clues observed directly near the water surface or indirectly at an asymptatic depth are suggested as possible orientation aids.

Annotated checklist of marine fishes from the Sanctuary of Bahía Chamela, Mexico with occurrence and biogeographic data.

PubMed

Galván-Villa, Cristian Moisés; Ríos-Jara, Eduardo; Bastida-Izaguirre, Dafne; Hastings, Philip A; Balart, Eduardo F

2016-01-01

An annotated checklist of marine fishes of the Sanctuary of Islands and Islets of Bahía Chamela in the central Mexican Pacific is presented. Records of fish species were obtained by different methods including visual census, sampling with anesthetics, fisherman-nets, and trawling with a biological dredge. Additional records were obtained from natural history collections and publications. The list comprises 196 species in 64 families and 141 genera. The Carangidae is the most speciose family with 11 species, followed by the Labridae with 10 and the Pomacentridae with nine. Fourteen species are endemic in Mexican Pacific waters, but none is restricted to Bahía Chamela. The most dominant species recorded during underwater surveys were Epinephelus labriformis, Stegastes flavilatus, and Halichoeres dispilus. Most species are of tropical affinities distributed throughout the tropical eastern Pacific (123), eastern Pacific (23), and Mexican Pacific (14). Other species are known from the eastern and Indo-Pacific regions (18), eastern Pacific and western Atlantic oceans (2), and some are circumtropical (9). A new record of the Gulf Brotula Ogilbia ventralis is provided for the Bahía Chamela and its geographical distribution is extended to Mexican central Pacific.

Census Infographics & Visualizations

Science.gov Websites

United States Census Bureau Topics Population Latest Information Age and Sex Ancestry Children Mobility Population Estimates Population Projections Race Veterans Economy Latest Information Portal Other Economic Programs Business Latest Information Business Characteristics Classification Codes

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.

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

NASA Astrophysics Data System (ADS)

Li, Chongyi; Guo, Jichang; Guo, Chunle

2018-03-01

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

Navigational potential of e-vector sensing by marine animals

NASA Astrophysics Data System (ADS)

Waterman, Talbot H.

1993-02-01

This essay documents an informal talk about the central theme in the author's research career. That has mainly related to the visual physiology and orientation of aquatic animals, particularly with regard to underwater polarized light. This required pioneer measurements of underwater polarized light patterns, proof that oriented behavior could be determined by e- vector direction independently of intensity patterns or other secondary clues and a demonstration of the retinal dichroic mechanism involved, at least in crustacean compound eyes. The relevant visual data processing by two orthogonal channels was also analyzed with regard to oriented swimming behavior. Some current research by others and major unsolved problems are mentioned and the relevant part of the author's bibliography is appended.

Low Cost Embedded Stereo System for Underwater Surveys

NASA Astrophysics Data System (ADS)

Nawaf, M. M.; Boï, J.-M.; Merad, D.; Royer, J.-P.; Drap, P.

2017-11-01

This paper provides details of both hardware and software conception and realization of a hand-held stereo embedded system for underwater imaging. The designed system can run most image processing techniques smoothly in real-time. The developed functions provide direct visual feedback on the quality of the taken images which helps taking appropriate actions accordingly in terms of movement speed and lighting conditions. The proposed functionalities can be easily customized or upgraded whereas new functions can be easily added thanks to the available supported libraries. Furthermore, by connecting the designed system to a more powerful computer, a real-time visual odometry can run on the captured images to have live navigation and site coverage map. We use a visual odometry method adapted to low computational resources systems and long autonomy. The system is tested in a real context and showed its robustness and promising further perspectives.

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.

Captive Bottlenose Dolphins Do Discriminate Human-Made Sounds Both Underwater and in the Air.

PubMed

Lima, Alice; Sébilleau, Mélissa; Boye, Martin; Durand, Candice; Hausberger, Martine; Lemasson, Alban

2018-01-01

Bottlenose dolphins ( Tursiops truncatus ) spontaneously emit individual acoustic signals that identify them to group members. We tested whether these cetaceans could learn artificial individual sound cues played underwater and whether they would generalize this learning to airborne sounds. Dolphins are thought to perceive only underwater sounds and their training depends largely on visual signals. We investigated the behavioral responses of seven dolphins in a group to learned human-made individual sound cues, played underwater and in the air. Dolphins recognized their own sound cue after hearing it underwater as they immediately moved toward the source, whereas when it was airborne they gazed more at the source of their own sound cue but did not approach it. We hypothesize that they perhaps detected modifications of the sound induced by air or were confused by the novelty of the situation, but nevertheless recognized they were being "targeted." They did not respond when hearing another group member's cue in either situation. This study provides further evidence that dolphins respond to individual-specific sounds and that these marine mammals possess some capacity for processing airborne acoustic signals.

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.

Seagrass Parameter Affect the Fish Assemblages in Karimunjawa Archipelago

NASA Astrophysics Data System (ADS)

Sri Susilo, Endang; Nugroho Sugianto, Denny; Munasik; Nirwani; Adhi Suryono, Chrisna

2018-02-01

Seagrass beds promote high species diversity, abundance and biomass, and become important habitats for some economically important fishes. Plants of seagrasses result in structurally highly complex habitats and offering feeding grounds, shelter from predation as well as nursery areas for diverse fish assemblages. However, research on fish communities in Southeast Asian seagrass bed is rarely conducted. In the present study fish assemblages in seagrass beds with different parameters (cover, diversity and similarity indices, domination) was investigated in the Karimunjawa Islands, Indonesia. The purpose of this study were to assess whether fish assemblages differ concerning on the abundance and the species number. This study was conducted on the seagrass bed on Karimunjawa Islands in Java Sea, particularly in the water of Menjangan Besar and Menjangan Kecil Island. Line-quadrant transect was used to assess seagrass data, while the occurrence and individual number of fish harboured in the selected seagrass bed was counted by using underwater visual census in the stationary point count transects. Seagrass cover in Menjangan Kecil Island (41%) with various canopy included both upper and lower canopy was considerable higher than those in Menjangan Besar Island (5%). Fish diversity, species composition and abundance are considerably different between the two study sites. This study revealed that seagrass density or cover and canopy structure affected the fish abundance and species number harboured.

Annotated checklist of marine fishes from the Sanctuary of Bahía Chamela, Mexico with occurrence and biogeographic data

PubMed Central

Galván-Villa, Cristian Moisés; Ríos-Jara, Eduardo; Bastida-Izaguirre, Dafne; Hastings, Philip A.; Balart, Eduardo F.

2016-01-01

Abstract An annotated checklist of marine fishes of the Sanctuary of Islands and Islets of Bahía Chamela in the central Mexican Pacific is presented. Records of fish species were obtained by different methods including visual census, sampling with anesthetics, fisherman-nets, and trawling with a biological dredge. Additional records were obtained from natural history collections and publications. The list comprises 196 species in 64 families and 141 genera. The Carangidae is the most speciose family with 11 species, followed by the Labridae with 10 and the Pomacentridae with nine. Fourteen species are endemic in Mexican Pacific waters, but none is restricted to Bahía Chamela. The most dominant species recorded during underwater surveys were Epinephelus labriformis, Stegastes flavilatus, and Halichoeres dispilus. Most species are of tropical affinities distributed throughout the tropical eastern Pacific (123), eastern Pacific (23), and Mexican Pacific (14). Other species are known from the eastern and Indo-Pacific regions (18), eastern Pacific and western Atlantic oceans (2), and some are circumtropical (9). A new record of the Gulf Brotula Ogilbia ventralis is provided for the Bahía Chamela and its geographical distribution is extended to Mexican central Pacific. PMID:26877683

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

NASA Astrophysics Data System (ADS)

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

2016-02-01

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

Region 9 2010 Census Web Service

EPA Pesticide Factsheets

This web service displays data collected during the 2010 U.S. Census. The data are organized into layers representing Tract, Block, and Block Group visualizations. Geography The TIGER Line Files are feature classes and related database files that are an extract of selected geographic and cartographic information from the U.S. Census Bureau's Master Address File / Topologically Integrated Geographic Encoding and Referencing (MAF/TIGER) Database (MTDB). The MTDB represents a seamless national file with no overlaps or gaps between parts, however, each TIGER Line File is designed to stand alone as an independent data set, or they can be combined to cover the entire nation. Census tracts are small, relatively permanent statistical subdivisions of a county or equivalent entity, and were defined by local participants as part of the 2010 Census Participant Statistical Areas Program. The Census Bureau delineated the census tracts in situations where no local participant existed or where all the potential participants declined to participate. The primary purpose of census tracts is to provide a stable set of geographic units for the presentation of census data and comparison back to previous decennial censuses. Census tracts generally have a population size between 1,200 and 8,000 people, with an optimum size of 4,000 people. When first delineated, census tracts were designed to be homogeneous with respect to population characteristics, economic status

Extensible 3D (X3D) Graphics for Visualizing Marine Mammal Reaction to Underwater Sound on the Southern California ASW Range (SOAR)

DTIC Science & Technology

2007-06-01

file ARC- 20060811T130816.txt, where color is used to represent points in time (red being the earliest, transitioning to orange, yellow , then white...Administration (NOAA), using passive hydrophone arrays along the mid-Atlantic ridge to listen for underwater earthquakes and volcanoes , have found that a...appeared. The earliest data points were designated red, and later points were shades of orange and yellow , until the last points (relative to the

[Availability of Statistics on Families, Children and Youth.

ERIC Educational Resources Information Center

Johnson, Theresa C.

Collected in this document are a workshop presentation on the Census Bureau (CB), visual aids used in the workshop, an information guide to products and services of the CB, sample newsletters and statistical briefs of the Bureau, and material concerning the Census Awareness and Products Program. The workshop presentation provides: (1) an overview…

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

Captive Bottlenose Dolphins Do Discriminate Human-Made Sounds Both Underwater and in the Air

PubMed Central

Lima, Alice; Sébilleau, Mélissa; Boye, Martin; Durand, Candice; Hausberger, Martine; Lemasson, Alban

2018-01-01

Bottlenose dolphins (Tursiops truncatus) spontaneously emit individual acoustic signals that identify them to group members. We tested whether these cetaceans could learn artificial individual sound cues played underwater and whether they would generalize this learning to airborne sounds. Dolphins are thought to perceive only underwater sounds and their training depends largely on visual signals. We investigated the behavioral responses of seven dolphins in a group to learned human-made individual sound cues, played underwater and in the air. Dolphins recognized their own sound cue after hearing it underwater as they immediately moved toward the source, whereas when it was airborne they gazed more at the source of their own sound cue but did not approach it. We hypothesize that they perhaps detected modifications of the sound induced by air or were confused by the novelty of the situation, but nevertheless recognized they were being “targeted.” They did not respond when hearing another group member’s cue in either situation. This study provides further evidence that dolphins respond to individual-specific sounds and that these marine mammals possess some capacity for processing airborne acoustic signals. PMID:29445350

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.

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.

Learning How to Identify Species in a Situated Learning Scenario: Using Dynamic-Static Visualizations to Prepare Students for Their Visit to the Aquarium

ERIC Educational Resources Information Center

Pfeiffer, Vanessa D. I.; Scheiter, Katharina; Kuhl, Tim; Gemballa, Sven

2011-01-01

This study investigated whether studying dynamic-static visualizations prepared first-year Biology students better for an out-of-classroom experience in an aquarium than learning how to identify species with more traditional instructional materials. During an initial classroom phase, learners either watched underwater videos of 15 freshwater fish…

Comparative analysis of different survey methods for monitoring fish assemblages in coastal habitats.

PubMed

Baker, Duncan G L; Eddy, Tyler D; McIver, Reba; Schmidt, Allison L; Thériault, Marie-Hélène; Boudreau, Monica; Courtenay, Simon C; Lotze, Heike K

2016-01-01

Coastal ecosystems are among the most productive yet increasingly threatened marine ecosystems worldwide. Particularly vegetated habitats, such as eelgrass (Zostera marina) beds, play important roles in providing key spawning, nursery and foraging habitats for a wide range of fauna. To properly assess changes in coastal ecosystems and manage these critical habitats, it is essential to develop sound monitoring programs for foundation species and associated assemblages. Several survey methods exist, thus understanding how different methods perform is important for survey selection. We compared two common methods for surveying macrofaunal assemblages: beach seine netting and underwater visual census (UVC). We also tested whether assemblages in shallow nearshore habitats commonly sampled by beach seines are similar to those of nearby eelgrass beds often sampled by UVC. Among five estuaries along the Southern Gulf of St. Lawrence, Canada, our results suggest that the two survey methods yield comparable results for species richness, diversity and evenness, yet beach seines yield significantly higher abundance and different species composition. However, sampling nearshore assemblages does not represent those in eelgrass beds despite considerable overlap and close proximity. These results have important implications for how and where macrofaunal assemblages are monitored in coastal ecosystems. Ideally, multiple survey methods and locations should be combined to complement each other in assessing the entire assemblage and full range of changes in coastal ecosystems, thereby better informing coastal zone management.

Hyperstability masks declines in bumphead parrotfish ( Bolbometopon muricatum) populations

NASA Astrophysics Data System (ADS)

Hamilton, Richard J.; Almany, Glenn R.; Stevens, Don; Bode, Michael; Pita, John; Peterson, Nate A.; Choat, J. Howard

2016-09-01

Bolbometopon muricatum, the largest species of parrotfish, is a functionally important species that is characterised by the formation of aggregations for foraging, reproductive, and sleeping behaviours. Aggregations are restricted to shallow reef habitats, the locations of which are often known to local fishers. Bolbometopon muricatum fisheries are therefore vulnerable to overfishing and are likely to exhibit hyperstability, the maintenance of high catch per unit effort (CPUE) while population abundance declines. In this study, we provide a clear demonstration of hyperstable dynamics in a commercial B. muricatum fishery in Isabel Province, Solomon Islands. Initially, we used participatory mapping to demarcate the Kia fishing grounds into nine zones that had experienced different historic levels of fishing pressure. We then conducted comprehensive underwater visual census (UVC) and CPUE surveys across these zones over a 21-month period in 2012-2013. The individual sites for replicate UVC surveys were selected using a generalised random tessellation stratified variable probability design, while CPUE surveys involved trained provincial fisheries officers and local spearfishers. A comparison of fishery-independent abundance data and fishery-dependent CPUE data indicate extreme hyperstability, with CPUE maintained as B. muricatum abundance declines towards zero. Hyperstability may explain the sudden collapses of many B. muricatum spear fisheries across the Pacific and highlights the limitations of using data-poor fisheries assessment methods to evaluate the status of commercially valuable coral reef fishes that form predicable aggregations.

Remote sensing and urban public health

NASA Technical Reports Server (NTRS)

Rush, M.; Vernon, S.

1975-01-01

The applicability of remote sensing in the form of aerial photography to urban public health problems is examined. Environmental characteristics are analyzed to determine if health differences among areas could be predicted from the visual expression of remote sensing data. The analysis is carried out on a socioeconomic cross-sectional sample of census block groups. Six morbidity and mortality rates are the independent variables while environmental measures from aerial photographs and from the census constitute the two independent variable sets. It is found that environmental data collected by remote sensing are as good as census data in evaluating rates of health outcomes.

Underwater detection by using ultrasonic sensor

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Estimates of underwater and aerial visual acuity in the European beaver Castor fiber L. based on morphological data.

PubMed

Mass, A M; Supin, A Ya

2017-03-01

The eye optics and topographic distribution of ganglion cells were studied using whole mount preparations from European beaver Castor fiber L. The beaver eye optics provides emmetropia in air and hypermetropia in water. The optometrical measurements predict retinal resolution of the beaver eye around 17' in air and 9' in water. In air, retinal resolution corresponds to the real visual acuity, whereas in water, visual acuity is below the retinal resolution because of the non-precise focusing.

Data from in situ Observations of Fish Traps Set by Fishermen in St. John Waters, U.S. Virgin Islands, 1992-94

USGS Publications Warehouse

Garrison, Virginia H.; Beets, Jim; Friedlander, Alan M.; Canty, Steven

2011-01-01

In order to estimate (1) the trapping pressure within Virgin Islands National Park (VINP) waters, (2) the effect of fish traps on park marine resources (both fishes and habitats), and (3) the effectiveness of park regulations in protecting marine resources, traps set by fishers were visually observed and contents censused in situ in 1992, 1993, and 1994, around St. John (U.S. Virgin Islands), within and outside of park waters. A total of 1,340 individual fish (56 species and 23 families) were identified and their lengths estimated for the 211 of 285 visually censused traps that contained fish. This dataset includes for each censused trap: location, depth, substrate/habitat, trap type and construction details, in or out of park waters, and species and estimated fork length (in centimeters) of each individual fish in a trap. Analysis and interpretation of this dataset are provided in previously published reports by the author.

Role of sensory cues on food searching behavior of a captive Manta birostris (Chondrichtyes, Mobulidae).

PubMed

Ari, Csilla; Correia, João P

2008-07-01

This study reports on the first experimental research designed specifically for Manta birostris behavior. The authors attempted to learn about the feeding behavior and environmental cues influencing this behavior, as well as general cognitive ability. The preconditioned Manta's ability to identify food, on the basis of a fraction of the ordinary food signal complex, was tested. The opening of cephalic fins was considered a good indicator of feeding motivation level. The study subject animal used its biological clock to predict time and also associated a specific location with food, suggesting an ability to build up a cognitive map of its environment. Both underwater visual stimuli and olfactory stimuli had a very intense effect on food searching behavior over a 30 m distance, in contrast to visual signs from above the water surface. In addition, although an underwater visual signal resulted in a more intense response than from an olfactory signal, the specimen did not discriminate between different objects tested on the basis of visual sensation. It could therefore be suggested that food searching behavior of Mantas are governed by triggering stimuli, including smell or visual recognition, and modulated by the cognitive spatial map stored in their long-term memory. These findings will hopefully prove useful while devising protecting policies in the natural environment and/or while keeping these animals in captivity. Zoo Biol 27:294-304, 2008. (c) 2008 Wiley-Liss, Inc.

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

Warfare Ecology on an Underwater Demolition Range: Acoustic Observations of Marine Life and Shallow Water Detonations in Hawai`i

NASA Astrophysics Data System (ADS)

Shannon, Lee H.

Most studies investigating the effects of military-associated anthropogenic noise concentrate on deep sea or open ocean propagation of sonar and its effect on marine mammals. In littoral waters, U.S. military special operations units regularly conduct shallow water explosives training, yet relatively little attention has been given to the potential impact on nearshore marine ecosystems from these underwater detonations. This dissertation research focused on the Pu'uloa Underwater Detonation Range off the coast of O`ahu, and examined multiple aspects of the surrounding marine ecosystem and the effects of detonations using acoustic monitoring techniques. The soundscape of a nearshore reef ecosystem adjacent to the UNDET range was characterized through analysis of passive acoustic recordings collected over the span of 6 years. Snapping shrimp were the predominant source of noise, and a diel pattern was present, with increased sound energy during the night hours. Results revealed a difference of up to 7dB between two Ecological Acoustic Recorder locations 2.5km apart along the 60ft isobath. Passive acoustic recording files were searched visually and aurally for odontocete whistles. Whistles were detected in only 0.6% of files analyzed, indicating this area is not frequently transited by coastal odontocete emitting social sounds. The study also opportunistically captured a humpback whale singing during a detonation event, during which the animal showed no obvious alteration of its singing behavior. Four separate underwater detonation events were recorded using a surface deployed F-42C transducer, and the resulting analysis showed no measurable drop in the biologically produced acoustic energy in reaction to the explosive events. Coral reef fishes were recorded visually and acoustically during detonation events at a known distance and bearing from a known explosive sound source. Individual fish behavioral responses to the explosion varied, and a sharp uptick in fish vocalizations was recorded immediately following the blast, with rapid (within 30s) return to baseline visual and acoustic behavior. The results and conclusions of these studies are placed within the broader context of warfare ecology as an emerging scientific discipline.

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

PubMed

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

2016-10-10

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

Using GIS Mapping to Target Public Health Interventions: Examining Birth Outcomes Across GIS Techniques.

PubMed

MacQuillan, E L; Curtis, A B; Baker, K M; Paul, R; Back, Y O

2017-08-01

With advances in spatial analysis techniques, there has been a trend in recent public health research to assess the contribution of area-level factors to health disparity for a number of outcomes, including births. Although it is widely accepted that health disparity is best addressed by targeted, evidence-based and data-driven community efforts, and despite national and local focus in the U.S. to reduce infant mortality and improve maternal-child health, there is little work exploring how choice of scale and specific GIS visualization technique may alter the perception of analyses focused on health disparity in birth outcomes. Retrospective cohort study. Spatial analysis of individual-level vital records data for low birthweight and preterm births born to black women from 2007 to 2012 in one mid-sized Midwest city using different geographic information systems (GIS) visualization techniques [geocoded address records were aggregated at two levels of scale and additionally mapped using kernel density estimation (KDE)]. GIS analyses in this study support our hypothesis that choice of geographic scale (neighborhood or census tract) for aggregated birth data can alter programmatic decision-making. Results indicate that the relative merits of aggregated visualization or the use of KDE technique depend on the scale of intervention. The KDE map proved useful in targeting specific areas for interventions in cities with smaller populations and larger census tracts, where they allow for greater specificity in identifying intervention areas. When public health programmers seek to inform intervention placement in highly populated areas, however, aggregated data at the census tract level may be preferred, since it requires lower investments in terms of time and cartographic skill and, unlike neighborhood, census tracts are standardized in that they become smaller as the population density of an area increases.

Extent of Mangrove Nursery Habitats Determines the Geographic Distribution of a Coral Reef Fish in a South-Pacific Archipelago

PubMed Central

Paillon, Christelle; Wantiez, Laurent; Kulbicki, Michel; Labonne, Maylis; Vigliola, Laurent

2014-01-01

Understanding the drivers of species' geographic distribution has fundamental implications for the management of biodiversity. For coral reef fishes, mangroves have long been recognized as important nursery habitats sustaining biodiversity in the Western Atlantic but there is still debate about their role in the Indo-Pacific. Here, we combined LA-ICP-MS otolith microchemistry, underwater visual censuses (UVC) and mangrove cartography to estimate the importance of mangroves for the Indo-Pacific coral reef fish Lutjanus fulviflamma in the archipelago of New Caledonia. Otolith elemental compositions allowed high discrimination of mangroves and reefs with 83.8% and 98.7% correct classification, respectively. Reefs were characterized by higher concentrations of Rb and Sr and mangroves by higher concentrations of Ba, Cr, Mn and Sn. All adult L. fulviflamma collected on reefs presented a mangrove signature during their juvenile stage with 85% inhabiting mangrove for their entire juvenile life (about 1 year). The analysis of 2942 UVC revealed that the species was absent from isolated islands of the New Caledonian archipelago where mangroves were absent. Furthermore, strong positive correlations existed between the abundance of L. fulviflamma and the area of mangrove (r = 0.84 for occurrence, 0.93 for density and 0.89 for biomass). These results indicate that mangrove forest is an obligatory juvenile habitat for L. fulviflamma in New Caledonia and emphasize the potential importance of mangroves for Indo-Pacific coral reef fishes. PMID:25140697

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

NASA Astrophysics Data System (ADS)

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

2015-05-01

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

Reviving a neglected celestial underwater polarization compass for aquatic animals.

PubMed

Waterman, Talbot H

2006-02-01

Substantial in situ measurements on clear days in a variety of marine environments at depths in the water down to 200 m have demonstrated the ubiquitous daytime presence of sun-related e-vector (=plane of polarization) patterns. In most lines of sight the e-vectors tilt from horizontal towards the sun at angles equal to the apparent underwater refracted zenith angle of the sun. A maximum tilt-angle of approximately 48.5 degrees , is reached in horizontal lines of sight at 90 degrees to the sun's bearing (the plane of incidence). This tilt limit is set by Snell's window, when the sun is on the horizon. The biological literature since the 1980s has been pervaded with assumptions that daytime aquatic e-vectors are mainly horizontal. This review attempts to set the record straight concerning the potential use of underwater e-vectors as a visual compass and to reopen the field to productive research on aquatic animals' orientation and navigation.

Who's Surfing? Internet Access and Computer Use by Visually Impaired Youths and Adults.

ERIC Educational Resources Information Center

Gerber, Elaine; Kirchner, Corinne

2001-01-01

The Census Bureau's 1999 Survey of Income and Program Participation found that Internet access and computer use by people with visual impairments is substantially (30 percent) less than that for people with no disabilities. Age, employment, and the presence of additional impairments also affected computer use. Results suggest over a million…

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...

Computer visualizations in engineering applications

NASA Astrophysics Data System (ADS)

Bills, K. C.

The use of computerized simulations of various robotic tasks via IGRIP software is reported. The projects include underwater activities demonstrating clean up of a quarry; time study of methods to store waste drums inside a facility; design walk-through of a new facility; plant layout flyover; and conceptual development and layout of new mechanisms.

Influences on Visual Spatial Rotation: Science, Technology, Engineering, and Mathematics (STEM) Experiences, Age, and Gender

ERIC Educational Resources Information Center

Perry, Paula Christine

2013-01-01

Science, Technology, Engineering, and Mathematics (STEM) education curriculum is designed to strengthen students' science and math achievement through project based learning activities. As part of a STEM initiative, SeaPerch was developed at Massachusetts Institute of Technology. SeaPerch is an innovative underwater robotics program that instructs…

Bottlenose dolphin iris asymmetries enhance aerial and underwater vision

NASA Astrophysics Data System (ADS)

Rivamonte, Andre

2009-02-01

When the iris of the Bottlenose dolphin (Tursiops truncatus) contracts it constrains the path of light that can focus onto the two areas of the retina having a finer retinal mosaic. Under high ambient light conditions the operculum of the iris shields the lens and forms in the process two asymmetrically shaped, sized and positioned slit pupils. Tracing rays of light in the reverse direction through the pupils from the retinal regions associated with higher resolution confirm behaviorally observed preferred aerial and underwater viewing directions. In the forward and downward viewing direction, the larger temporal pupil admits light that is focused by the weakly refractive margin of a bifocal lens onto the temporal area centralis compensating for the addition of the optically strong front surface of the cornea in air. A schematic dolphin eye model incorporating a bifocal lens offers an explanation for a dolphin's comparable visual acuities in air and water for both high and low ambient light conditions. Comparison of methods for curve fitting psychometric ogive functions to behavioral visual acuity and spectral sensitivity data are discussed.

Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

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

Collision Detection for Underwater ROV Manipulator Systems.

PubMed

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

2018-04-06

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

Antigravity ESD - double-balloon-assisted underwater with traction hybrid technique.

PubMed

Sharma, Sam K; Hiratsuka, Takahiro; Hara, Hisashi; Milsom, Jeffrey W

2018-06-01

 Complex colorectal polyps or those positioned in difficult anatomic locations are an endoscopic therapeutic challenge. Underwater endoscopic submucosal dissection (UESD) is a potential technical solution to facilitate efficient polyp removal. In addition, endoscopic tissue retraction has been confined to limited methods of varying efficacy and complexity. The aim of this study was to evaluate the efficiency of a unique UESD technique for removing complex polyps using double-balloon-assisted retraction (R).  Using fresh ex-vivo porcine rectum, 4-cm polyps were created using electrosurgery and positioned at "6 o'clock" within an established ESD model. Six resections were performed in each group. Underwater techniques were facilitated using a novel double-balloon platform (Dilumen, Lumendi, Westport, Connecticut, United States).  UESD-R had a significantly shorter total procedural time than cap-assisted ESD and UESD alone (24 vs. 58 vs. 56 mins). UESD-R produced a dissection time on average of 5 minutes, attributed to the retraction provided. There was also a subjective significant reduction in electrosurgical smoke with the underwater techniques contributing to improved visualization.  Here we report the first ex-vivo experience of a unique double-balloon endoscopic platform optimized for UESD with tissue traction capability. UESD-R removed complex lesions in significantly shorter time than conventional means. The combined benefits of UESD and retraction appeared to be additive when tackling complex polyps and should be studied further.

Aerial estimation of the size of gull breeding colonies

USGS Publications Warehouse

Kadlec, J.A.; Drury, W.H.

1968-01-01

Counts on photographs and visual estimates of the numbers of territorial gulls are usually reliable indicators of the number of gull nests, but single visual estimates are not adequate to measure the number of nests in individual colonies. To properly interpret gull counts requires that several islands with known numbers of nests be photographed to establish the ratio of gulls to nests applicable for a given local census. Visual estimates are adequate to determine total breeding gull numbers by regions. Neither visual estimates nor photography will reliably detect annual changes of less than about 2.5 percent.

The community diversity of two Caribbean MPAs invaded by lionfish does not support the biotic resistance hypothesis

NASA Astrophysics Data System (ADS)

Cobián-Rojas, Dorka; Schmitter-Soto, Juan J.; Aguilar Betancourt, Consuelo M.; Aguilar-Perera, Alfonso; Ruiz-Zárate, Miguel Á.; González-Sansón, Gaspar; Chevalier Monteagudo, Pedro P.; Herrera Pavón, Roberto; García Rodríguez, Alain; Corrada Wong, Raúl I.; Cabrera Guerra, Delmis; Salvat Torres, Héctor; Perera Valderrama, Susana

2018-04-01

Marine protected areas (MPAs) conserve diversity and abundance of fish communities. According to the biotic resistance hypothesis, communities with higher diversity and abundance should resist invasions better. To test this idea, the presence of lionfish in two Caribbean MPAs was studied: Parque Nacional Guanahacabibes (PNG) in Cuba and Parque Nacional Arrecifes de Xcalak (PNAX) in Mexico. Selection of these MPAs was based on both their different levels of success with enforcement and different abundances of native fish, with a more abundant native fish fauna at PNG. Underwater visual censuses were used to evaluate both the native fish structure and composition and at the same time distribution and abundance of lionfish. The abundance of potential predators on lionfish was also measured to determine possible effects of lionfish on both the abundance and the size of its prey and competitors. Lionfish showed higher abundance and larger size in PNG compared to PNAX, even though its probable competitors and predators were also more abundant and larger in PNG. Prey abundance and size decreased after the invasion. No correlation was detected between potential predators and lionfish, which might indicate natural predation is not substantial. In PNAX, lower abundance of prey, potential competitors and predators can also be attributed to historical overfishing, but this did not provide an advantage to lionfish. Lionfish were less abundant and reached smaller sizes in PNAX compared to PNG. This work confirms the effectiveness of lionfish culling at PNAX, but does not support the biotic resistence hypothesis that native fish might have controlled this invasive species.

Seasonal changes in fish assemblage structure at a shallow seamount in the Gulf of California.

PubMed

Jorgensen, Salvador J; Klimley, A Peter; Muhlia-Melo, Arturo; Morgan, Steven G

2016-01-01

Seamounts have generally been identified as locations that can promote elevated productivity, biomass and predator biodiversity. These properties attract seamount-associated fisheries where elevated harvests can be obtained relative to surrounding areas. There exists large variation in the geological and oceanographic environment among the thousands of locations that fall within the broad definition of seamount. Global seamount surveys have revealed that not all seamounts are hotspots of biodiversity, and there remains a strong need to understand the mechanisms that underlie variation in species richness observed. We examined the process of fish species assembly at El Bajo Espiritu Santo (EBES) seamount in the Gulf of California over a five-year study period. To effectively quantify the relative abundance of fast-moving and schooling fishes in a 'blue water' habitat, we developed a simplified underwater visual census (UVC) methodology and analysis framework suitable for this setting and applicable to future studies in similar environments. We found correlations between seasonally changing community structure and variability in oceanographic conditions. Individual species responses to thermal habitat at EBES revealed three distinct assemblages, a 'fall assemblage' tracking warmer overall temperature, a 'spring assemblage' correlated with cooler temperature, and a 'year-round assemblage' with no significant response to temperature. Species richness was greatest in spring, when cool and warm water masses stratified the water column and a greater number of species from all three assemblages co-occurred. We discuss our findings in the context of potential mechanisms that could account for predator biodiversity at shallow seamounts.

Characterizing the diversity of coral reef habitats and fish communities found in a UNESCO World Heritage Site: the strategy developed for Lagoons of New Caledonia.

PubMed

Andréfouët, S; Wantiez, L

2010-01-01

Since 1972, the UNESCO "World Heritage Convention" offers an international canvas for conservation and management that targets areas of high cultural and environmental significance. To support the designation of areas within the 36.000 km(2) of New Caledonia coral reefs and lagoons as a World Heritage Site, the natural value and diversity of the proposed zones needed to be demonstrated. To exhaustively identify each configuration of shallow habitats, high resolution remote sensing images were used to select the sampling sites. This optimal scheme resulted in the selection of nearly 1300 sampling sites, and was then simplified to render its application realistic. In the final sampling plan, only the most common or the most remarkable coral zones were selected. Following this selection, in situ habitat and fish surveys were conducted in 2006-2008 in five large areas spanning a 600 km-long latitudinal gradient. Habitats were described using line-intercept transects in parallel with underwater visual census of indicator and commercial coral reef fish species. We report here on the results achieved in terms of: (i) the actual diversity of coral habitats captured by the remote sensing based sampling strategy, (ii) the different reef fish communities captured from the different sites, and (iii) how well they represent New Caledonia diversity. We discuss the possible generalization of this scheme to other sites, in the context of World Heritage Site selection and for other large-scale conservation planning activities. Copyright (c) 2010 Elsevier Ltd. All rights reserved.

Habitat characteristics affecting fish assemblages on a Hawaiian coral reef

USGS Publications Warehouse

Friedlander, A.M.; Parrish, J.D.

1998-01-01

Habitat characteristics of a reef were examined as potential influences on fish assemblage structure, using underwater visual census to estimate numbers and biomass of all fishes visible on 42 benthic transects and making quantitative measurements of 13 variables of the corresponding physical habitat and sessile biota. Fish assemblages in the diverse set of benthic habitats were grouped by detrended correspondence analysis, and associated with six major habitat types. Statistical differences were shown between a number of these habitat types for various ensemble variables of the fish assemblages. Overall, both for complete assemblages and for component major trophic and mobility guilds, these variables tended to have higher values where reef substratum was more structurally or topographically complex, and closer to reef edges. When study sites were separately divided into five depth strata, the deeper strata tended to have statistically higher values of ensemble variables for the fish assemblages. Patterns with depth varied among the various trophic and mobility guilds. Multiple linear regression models indicated that for the complete assemblages and for most trophic and mobility guilds, a large part of the variability for most ensemble variables was explained by measures of holes in the substratum, with important contributions from measured substratum rugosity and depth. A strong linear relationship found by regression of mean fish length on mean volume of holes in the reef surface emphasized the importance of shelter for fish assemblages. Results of this study may have practical applications in designing reserve areas as well as theoretical value in helping to explain the organization of reef fish assemblages.

Effect of water turbidity on the visual acuity of harbor seals (Phoca vitulina).

PubMed

Weiffen, Michael; Möller, Bettina; Mauck, Björn; Dehnhardt, Guido

2006-05-01

The underwater visual acuity (the angle subtended by the minimal resolvable line width of high contrast square wave gratings at a viewing distance of 2m) of two male harbor seals was determined at different levels of water turbidity. Starting with visual acuity angles of 5.5' and 12.7' in clear water we found visual acuity to decrease rapidly with increasing turbidity at rates of 7.4' and 6.0' per formazin nephelometric unit (FNU). Besides the individual differences in visual performance of the harbor seals tested, our results reveal a dramatic loss of visual acuity even at moderate levels of turbidity. At sites in the German Wadden Sea, where harbor seals are known to roam and forage, we measured turbidity levels exceeding 40FNU. These data suggest that turbidity has to be considered as an important factor in the sensory ecology of pinnipeds.

Experimental Study on Ice Forming Process of Cryogenic Liquid Releasing underwater

NASA Astrophysics Data System (ADS)

Zhang, Bin; Wu, Wanqing; Zhang, Xingdong; Zhang, Yi; Zhang, Chuanlin; Zhang, Haoran; Wang, Peng

2017-11-01

Cryogenic liquid releasing into water would be a process combines hyperactive boiling with ice forming. There are still few researches on the experimental study on the environmental conditions for deciding ice forming speed and liquid surviving state. In this paper, to advance our understanding of ice forming deciding factors in the process of LN2 releasing underwater, a visualization experimental system is built. The results show that the pressure difference significantly influences the ice forming speed and liquid surviving distance, which is observed by the experiment and theoretically analysed by Kelvin-Helmholtz instability. Adding nucleating agent is helpful to provide ice nucleus which can accelerate the ice forming speed. Water flowing has some effect on changing pressure difference, which can affect the ice forming speed and liquid surviving distance.

Synthesis of TiCx Powder via the Underwater Explosion of an Explosive

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

Agricultural Census 2012: Publishing Mashable GIS Big Data Services

NASA Astrophysics Data System (ADS)

Mueller, R.

2014-12-01

The 2012 Agricultural Census was released by the US Department of Agriculture (USDA) on May 2nd 2014; published on a quinquennial basis covering all facets of American production agriculture. The Agricultural Census is a comprehensive source of uniform published agricultural data for every state and county in the US. This is the first Agricultural Census that is disseminated with web mapping services using REST APIs. USDA developed an open GIS mashable web portal that depicts over 250 maps on Crops and Plants, Economics, Farms, Livestock and Animals, and Operators. These mapping services written in JavaScript replace the traditional static maps published as the Ag Atlas. Web users can now visualize, interact, query, and download the Agricultural Census data in a means not previously discoverable. Stakeholders will now be able to leverage this data for activities such as community planning, agribusiness location suitability analytics, availability of loans/funds, service center locations and staffing, and farm programs and policies. Additional sites serving compatible mashable USDA Big Data web services are as follows: The Food Environment Atlas, The Atlas of Rural and Small-Town America, The Farm Program Atlas, SNAP Data System, CropScape, and VegScape. All portals use a similar data organization scheme of "Categories" and "Maps" providing interactive mashable web services for agricultural stakeholders to exploit.

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.

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.

Patterns and properties of polarized light in air and water

PubMed Central

Cronin, Thomas W.; Marshall, Justin

2011-01-01

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

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.

Integration of bus stop counts data with census data for improving bus service.

DOT National Transportation Integrated Search

2016-04-01

This research project produced an open source transit market data visualization and analysis tool suite, : The Bus Transit Market Analyst (BTMA), which contains user-friendly GIS mapping and data : analytics tools, and state-of-the-art transit demand...

Biological Response to the Dynamic Spectral-Polarized Underwater Light Field

DTIC Science & Technology

2009-01-01

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

NPS AUV Integrated Simulator

DTIC Science & Technology

1992-03-01

provided underwater photography, pool test support, boundless knowledge about how to make things work and enthusiastic encouragement. He and Walt...fundamentalprinciples and difficulties. The primary problem addressed by this thesis is how to design and construct an integrated simulator in order to ...improves our understanding of how things work. Human beings are visually oriented. Being able to see and control a moving picture allows us to quickly and

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.

Functional Redundancy Patterns Reveal Non-Random Assembly Rules in a Species-Rich Marine Assemblage

PubMed Central

Guillemot, Nicolas; Kulbicki, Michel; Chabanet, Pascale; Vigliola, Laurent

2011-01-01

The relationship between species and the functional diversity of assemblages is fundamental in ecology because it contains key information on functional redundancy, and functionally redundant ecosystems are thought to be more resilient, resistant and stable. However, this relationship is poorly understood and undocumented for species-rich coastal marine ecosystems. Here, we used underwater visual censuses to examine the patterns of functional redundancy for one of the most diverse vertebrate assemblages, the coral reef fishes of New Caledonia, South Pacific. First, we found that the relationship between functional and species diversity displayed a non-asymptotic power-shaped curve, implying that rare functions and species mainly occur in highly diverse assemblages. Second, we showed that the distribution of species amongst possible functions was significantly different from a random distribution up to a threshold of ∼90 species/transect. Redundancy patterns for each function further revealed that some functions displayed fast rates of increase in redundancy at low species diversity, whereas others were only becoming redundant past a certain threshold. This suggested non-random assembly rules and the existence of some primordial functions that would need to be fulfilled in priority so that coral reef fish assemblages can gain a basic ecological structure. Last, we found little effect of habitat on the shape of the functional-species diversity relationship and on the redundancy of functions, although habitat is known to largely determine assemblage characteristics such as species composition, biomass, and abundance. Our study shows that low functional redundancy is characteristic of this highly diverse fish assemblage, and, therefore, that even species-rich ecosystems such as coral reefs may be vulnerable to the removal of a few keystone species. PMID:22039543

Assessment of fish communities in a Mediterranean MPA: Can a seasonal no-take zone provide effective protection?

NASA Astrophysics Data System (ADS)

Dimitriadis, Charalampos; Sini, Maria; Trygonis, Vasilis; Gerovasileiou, Vasilis; Sourbès, Laurent; Koutsoubas, Drosos

2018-07-01

The efficacy of a Mediterranean Marine Protected Area (National Marine Park of Zakynthos - NMPZ, Ionian Sea, Greece) that implements a seasonal no-take zone as part of its management scheme was assessed using fish data collected in situ with underwater visual census. Sampling was conducted at two habitat types (Posidonia oceanica meadows and rocky reefs) that occur at sites of different protection level with respect to fisheries (high protection: seasonal no-take zone within the MPA; intermediate: zones within the MPA where small-scale fishing is allowed; none: areas outside the MPA, where all types of fishing are allowed, including trawlers, purse seiners, and recreational fishing). The data were used to examine the effects of protection level and habitat type on community parameters, trophic structure and functional diversity of fish populations that occupy the upper sublittoral zone. Overall, habitat type had a more pronounced effect than protection level on all investigated parameters. Biomass, density and number of fish species with low commercial value were higher in sites of intermediate protection, but no substantial fisheries-related ecological benefits were detected for targeted fish in the seasonal no-take zone. Conducted 8 years after the initial implementation of the seasonal no-take management scheme, our study suggests that existing fishing regulations in the NMPZ provide some measurable effects, but fall short of maintaining sufficient protection for the recovery of apex predators or other commercially important fish species. A revision of the existing zoning system to include permanent no-take zones, alongside the regulation of professional fishing and all extractive activities in the rest of the MPA, are strongly encouraged in order to enhance the effectiveness of fisheries management.

Spillover Effects of a Community-Managed Marine Reserve

PubMed Central

da Silva, Isabel Marques; Hill, Nick; Shimadzu, Hideyasu; Soares, Amadeu M. V. M.; Dornelas, Maria

2015-01-01

The value of no-take marine reserves as fisheries-management tools is controversial, particularly in high-poverty areas where human populations depend heavily on fish as a source of protein. Spillover, the net export of adult fish, is one mechanism by which no-take marine reserves may have a positive influence on adjacent fisheries. Spillover can contribute to poverty alleviation, although its effect is modulated by the number of fishermen and fishing intensity. In this study, we quantify the effects of a community-managed marine reserve in a high poverty area of Northern Mozambique. For this purpose, underwater visual censuses of reef fish were undertaken at three different times: 3 years before (2003), at the time of establishment (2006) and 6 years after the marine reserve establishment (2012). The survey locations were chosen inside, outside and on the border of the marine reserve. Benthic cover composition was quantified at the same sites in 2006 and 2012. After the reserve establishment, fish sizes were also estimated. Regression tree models show that the distance from the border and the time after reserve establishment were the variables with the strongest effect on fish abundance. The extent and direction of the spillover depends on trophic group and fish size. Poisson Generalized Linear Models show that, prior to the reserve establishment, the survey sites did not differ but, after 6 years, the abundance of all fish inside the reserve has increased and caused spillover of herbivorous fish. Spillover was detected 1km beyond the limit of the reserve for small herbivorous fishes. Six years after the establishment of a community-managed reserve, the fish assemblages have changed dramatically inside the reserve, and spillover is benefitting fish assemblages outside the reserve. PMID:25927235

The short-term impacts of a cyclone on seagrass communities in Southwest Madagascar

NASA Astrophysics Data System (ADS)

Côté-Laurin, Marie-Claude; Benbow, Sophie; Erzini, Karim

2017-04-01

Cyclones are large-scale disturbances with highly destructive potential in coastal ecosystems. On February 22, 2013, a powerful tropical cyclone made landfall on the southwest coast of Madagascar, a region which is infrequently hit by such extreme weather events coming from the Mozambique Channel. Seagrass ecosystems, which provide valuable ecosystems services to local communities, are especially vulnerable because they thrive in shallow waters. The impact of Cyclone Haruna on seagrass diversity, height and coverage and associated fish diversity, abundance and biomass was assessed in 3 sites near Andavadoaka (22°07‧S, 43°23‧E) before and after the event using fish underwater visual census, video-transects, and seagrass quadrats. The cyclone caused a significant loss in seagrass cover at all 3 sites. Thalassia hemprichii and Syringodium isoetifolium were the most affected species. Andavadoaka beach, the most exposed site, which was also subject to human use and was most fragmented, suffered the largest negative effects of the cyclone. Cyclone Haruna was not found to significantly affect fish assemblages, which are highly mobile organisms able to use a diversity of niches and adjacent habitats after seagrass fragmentation. Extensive sampling and longer time-scale studies would be needed to fully evaluate the cyclone impact on communities of seagrass and fish, and track potential recovery in seagrass coverage. The intensity and destructive potential of cyclones is expected to increase with global warming, which is of concern for developing countries that encompass most of the world's seagrass beds. This study provided a unique and key opportunity to monitor immediate impacts of an extreme disturbance in a region where cyclones rarely hit coastal ecosystems and where local populations remain highly dependent on seagrass meadows.

Surveying the Underwater Arcaheological Site of Cape Glaros at Pagasetikos Gulf

NASA Astrophysics Data System (ADS)

Diamanti, E.; Spondylis, E.; Vlachaki, F.; Kolyva, E.

2017-02-01

The Hellenic Institute of Marine Archaeology (H.I.M.A.)1 has been conducting an underwater archaeological research in the west coast of southern Pagasetikos Gulf, since 2000. Every year the underwater research focuses on specific archaeological targets that have been recovered during previous field campaigns. The current publication elaborates on the comprehensive documentation of the underwater archaeological site at Cape Glaros, during the 2015 field season, under the direction of the archaeologist Elias Spondylis. The 2015 research campaign was conducted within the framework of the ITACA- Innovation Technologies and Applications for Coastal Archaeological sites European Project (FP7/2007-2013, GA No 606805), at two archaeological sites, namely the Cape Glaros and Metohi. It was among the most important challenges of the project to successfully produce the detailed and accurate 3D mapping of the Cape Glaros site that covers an extended area. Four large concentrations of pottery finds and numerous anchors of different typology have been recorded, that can be dated from the late Hellenistic to the Byzantine periods. This challenge was tackled through the simultaneous implementation of three recording methods; photogrammetry, geodesy and conventional architectural mapping. The workflow of the documentation process, including data acquisition, processing and graphic visualization, along with the derived results are presented below. 1The Hellenic Institute of Marine Archaeology (H.I.M.A.) is a private, non-profit organization, founded in 1973, which undertakes maritime archaeological research under the supervision or in collaboration with the Greek Ministry of Culture. It has over 100 members, with diverse academic credentials, all of whom work, mainly, on a voluntary basis. 3D recording of underwater archaeological sites has been applied to numerous projects that have been carried out by the multidisciplinary team of H.I.M.A. in locations of utmost archaeological importance and interest, such as Modi island (Poros) and numerous wreck sites in Pagasetikos and South Euboean (Diamanti, Vlachaki, 2015) Gulfs and others.

Orientation: Sensory basis; Proceedings of the Conference, New York, N.Y., February 8-10, 1971.

NASA Technical Reports Server (NTRS)

1971-01-01

Topics related to photoreceptors are considered, giving attention to visual pattern recognition and directional orientation in insects, the sensory basis of orientation in amphibians, and the aerial and underwater visual acuity in the California sea lion as a function of luminance. Other subjects explored are in the fields of phonoreceptors, chemoreception, vestibular receptors, and electrical and magnetic sensitivity. Questions of the development and evolution of orientation are also investigated, taking into account field studies of mass emigration and orientation in the spiny lobster and investigations concerning the jumping behavior in the Gobiid fish. Individual items are announced in this issue.

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.

South Atlantic Bight Synoptic Offshore Observational Network

DTIC Science & Technology

1999-09-30

GOAL The long term goal is to evaluate underwater television for providing fishery managers real-time visual data on reef fish communities which will... overfishing , that a complete moratorium on fishing for this species has been suggested by the South Atlantic Fishery Management Council. There is a...our understanding of fish community dynamics. Also, SC DNR fishery scientists are conducting research on fish communities of artificial reef that are

Acousto-Optical Method of Encoding and Visualization of Underwater Space

DTIC Science & Technology

2014-01-27

neurons which are mathematically described as coupled nonlinear oscillators that are slightly unstable. They have a property called ’ Self - Referential ... self - regulating process which is represented by Equation (5) in the ensuing description. [0083] The input/output circuitry 64 outputs signals that...other words, self -correcting dynamics of the Na and Ca ions in the membranes are closely related to the sensing and the flopping of motion actuators

Summary of Research 1997, Department of Mechanical Engineering.

DTIC Science & Technology

1999-01-01

Maintenance for Diesel Engines 49 Control Architectures and Non-Linear Controllers for Unmanned Underwater Vehicles 38 Creep of Fiber Reinforced Metal...Technology Demonstration (ATD) 50 Development of Delphi Visual Performance Model 25 Diffraction Methods for the Accurate Measurement of Structure Factors...literature. If this could be done, a U.S. version of ORACLE (to be called DELPHI ) could be developed and used. The result has been the development of a

Towards Guided Underwater Survey Using Light Visual Odometry

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

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.

Underwater behavior of sperm whales off Kaikoura, New Zealand, as revealed by a three-dimensional hydrophone array.

PubMed

Miller, Brian; Dawson, Stephen; Vennell, Ross

2013-10-01

Observations are presented of the vocal behavior and three dimensional (3D) underwater movements of sperm whales measured with a passive acoustic array off the coast of Kaikoura, New Zealand. Visual observations and vocal behaviors of whales were used to divide dive tracks into different phases, and depths and movements of whales are reported for each of these phases. Diving depths and movement information from 75 3D tracks of whales in Kaikoura are compared to one and two dimensional tracks of whales studied in other oceans. While diving, whales in Kaikoura had a mean swimming speed of 1.57 m/s, and, on average, dived to a depth of 427 m (SD = 117 m), spending most of their time at depths between 300 and 600 m. Creak vocalizations, assumed to be the prey capture phase of echolocation, occurred throughout the water column from sea surface to sea floor, but most occurred at depths of 400-550 m. Three dimensional measurement of tracking revealed several different "foraging" strategies, including active chasing of prey, lining up slow-moving or unsuspecting prey, and foraging on demersal or benthic prey. These movements provide the first 3D descriptions underwater behavior of whales at Kaikoura.

Effects of Normal Aging on Visuo-Motor Plasticity

NASA Technical Reports Server (NTRS)

Roller, Carrie A.; Cohen, Helen S.; Kimball, Kay T.; Bloomberg, Jacob J.

2001-01-01

Normal aging is associated with declines in neurologic function. Uncompensated visual and vestibular problems may have dire consequences including dangerous falls. Visuomotor plasticity is a form of behavioral neural plasticity which is important in the process of adapting to visual or vestibular alteration, including those changes due to pathology, pharmacotherapy, surgery or even entry into a microgravity or underwater environment. In order to determine the effects of aging on visuomotor plasticity, we chose the simple and easily measured paradigm of visual-motor re-arrangement created by using visual displacement prisms while throwing small balls at a target. Subjects threw balls before, during and after wearing a set of prisms which displace the visual scene by twenty degrees to the right. Data obtained during adaptation were modeled using multilevel analyses for 73 subjects aged 20 to 80 years. We found no statistically significant difference in measures of visuomotor plasticity with advancing age. Further studies are underway examining variable practice training as a potential mechanism for enhancing this form of behavioral neural plasticity.

Effects of normal aging on visuo-motor plasticity

NASA Technical Reports Server (NTRS)

Roller, Carrie A.; Cohen, Helen S.; Kimball, Kay T.; Bloomberg, Jacob J.

2002-01-01

Normal aging is associated with declines in neurologic function. Uncompensated visual and vestibular problems may have dire consequences including dangerous falls. Visuo-motor plasticity is a form of behavioral neural plasticity, which is important in the process of adapting to visual or vestibular alteration, including those changes due to pathology, pharmacotherapy, surgery or even entry into microgravity or an underwater environment. To determine the effects of aging on visuo-motor plasticity, we chose the simple and easily measured paradigm of visual-motor rearrangement created by using visual displacement prisms while throwing small balls at a target. Subjects threw balls before, during and after wearing a set of prisms which displace the visual scene by twenty degrees to the right. Data obtained during adaptation were modeled using multilevel modeling techniques for 73 subjects, aged 20 to 80 years. We found no statistically significant difference in measures of visuo-motor plasticity with advancing age. Further studies are underway examining variable practice training as a potential mechanism for enhancing this form of behavioral neural plasticity.

Clusters in irregular areas and lattices.

PubMed

Wieczorek, William F; Delmerico, Alan M; Rogerson, Peter A; Wong, David W S

2012-01-01

Geographic areas of different sizes and shapes of polygons that represent counts or rate data are often encountered in social, economic, health, and other information. Often political or census boundaries are used to define these areas because the information is available only for those geographies. Therefore, these types of boundaries are frequently used to define neighborhoods in spatial analyses using geographic information systems and related approaches such as multilevel models. When point data can be geocoded, it is possible to examine the impact of polygon shape on spatial statistical properties, such as clustering. We utilized point data (alcohol outlets) to examine the issue of polygon shape and size on visualization and statistical properties. The point data were allocated to regular lattices (hexagons and squares) and census areas for zip-code tabulation areas and tracts. The number of units in the lattices was set to be similar to the number of tract and zip-code areas. A spatial clustering statistic and visualization were used to assess the impact of polygon shape for zip- and tract-sized units. Results showed substantial similarities and notable differences across shape and size. The specific circumstances of a spatial analysis that aggregates points to polygons will determine the size and shape of the areal units to be used. The irregular polygons of census units may reflect underlying characteristics that could be missed by large regular lattices. Future research to examine the potential for using a combination of irregular polygons and regular lattices would be useful.

Childhood lead exposure and sexually transmitted infections: New evidence.

PubMed

Nelson, Erik J; Shacham, Enbal; Boutwell, Brian B; Rosenfeld, Richard; Schootman, Mario; Vaughn, Michael; Lewis, Roger

2015-11-01

The adverse health effects of lead exposure in children are well documented and include intellectual and behavioral maladies. Childhood lead exposure has also been linked to impulsive behaviors, which, in turn, are associated with a host of negative health outcomes including an increased risk for sexually transmitted infections (STI). The purpose of this study was to assess the association of lead exposure with STI rates across census tracts in St. Louis City, Missouri. Incident cases of gonorrhea and chlamydia (GC) during 2011 were identified from the Missouri Department of Health and Senior Services and aggregated by census tract. We also geocoded the home address of 59,645 children >72 months in age who had blood lead level tests performed in St. Louis City from 1996 to 2007. Traditional regression and Bayesian spatial models were used to determine the relationship between GC and lead exposure while accounting for confounders (condom and alcohol availability, crime, and an index of concentrated disadvantage). Incident GC rates were found to cluster across census tracts (Moran's I=0.13, p=0.006). After accounting for confounders and their spatial dependence, a linear relationship existed between lead exposure and GC incidence across census tracts, with higher GC rates occurring in the northern part of St. Louis City At the census-tract level, higher lead exposure is associated with higher STI rates. Visualizing these patterns through maps may help deliver targeted interventions to reduce geographic disparities in GC rates. Copyright © 2015 Elsevier Inc. All rights reserved.

Real-Time 3D Sonar Modeling And Visualization

DTIC Science & Technology

1998-06-01

looking back towards Manta sonar beam, Manta plus sonar from 1000m off track. 185 NUWC sponsor Erik Chaum Principal investigator Don Brutzman...USN Sonar Officer LT Kevin Byrne USN Intelligence Officer CPT Russell Storms USA Erik Chaum works in NUWC Code 22. He supervised the design and...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," chapter 13, AI-BasedMobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy

Active Visual SLAM with Exploration for Autonomous Underwater Navigation

DTIC Science & Technology

2012-01-01

tourism. Reconstruction of Notre Dame de Paris (Snavely et al., 2006). (c) Web-scale landmark recognition engine (Zheng et al., 2009). eters for an...structures, such as Notre Dame Cathedral in Paris and the Great Wall of China (Figure 1.3(b)), using photographs compiled from the Internet. Given the...representation. Originally developed for text-based applications, expansion of this approach to images were found in Leung and Malik (2001), Sivic and Zisserman

78 FR 41549 - Endangered and Threatened Wildlife and Plants; Designation of Critical Habitat for the Northern...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-07-10

... limited to, all activities associated with scientific resources management such as research, census, law... research of these species' habitat, ecology, and life history as described below. Additional insight is... dependent on visual cues when foraging, based on comparative analyses among other species of gartersnakes...

Growth and Performance of Fully Online and Blended K-12 Public Schools

ERIC Educational Resources Information Center

Gulosino, Charisse; Miron, Gary

2017-01-01

This study provides a census of full-time virtual schools and blended schools from 35 states. Specifically, it utilizes data visualization and exploratory data analysis to examine student demographics and school performance measures of virtual schools and blended schools operating in the 2014-15 school year. The school achievement measures for…

What you see is what you expect: rapid scene understanding benefits from prior experience.

PubMed

Greene, Michelle R; Botros, Abraham P; Beck, Diane M; Fei-Fei, Li

2015-05-01

Although we are able to rapidly understand novel scene images, little is known about the mechanisms that support this ability. Theories of optimal coding assert that prior visual experience can be used to ease the computational burden of visual processing. A consequence of this idea is that more probable visual inputs should be facilitated relative to more unlikely stimuli. In three experiments, we compared the perceptions of highly improbable real-world scenes (e.g., an underwater press conference) with common images matched for visual and semantic features. Although the two groups of images could not be distinguished by their low-level visual features, we found profound deficits related to the improbable images: Observers wrote poorer descriptions of these images (Exp. 1), had difficulties classifying the images as unusual (Exp. 2), and even had lower sensitivity to detect these images in noise than to detect their more probable counterparts (Exp. 3). Taken together, these results place a limit on our abilities for rapid scene perception and suggest that perception is facilitated by prior visual experience.

Large-Area Visually Augmented Navigation for Autonomous Underwater Vehicles

DTIC Science & Technology

2005-06-01

constrain position drift . Correction of errors in position and orientation are made each time the mosaic is updated, which occurs every Lth video frame. They...are the greatest strength of a VAN methodology. It is these measurements which help to correct dead-reckoned drift error and enforce recovery of a...systems. [INSTRUMENT [VARIABLE I INTENAL? I UPDATE RATE PRECISION FRANGE J DRIFT Acoustic Altimeter Z - Altitude yes varies: 0.1-10 Hz 0.01-1.0 m varies

Physiological Optics of the Eye of the Juvenile Lemon Shark (Negaprion brevirostris).

DTIC Science & Technology

1980-05-01

fUr Lher affects of ametropia ) is the distance between the second nodal point vI lhe -’otoreceptor layer. This dimension is known as the posterior...gauge on the negative effect of ametropia on visual acuity, t the size of these retinal blur circles can be calculated using the schematic eye, 96...the working distance between retinoscopist and subject eye. My retinoscopic measurements of the underwater ametropia in juvenile lemon sharks have been

European Underwater and Baromedical Society (EUBS), Annual Scientific Meeting, Geneva, Switzerland, on 13-16 September 2016

DTIC Science & Technology

2016-12-23

Switzerland), discussing, among others, the pharmacological effects of slight to moderate hyperoxygenation (such as in the use of hyperbaric air in the...neuroscience" . i. Hadanny et al. (Tel Aviv, Israel) showed F- MRI results, coupled with cognitive function measurements (Neurotrax software) in...2004 to 2013, they concluded in a high efficacy of HBOT both in Visual Analogue Scoring (VAS) and MRI analysis (improvement of 90.9% in Ficat Stage

Collaborative volume visualization with applications to underwater acoustic signal processing

NASA Astrophysics Data System (ADS)

Jarvis, Susan; Shane, Richard T.

2000-08-01

Distributed collaborative visualization systems represent a technology whose time has come. Researchers at the Fraunhofer Center for Research in Computer Graphics have been working in the areas of collaborative environments and high-end visualization systems for several years. The medical application. TeleInVivo, is an example of a system which marries visualization and collaboration. With TeleInvivo, users can exchange and collaboratively interact with volumetric data sets in geographically distributed locations. Since examination of many physical phenomena produce data that are naturally volumetric, the visualization frameworks used by TeleInVivo have been extended for non-medical applications. The system can now be made compatible with almost any dataset that can be expressed in terms of magnitudes within a 3D grid. Coupled with advances in telecommunications, telecollaborative visualization is now possible virtually anywhere. Expert data quality assurance and analysis can occur remotely and interactively without having to send all the experts into the field. Building upon this point-to-point concept of collaborative visualization, one can envision a larger pooling of resources to form a large overview of a region of interest from contributions of numerous distributed members.

The Flintlock Site (8JA1763): An Unusual Underwater Deposit in the Apalachicola River, Florida

NASA Astrophysics Data System (ADS)

Horrell, Christopher E.; Scott-Ireton, Della A.; Smith, Roger C.; Levy, James; Knetsch, Joe

2009-06-01

In the fall of 2001, staff of the Florida Bureau of Archaeological Research were led by river divers to an underwater site in the Apalachicola River containing a large concentration of prehistoric and historic artifacts lying on the riverbed. Subsequent inspection of the submerged river bank and scoured limestone river channel revealed a myriad of objects, which included iron fasteners, metal tools and implements, broken glass bottles, stone projectile points, scattered bricks and stone blocks, and other materials. Discovery of two large fragments of a wooden watercraft, a bayonet, a copper arrowhead, and flintlock gun barrels initially prompted researchers to hypothesize that the site might represent the remains of a U.S. Army boat that was attacked in 1817 by Seminole Indians while en route upriver. The episode, which caused the deaths of more than 30 soldiers and several women who were aboard the boat, led to the First Seminole War and the U.S. Army invasion of Florida. To investigate this hypothesis, a systematic survey of the riverbed was undertaken in the spring of 2002 to record underwater features and recover additional diagnostic artifacts. These activities employed side-scan sonar as well as diver visual investigations. This paper presents a case study of the value and broader significance of aggregate data where interpretation was underpinned by artefactual, historical and environmental analysis.

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Phenology and egg production of the cactus moth, Cactoblastis cactorum(Lepidoptera: Pyralidae): comparison of field census data and life stage development in the field

USDA-ARS?s Scientific Manuscript database

Natural phenology and development of the cactus moth, Cactoblastis cactorum (Berg) (Lepidoptera: Pyralidae) was studied under field conditions in St. Marks National Wildlife Refuge, St. Marks, FL. from July 2006 to September 2007. Cactus pads (Opuntia stricta Haw. [Cactaceae]) were visually surveyed...

Equal Access? Analyzing Charter Location Relative to Demographics in Ohio

ERIC Educational Resources Information Center

Saultz, Andrew; Yaluma, Christopher B.

2017-01-01

We analyze the geographical distribution of, and access to, charter schools in the state of Ohio. Using poverty and race data from the U.S. Census, as well as publicly available student achievement scores, we analyze the locational preferences of charter schools. We use Geographic Information System (GIS) to visual display charter school locations…

Is Ambient Light during the High Arctic Polar Night Sufficient to Act as a Visual Cue for Zooplankton?

PubMed

Cohen, Jonathan H; Berge, Jørgen; Moline, Mark A; Sørensen, Asgeir J; Last, Kim; Falk-Petersen, Stig; Renaud, Paul E; Leu, Eva S; Grenvald, Julie; Cottier, Finlo; Cronin, Heather; Menze, Sebastian; Norgren, Petter; Varpe, Øystein; Daase, Malin; Darnis, Gerald; Johnsen, Geir

2015-01-01

The light regime is an ecologically important factor in pelagic habitats, influencing a range of biological processes. However, the availability and importance of light to these processes in high Arctic zooplankton communities during periods of 'complete' darkness (polar night) are poorly studied. Here we characterized the ambient light regime throughout the diel cycle during the high Arctic polar night, and ask whether visual systems of Arctic zooplankton can detect the low levels of irradiance available at this time. To this end, light measurements with a purpose-built irradiance sensor and coupled all-sky digital photographs were used to characterize diel skylight irradiance patterns over 24 hours at 79°N in January 2014 and 2015. Subsequent skylight spectral irradiance and in-water optical property measurements were used to model the underwater light field as a function of depth, which was then weighted by the electrophysiologically determined visual spectral sensitivity of a dominant high Arctic zooplankter, Thysanoessa inermis. Irradiance in air ranged between 1-1.5 x 10-5 μmol photons m-2 s-1 (400-700 nm) in clear weather conditions at noon and with the moon below the horizon, hence values reflect only solar illumination. Radiative transfer modelling generated underwater light fields with peak transmission at blue-green wavelengths, with a 465 nm transmission maximum in shallow water shifting to 485 nm with depth. To the eye of a zooplankter, light from the surface to 75 m exhibits a maximum at 485 nm, with longer wavelengths (>600 nm) being of little visual significance. Our data are the first quantitative characterisation, including absolute intensities, spectral composition and photoperiod of biologically relevant solar ambient light in the high Arctic during the polar night, and indicate that some species of Arctic zooplankton are able to detect and utilize ambient light down to 20-30m depth during the Arctic polar night.

Is Ambient Light during the High Arctic Polar Night Sufficient to Act as a Visual Cue for Zooplankton?

PubMed Central

Cohen, Jonathan H.; Berge, Jørgen; Moline, Mark A.; Sørensen, Asgeir J.; Last, Kim; Falk-Petersen, Stig; Renaud, Paul E.; Leu, Eva S.; Grenvald, Julie; Cottier, Finlo; Cronin, Heather; Menze, Sebastian; Norgren, Petter; Varpe, Øystein; Daase, Malin; Darnis, Gerald; Johnsen, Geir

2015-01-01

The light regime is an ecologically important factor in pelagic habitats, influencing a range of biological processes. However, the availability and importance of light to these processes in high Arctic zooplankton communities during periods of 'complete' darkness (polar night) are poorly studied. Here we characterized the ambient light regime throughout the diel cycle during the high Arctic polar night, and ask whether visual systems of Arctic zooplankton can detect the low levels of irradiance available at this time. To this end, light measurements with a purpose-built irradiance sensor and coupled all-sky digital photographs were used to characterize diel skylight irradiance patterns over 24 hours at 79°N in January 2014 and 2015. Subsequent skylight spectral irradiance and in-water optical property measurements were used to model the underwater light field as a function of depth, which was then weighted by the electrophysiologically determined visual spectral sensitivity of a dominant high Arctic zooplankter, Thysanoessa inermis. Irradiance in air ranged between 1–1.5 x 10-5 μmol photons m-2 s-1 (400–700 nm) in clear weather conditions at noon and with the moon below the horizon, hence values reflect only solar illumination. Radiative transfer modelling generated underwater light fields with peak transmission at blue-green wavelengths, with a 465 nm transmission maximum in shallow water shifting to 485 nm with depth. To the eye of a zooplankter, light from the surface to 75 m exhibits a maximum at 485 nm, with longer wavelengths (>600 nm) being of little visual significance. Our data are the first quantitative characterisation, including absolute intensities, spectral composition and photoperiod of biologically relevant solar ambient light in the high Arctic during the polar night, and indicate that some species of Arctic zooplankton are able to detect and utilize ambient light down to 20–30m depth during the Arctic polar night. PMID:26039111

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

The Modular Optical Underwater Survey System

PubMed Central

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

2017-01-01

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

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.

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

DTIC Science & Technology

2017-06-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Underwater Turbulence Detection Using Gated Wavefront Sensing Technique

PubMed Central

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

2018-01-01

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

A Miniature Fiber-Optic Sensor for High-Resolution and High-Speed Temperature Sensing in Ocean Environment

DTIC Science & Technology

2015-11-05

the SMF is superior when it comes to remote sensing in far and deep ocean. As an initial test , the real-time temperature structure within the water...4 ℃. The high resolution guarantees the visualization of subtle variation in the local water. To test the response time of the proposed sensor, the... Honey , "Optical trubulence in the sea," in Underwater Photo-optical Instrumentation Applications SPIE, 49-55 (1972). [6] J. D. Nash, D. R. Caldwell, M

CoBOP: Electro-Optic Identification Laser Line Sean Sensors

DTIC Science & Technology

1998-01-01

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

Spatial distribution of child pedestrian injuries along census tract boundaries: Implications for identifying area-based correlates.

PubMed

Curtis, Jacqueline W

2017-01-01

Census tracts are often used to investigate area-based correlates of a variety of health outcomes. This approach has been shown to be valuable in understanding the ways that health is shaped by place and to design appropriate interventions that account for community-level processes. Following this line of inquiry, it is common in the study of pedestrian injuries to aggregate the point level locations of these injuries to the census tracts in which they occur. Such aggregation enables investigation of the relationships between a range of socioeconomic variables and areas of notably high or low incidence. This study reports on the spatial distribution of child pedestrian injuries in a mid-sized U.S. city over a three-year period. Utilizing a combination of geospatial approaches, Near Analysis, Kernel Density Estimation, and Local Moran's I, enables identification, visualization, and quantification of close proximity between incidents and tract boundaries. Specifically, results reveal that nearly half of the 100 incidents occur within roads that are also census tract boundaries. Results also uncover incidents that occur on tract boundaries, not merely near them. This geographic pattern raises the question of the utility of associating area-based census data from any one tract to the injuries occurring in these border zones. Furthermore, using a standard spatial join technique in a Geographic Information System (GIS), these points located on the border are counted as falling into census tracts on both sides of the boundary, which introduces uncertainty in any subsequent analysis. Therefore, two additional approaches of aggregating points to polygons were tested in this study. Results differ with each approach, but without any alert of such differences to the GIS user. This finding raises a fundamental concern about techniques through which points are aggregated to polygons in any study using point level incidents and their surrounding census tract socioeconomic data to understand health and place. This study concludes with a suggested protocol to test for this source of uncertainty in analysis and an approach that may remove it.

Wildland-urban interface maps vary with purpose and context

Treesearch

Susan I. Stewart; Bo Wilmer; Roger B. Hammer; Gregory H. Aplet; Todd J. Hawbaker; Carol Miller; Volker C. Radeloff

2009-01-01

Maps of the wildland-urban interface (WUI) are both policy tools and powerful visual images. Although the growing number of WUI maps serve similar purposes, this article indicates that WUI maps derived from the same data sets can differ in important ways related to their original intended application. We discuss the use of ancillary data in modifying census data to...

Taiwan's underwater cultural heritage documentation management

NASA Astrophysics Data System (ADS)

Tung, Y.-Y.

2015-09-01

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

Spatial variations in estimated chronic exposure to traffic-related air pollution in working populations: A simulation

PubMed Central

Setton, Eleanor M; Keller, C Peter; Cloutier-Fisher, Denise; Hystad, Perry W

2008-01-01

Background Chronic exposure to traffic-related air pollution is associated with a variety of health impacts in adults and recent studies show that exposure varies spatially, with some residents in a community more exposed than others. A spatial exposure simulation model (SESM) which incorporates six microenvironments (home indoor, work indoor, other indoor, outdoor, in-vehicle to work and in-vehicle other) is described and used to explore spatial variability in estimates of exposure to traffic-related nitrogen dioxide (not including indoor sources) for working people. The study models spatial variability in estimated exposure aggregated at the census tracts level for 382 census tracts in the Greater Vancouver Regional District of British Columbia, Canada. Summary statistics relating to the distributions of the estimated exposures are compared visually through mapping. Observed variations are explored through analyses of model inputs. Results Two sources of spatial variability in exposure to traffic-related nitrogen dioxide were identified. Median estimates of total exposure ranged from 8 μg/m3 to 35 μg/m3 of annual average hourly NO2 for workers in different census tracts in the study area. Exposure estimates are highest where ambient pollution levels are highest. This reflects the regional gradient of pollution in the study area and the relatively high percentage of time spent at home locations. However, for workers within the same census tract, variations were observed in the partial exposure estimates associated with time spent outside the residential census tract. Simulation modeling shows that some workers may have exposures 1.3 times higher than other workers residing in the same census tract because of time spent away from the residential census tract, and that time spent in work census tracts contributes most to the differences in exposure. Exposure estimates associated with the activity of commuting by vehicle to work were negligible, based on the relatively short amount of time spent in this microenvironment compared to other locations. We recognize that this may not be the case for pollutants other than NO2. These results represent the first time spatially disaggregated variations in exposure to traffic-related air pollution within a community have been estimated and reported. Conclusion The results suggest that while time spent in the home indoor microenvironment contributes most to between-census tract variation in estimates of annual average exposures to traffic-related NO2, time spent in the work indoor microenvironment contributes most to within-census tract variation, and time spent in transit by vehicle makes a negligible contribution. The SESM has potential as a policy evaluation tool, given input data that reflect changes in pollution levels or work flow patterns due to traffic demand management and land use development policy. PMID:18638398

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2011 CFR

2011-10-01

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

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2013 CFR

2013-10-01

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

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2014 CFR

2014-10-01

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

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2010 CFR

2010-10-01

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

46 CFR 167.05-40 - Underwater survey.

Code of Federal Regulations, 2012 CFR

2012-10-01

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

Network Computing for Distributed Underwater Acoustic Sensors

DTIC Science & Technology

2014-03-31

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

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.

Vision and lack of vision in the ocean.

PubMed

Marshall, Justin

2017-06-05

As land-locked animals, when we visualise the ocean our mind's eye may see crashing waves or a vast blue expanse stretching to the horizon, a raft of torpedoing penguins, a glimpse of colourful coral reef fish from the shark-free safety of a sandy beach. Underwater, the crystal-clear, and in fact not at all silent, world of Jacques Cousteau, or more recently David Attenborough, is a wonderland that some cannot wait to witness first hand as divers, while others are content to see it on a screen. Spend a bit of time underwater, in the English Channel for example, and a few facts emerge. Most obviously, much of this underwater realm is visually very different to land and indeed to the cherry-picked clear waters of documentaries. It may be disappointingly murky and monochromatic. Perhaps surprisingly, therefore, on close inspection the diversity of eye designs and light sensing mechanisms that evolved in the ocean are more varied than on land, reflecting the greater range of light environments and lifestyles of the marine world. Particularly in the last ten years, the destructive influence we are having on the oceans has become visibly obvious, not just to fisheries biologists and ecologists, but to anyone returning to a favourite dive spot or reef resort. Climate change, as a result of burning fossil fuels, human greed and carelessness with plastic disposal, are rapidly degrading entire oceanic ecosystems. Copyright © 2017 Elsevier Ltd. All rights reserved.

Harbor seals (Phoca vitulina) can perceive optic flow under water.

PubMed

Gläser, Nele; Mauck, Björn; Kandil, Farid I; Lappe, Markus; Dehnhardt, Guido; Hanke, Frederike D

2014-01-01

Optic flow, the pattern of apparent motion elicited on the retina during movement, has been demonstrated to be widely used by animals living in the aerial habitat, whereas underwater optic flow has not been intensively studied so far. However optic flow would also provide aquatic animals with valuable information about their own movement relative to the environment; even under conditions in which vision is generally thought to be drastically impaired, e. g. in turbid waters. Here, we tested underwater optic flow perception for the first time in a semi-aquatic mammal, the harbor seal, by simulating a forward movement on a straight path through a cloud of dots on an underwater projection. The translatory motion pattern expanded radially out of a singular point along the direction of heading, the focus of expansion. We assessed the seal's accuracy in determining the simulated heading in a task, in which the seal had to judge whether a cross superimposed on the flow field was deviating from or congruent with the actual focus of expansion. The seal perceived optic flow and determined deviations from the simulated heading with a threshold of 0.6 deg of visual angle. Optic flow is thus a source of information seals, fish and most likely aquatic species in general may rely on for e. g. controlling locomotion and orientation under water. This leads to the notion that optic flow seems to be a tool universally used by any moving organism possessing eyes.

Harbor Seals (Phoca vitulina) Can Perceive Optic Flow under Water

PubMed Central

Gläser, Nele; Mauck, Björn; Kandil, Farid I.; Lappe, Markus; Dehnhardt, Guido; Hanke, Frederike D.

2014-01-01

Optic flow, the pattern of apparent motion elicited on the retina during movement, has been demonstrated to be widely used by animals living in the aerial habitat, whereas underwater optic flow has not been intensively studied so far. However optic flow would also provide aquatic animals with valuable information about their own movement relative to the environment; even under conditions in which vision is generally thought to be drastically impaired, e. g. in turbid waters. Here, we tested underwater optic flow perception for the first time in a semi-aquatic mammal, the harbor seal, by simulating a forward movement on a straight path through a cloud of dots on an underwater projection. The translatory motion pattern expanded radially out of a singular point along the direction of heading, the focus of expansion. We assessed the seal's accuracy in determining the simulated heading in a task, in which the seal had to judge whether a cross superimposed on the flow field was deviating from or congruent with the actual focus of expansion. The seal perceived optic flow and determined deviations from the simulated heading with a threshold of 0.6 deg of visual angle. Optic flow is thus a source of information seals, fish and most likely aquatic species in general may rely on for e. g. controlling locomotion and orientation under water. This leads to the notion that optic flow seems to be a tool universally used by any moving organism possessing eyes. PMID:25058490

How many fish? Comparison of two underwater visual sampling methods for monitoring fish communities

PubMed Central

Sini, Maria; Vatikiotis, Konstantinos; Katsoupis, Christos

2018-01-01

Background Underwater visual surveys (UVSs) for monitoring fish communities are preferred over fishing surveys in certain habitats, such as rocky or coral reefs and seagrass beds and are the standard monitoring tool in many cases, especially in protected areas. However, despite their wide application there are potential biases, mainly due to imperfect detectability and the behavioral responses of fish to the observers. Methods The performance of two methods of UVSs were compared to test whether they give similar results in terms of fish population density, occupancy, species richness, and community composition. Distance sampling (line transects) and plot sampling (strip transects) were conducted at 31 rocky reef sites in the Aegean Sea (Greece) using SCUBA diving. Results Line transects generated significantly higher values of occupancy, species richness, and total fish density compared to strip transects. For most species, density estimates differed significantly between the two sampling methods. For secretive species and species avoiding the observers, the line transect method yielded higher estimates, as it accounted for imperfect detectability and utilized a larger survey area compared to the strip transect method. On the other hand, large-scale spatial patterns of species composition were similar for both methods. Discussion Overall, both methods presented a number of advantages and limitations, which should be considered in survey design. Line transects appear to be more suitable for surveying secretive species, while strip transects should be preferred at high fish densities and for species of high mobility. PMID:29942703

Methods and Systems for Configuring Sensor Acquisition Based on Pressure Steps

NASA Technical Reports Server (NTRS)

DeDonato, Mathew (Inventor)

2015-01-01

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

An Underwater Color Image Quality Evaluation Metric.

PubMed

Yang, Miao; Sowmya, Arcot

2015-12-01

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

Abundance and Diversity of Crypto- and Necto-Benthic Coastal Fish Are Higher in Marine Forests than in Structurally Less Complex Macroalgal Assemblages.

PubMed

Thiriet, Pierre D; Di Franco, Antonio; Cheminée, Adrien; Guidetti, Paolo; Bianchimani, Olivier; Basthard-Bogain, Solène; Cottalorda, Jean-Michel; Arceo, Hazel; Moranta, Joan; Lejeune, Pierre; Francour, Patrice; Mangialajo, Luisa

2016-01-01

In Mediterranean subtidal rocky reefs, Cystoseira spp. (Phaeophyceae) form dense canopies up to 1 m high. Such habitats, called 'Cystoseira forests', are regressing across the entire Mediterranean Sea due to multiple anthropogenic stressors, as are other large brown algae forests worldwide. Cystoseira forests are being replaced by structurally less complex habitats, but little information is available regarding the potential difference in the structure and composition of fish assemblages between these habitats. To fill this void, we compared necto-benthic (NB) and crypto-benthic (CB) fish assemblage structures between Cystoseira forests and two habitats usually replacing the forests (turf and barren), in two sampling regions (Corsica and Menorca). We sampled NB fish using Underwater Visual Census (UVC) and CB fish using Enclosed Anaesthetic Station Vacuuming (EASV), since UVC is known to underestimate the diversity and density of the 'hard to spot' CB fish. We found that both taxonomic diversity and total density of NB and CB fish were highest in Cystoseira forests and lowest in barrens, while turfs, that could be sampled only at Menorca, showed intermediate values. Conversely, total biomass of NB and CB fish did not differ between habitats because the larger average size of fish in barrens (and turfs) compensated for their lower densities. The NB families Labridae and Serranidae, and the CB families Blenniidae, Cliniidae, Gobiidae, Trypterigiidae and Scorpaenidae, were more abundant in forests. The NB taxa Diplodus spp. and Thalassoma pavo were more abundant in barrens. Our study highlights the importance of using EASV for sampling CB fish, and shows that Cystoseira forests support rich and diversified fish assemblages. This evidence suggests that the ongoing loss of Cystoseira forests may impair coastal fish assemblages and related goods and services to humans, and stresses the need to implement strategies for the successful conservation and/or recovery of marine forests.

Fish and fisher behaviour influence the vulnerability of groupers (Epinephelidae) to fishing at a multispecies spawning aggregation site

NASA Astrophysics Data System (ADS)

Robinson, J.; Graham, N. A. J.; Cinner, J. E.; Almany, G. R.; Waldie, P.

2015-06-01

Targeted fishing of spawning aggregations is a major contributor to extinction risk in numerous species of grouper (Epinephelidae). Marine reserves are often used to protect spawning aggregation sites, including multispecies sites shared by several species of grouper. However, marine reserves may be biologically, socioeconomically or culturally unviable in some fisheries, and alternative management actions must be explored. Implementing effective management actions that control rather than prohibit fishing requires an improved understanding of how species vary in their vulnerability to fishing gears and respond to changes in fishing effort. To estimate sources of variability in vulnerability to fishing (i.e. catchability), catch-per-unit-effort (CPUE) and other fisheries data were collected in parallel with underwater visual census-derived estimates of aggregation size at a multispecies spawning site of Epinephelus fuscoguttatus and E. polyphekadion. Despite having similar abundances, E. polyphekadion was eightfold more vulnerable to capture by hook-and-line gear, clearly outcompeting its congener for bait. Contrasting with the common assumption of a proportional relationship, the CPUE of both species was unrelated to the size of their respective aggregations. Moreover, the CPUE of each species was unrelated to hook size and depth fished. However, E. polyphekadion CPUE declined as the density of fishing effort increased at the site, with gear saturation identified as the likely mechanism for this effect. E. fuscoguttatus CPUE was negatively related to the size of aggregations formed by its congener, stemming from the superior competitiveness and therefore higher selectivity of the gear for E. polyphekadion. Our findings demonstrate that CPUE is an unreliable indicator of spawning aggregation status. The other sources of variation in CPUE that we identify have implications for gear-based management, which must be based on understanding of gear selectivity for aggregating species, and fishing effort controls, which must consider the potential for effort-dependent patterns in catchability.

Abundance and Diversity of Crypto- and Necto-Benthic Coastal Fish Are Higher in Marine Forests than in Structurally Less Complex Macroalgal Assemblages

PubMed Central

Thiriet, Pierre D.; Cheminée, Adrien; Guidetti, Paolo; Bianchimani, Olivier; Basthard-Bogain, Solène; Cottalorda, Jean-Michel; Arceo, Hazel; Moranta, Joan; Lejeune, Pierre; Francour, Patrice; Mangialajo, Luisa

2016-01-01

In Mediterranean subtidal rocky reefs, Cystoseira spp. (Phaeophyceae) form dense canopies up to 1 m high. Such habitats, called ‘Cystoseira forests’, are regressing across the entire Mediterranean Sea due to multiple anthropogenic stressors, as are other large brown algae forests worldwide. Cystoseira forests are being replaced by structurally less complex habitats, but little information is available regarding the potential difference in the structure and composition of fish assemblages between these habitats. To fill this void, we compared necto-benthic (NB) and crypto-benthic (CB) fish assemblage structures between Cystoseira forests and two habitats usually replacing the forests (turf and barren), in two sampling regions (Corsica and Menorca). We sampled NB fish using Underwater Visual Census (UVC) and CB fish using Enclosed Anaesthetic Station Vacuuming (EASV), since UVC is known to underestimate the diversity and density of the ‘hard to spot’ CB fish. We found that both taxonomic diversity and total density of NB and CB fish were highest in Cystoseira forests and lowest in barrens, while turfs, that could be sampled only at Menorca, showed intermediate values. Conversely, total biomass of NB and CB fish did not differ between habitats because the larger average size of fish in barrens (and turfs) compensated for their lower densities. The NB families Labridae and Serranidae, and the CB families Blenniidae, Cliniidae, Gobiidae, Trypterigiidae and Scorpaenidae, were more abundant in forests. The NB taxa Diplodus spp. and Thalassoma pavo were more abundant in barrens. Our study highlights the importance of using EASV for sampling CB fish, and shows that Cystoseira forests support rich and diversified fish assemblages. This evidence suggests that the ongoing loss of Cystoseira forests may impair coastal fish assemblages and related goods and services to humans, and stresses the need to implement strategies for the successful conservation and/or recovery of marine forests. PMID:27760168

Spatial, temporal, and environmental dynamics of a multi-species epinephelid spawning aggregation in Pohnpei, Micronesia

NASA Astrophysics Data System (ADS)

Rhodes, K. L.; Nemeth, R. S.; Kadison, E.; Joseph, E.

2014-09-01

Long-term and short-term underwater visual censuses using SCUBA, technical Nitrox, and closed circuit rebreathers (CCR) were carried out in Pohnpei, Micronesia, to define spatial and temporal dynamics within a semi-protected multi-species epinephelid (fish) spawning aggregation (FSA) of brown-marbled grouper, Epinephelus fuscoguttatus, camouflage grouper, Epinephelus polyphekadion, and squaretail coralgrouper, Plectropomus areolatus. Results identified species-specific patterns of habitat use, abundance, residency, and dispersal of FSAs. Fish spawning aggregations formed and dispersed monthly within a 21-160-d period after winter solstice within adjacent yet distinct outer reef habitats. The reproductive season coincided with periods of seasonally low sub-surface seawater temperature. Peaks in density varied among species both within the calendar year and relative to the winter solstice. Significant long-term declines in FSA density were observed for all three species, suggesting population-level fishery-induced impacts, similar to those previously reported for E. polyphekadion. Differences in density estimates were also observed between dive gear, with a threefold difference in densities measured by CCR for E. polyphekadion versus SCUBA that suggest a disturbance effect from exhaled SCUBA bubbles for this species. CCR also allowed surveys to be conducted over a larger area in a single dive, thereby improving the potential to gauge actual abundance and density within FSAs. Based on these findings, a combination of long-term and intensive short-term monitoring strategies is recommended to fully characterize trends in seasonal abundance and habitat use for aggregating species at single or multi-species FSA sites. Inherent variations in the timing and distribution of species within FSA make fine-scale temporal management protocols less effective than blanket protective coverage of these species at (e.g., marine protected areas covering FSAs and adjacent migratory corridors) and away from (i.e., temporal sales and catch restrictions) FSA sites.

Optimal Scheduling for Underwater Communications in Multiple-user Scenarios

DTIC Science & Technology

2014-09-30

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

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

DTIC Science & Technology

2014-09-30

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

Simultaneous adaptation to size, distance, and curvature underwater.

PubMed

Vernoy, M W

1989-02-01

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

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

NASA Astrophysics Data System (ADS)

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

2006-05-01

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

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

NASA Technical Reports Server (NTRS)

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

2006-01-01

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

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.

Ultra-fast underwater suction traps.

PubMed

Vincent, Olivier; Weisskopf, Carmen; Poppinga, Simon; Masselter, Tom; Speck, Thomas; Joyeux, Marc; Quilliet, Catherine; Marmottant, Philippe

2011-10-07

Carnivorous aquatic Utricularia species catch small prey animals using millimetre-sized underwater suction traps, which have fascinated scientists since Darwin's early work on carnivorous plants. Suction takes place after mechanical triggering and is owing to a release of stored elastic energy in the trap body accompanied by a very fast opening and closing of a trapdoor, which otherwise closes the trap entrance watertight. The exceptional trapping speed--far above human visual perception--impeded profound investigations until now. Using high-speed video imaging and special microscopy techniques, we obtained fully time-resolved recordings of the door movement. We found that this unique trapping mechanism conducts suction in less than a millisecond and therefore ranks among the fastest plant movements known. Fluid acceleration reaches very high values, leaving little chance for prey animals to escape. We discovered that the door deformation is morphologically predetermined, and actually performs a buckling/unbuckling process, including a complete trapdoor curvature inversion. This process, which we predict using dynamical simulations and simple theoretical models, is highly reproducible: the traps are autonomously repetitive as they fire spontaneously after 5-20 h and reset actively to their ready-to-catch condition.

An underwater robo-leader for collective motion studies

NASA Astrophysics Data System (ADS)

Sanchez, Yair; Wilhelmus, Monica M.

2016-11-01

A wide range of aquatic species, from bacteria to large tuna, exhibits collective behavior. It has long been hypothesized that the formation of complex configurations brings an energetic advantage to the members of a group as well as protection against larger predators or harmful agents. Lately, however, laboratory experiments have suggested that both the physics and the behavioral aspects of collective motion yield more complexity than previously attributed. With the goal to understand the fluid mechanical implications behind collective motion in a laboratory setting, we have developed a new device to induce this behavior on demand. Following recent studies of lab-induced vertical migration of Artemia salina, we have designed and constructed a remotely controlled underwater robotic swimmer that acts as a leader for groups of phototactic organisms. Preliminary quantitative flow visualizations done during vertical migration of brine shrimp show that this new instrument does induce collective motion in the laboratory. With this setup, we can address the hydrodynamic effect of having different swarm configurations, a variable that so far has been challenging to study in a controllable and reproducible manner.

A Study of 3-D Visualization and Knowledge-Based Mission Planning and Control for the NPS Model 2 Autonomous Underwater Vehicle

DTIC Science & Technology

1989-12-01

34-% -o2F -152F -15.2f -15,2F -15.2F" x )’ deprh_under _sub sub _depth acourse) (rerpri) ( serq smzar_ conracrs ( /isr ( lisr (ger_dara) (ger_dara...isr ( ger _dar a) ( ger _ dara)) ( lisr (ger_dara) (ger_dara)) ( lisr (ger_dara) (ger_dara)) (/isr (ger_dara) (ger_dara)) ( lisr (ger_dara...ger_dara)) ( lisr ( ger _dar a) ( ger _ dara)) ( lisr (ger_dara) (ger_dara)) ( lisr (ger_dara) (ger_dara)))) (princ sonar _conracrs) (princ "Conracr

Incorporating GIS and remote sensing for census population disaggregation

NASA Astrophysics Data System (ADS)

Wu, Shuo-Sheng'derek'

Census data are the primary source of demographic data for a variety of researches and applications. For confidentiality issues and administrative purposes, census data are usually released to the public by aggregated areal units. In the United States, the smallest census unit is census blocks. Due to data aggregation, users of census data may have problems in visualizing population distribution within census blocks and estimating population counts for areas not coinciding with census block boundaries. The main purpose of this study is to develop methodology for estimating sub-block areal populations and assessing the estimation errors. The City of Austin, Texas was used as a case study area. Based on tax parcel boundaries and parcel attributes derived from ancillary GIS and remote sensing data, detailed urban land use classes were first classified using a per-field approach. After that, statistical models by land use classes were built to infer population density from other predictor variables, including four census demographic statistics (the Hispanic percentage, the married percentage, the unemployment rate, and per capita income) and three physical variables derived from remote sensing images and building footprints vector data (a landscape heterogeneity statistics, a building pattern statistics, and a building volume statistics). In addition to statistical models, deterministic models were proposed to directly infer populations from building volumes and three housing statistics, including the average space per housing unit, the housing unit occupancy rate, and the average household size. After population models were derived or proposed, how well the models predict populations for another set of sample blocks was assessed. The results show that deterministic models were more accurate than statistical models. Further, by simulating the base unit for modeling from aggregating blocks, I assessed how well the deterministic models estimate sub-unit-level populations. I also assessed the aggregation effects and the resealing effects on sub-unit estimates. Lastly, from another set of mixed-land-use sample blocks, a mixed-land-use model was derived and compared with a residential-land-use model. The results of per-field land use classification are satisfactory with a Kappa accuracy statistics of 0.747. Model Assessments by land use show that population estimates for multi-family land use areas have higher errors than those for single-family land use areas, and population estimates for mixed land use areas have higher errors than those for residential land use areas. The assessments of sub-unit estimates using a simulation approach indicate that smaller areas show higher estimation errors, estimation errors do not relate to the base unit size, and resealing improves all levels of sub-unit estimates.

Vehicle Based Vector Sensor

DTIC Science & Technology

2015-09-28

buoyant underwater vehicle with an interior space in which a length of said underwater vehicle is equal to one tenth of the acoustic wavelength...underwater vehicle with an interior space in which a length of said underwater vehicle is equal to one tenth of the acoustic wavelength; an...unmanned underwater vehicle that can function as an acoustic vector sensor. (2) Description of the Prior Art [0004] It is known that a propagating

Sky Of Stars: Visualizing Gaia Data in the Fiske Planetarium

NASA Astrophysics Data System (ADS)

Ibarra Perez, Luz; Berta-Thompson, Zachory K.; Conant, Nickolas Alexander

2018-06-01

ESA’s satellite Gaia has collected and continues to collect data about the positions, kinematics, and luminosity of more than one billion stars. This census is the most accurate census of the Milky Way to this day. The Fiske Planetarium at the University of Colorado hosts a state-of-the-art 8K projector and the ability to render the 3D positions of stars in real time. Using Python, Astropy and ADQL, I wrote tools to explore the Gaia data, creating different ways to visualize this three-dimensional map of our Galaxy. I created catalogs that the Fiske planetarium can read and project, including millions of stars that our naked eyes can’t see. For the first time ever, we are able to show in the planetarium what the sky would look like if our eyes were 10X, 100X, or 1000X bigger than they really are. With accurate positions and proper motions, we can also jump in time and roughly observe what our sky will look like in a thousand or in a million years. This catalog is now used in classes and talks, so students and planetarium visitors are able to travel through these stars and observe what they have looked like or what they will look like as the years go by.

RF Path and Absorption Loss Estimation for Underwater Wireless Sensor Networks in Different Water Environments

PubMed Central

Qureshi, Umair Mujtaba; Shaikh, Faisal Karim; Aziz, Zuneera; Shah, Syed M. Zafi S.; Sheikh, Adil A.; Felemban, Emad; Qaisar, Saad Bin

2016-01-01

Underwater Wireless Sensor Network (UWSN) communication at high frequencies is extremely challenging. The intricacies presented by the underwater environment are far more compared to the terrestrial environment. The prime reason for such intricacies are the physical characteristics of the underwater environment that have a big impact on electromagnetic (EM) signals. Acoustics signals are by far the most preferred choice for underwater wireless communication. Because high frequency signals have the luxury of large bandwidth (BW) at shorter distances, high frequency EM signals cannot penetrate and propagate deep in underwater environments. The EM properties of water tend to resist their propagation and cause severe attenuation. Accordingly, there are two questions that need to be addressed for underwater environment, first what happens when high frequency EM signals operating at 2.4 GHz are used for communication, and second which factors affect the most to high frequency EM signals. To answer these questions, we present real-time experiments conducted at 2.4 GHz in terrestrial and underwater (fresh water) environments. The obtained results helped in studying the physical characteristics (i.e., EM properties, propagation and absorption loss) of underwater environments. It is observed that high frequency EM signals can propagate in fresh water at a shallow depth only and can be considered for a specific class of applications such as water sports. Furthermore, path loss, velocity of propagation, absorption loss and the rate of signal loss in different underwater environments are also calculated and presented in order to understand why EM signals cannot propagate in sea water and oceanic water environments. An optimal solk6ution for underwater communication in terms of coverage distance, bandwidth and nature of communication is presented, along with possible underwater applications of UWSNs at 2.4 GHz. PMID:27322263

Determining spherical lens correction for astronaut training underwater.

PubMed

Porter, Jason; Gibson, C Robert; Strauss, Samuel

2011-09-01

To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration astronauts while training underwater. The replica space suit's helmet contains curved visors that induce refractive power when submersed in water. Anterior surface powers and thicknesses were measured for the helmet's protective and inside visors. The impact of each visor on the helmet's refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet's total induced spherical power underwater and the astronaut's manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. The helmet's visors induced a total power of -2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (r = 0.971) with 70% of eyes having a difference in magnitude of <0.25 D between values. We devised a model to calculate the spherical spectacle lens correction needed to be worn underwater by National Aeronautics and Space Administration astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater.

Determining spherical lens correction for astronaut training underwater

PubMed Central

Porter, Jason; Gibson, C. Robert; Strauss, Samuel

2013-01-01

Purpose To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration (NASA) astronauts while training underwater. The replica space suit’s helmet contains curved visors that induce refractive power when submersed in water. Methods Anterior surface powers and thicknesses were measured for the helmet’s protective and inside visors. The impact of each visor on the helmet’s refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet’s total induced spherical power underwater and the astronaut’s manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. Results The helmet visors induced a total power of −2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (R = 0.971) with 70% of eyes having a difference in magnitude of < 0.25 D between values. Conclusions We devised a model to calculate the spherical spectacle lens correction needed to be worn underwater by National Aeronautics and Space Administration astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater. PMID:21623249

RF Path and Absorption Loss Estimation for Underwater Wireless Sensor Networks in Different Water Environments.

PubMed

Qureshi, Umair Mujtaba; Shaikh, Faisal Karim; Aziz, Zuneera; Shah, Syed M Zafi S; Sheikh, Adil A; Felemban, Emad; Qaisar, Saad Bin

2016-06-16

Underwater Wireless Sensor Network (UWSN) communication at high frequencies is extremely challenging. The intricacies presented by the underwater environment are far more compared to the terrestrial environment. The prime reason for such intricacies are the physical characteristics of the underwater environment that have a big impact on electromagnetic (EM) signals. Acoustics signals are by far the most preferred choice for underwater wireless communication. Because high frequency signals have the luxury of large bandwidth (BW) at shorter distances, high frequency EM signals cannot penetrate and propagate deep in underwater environments. The EM properties of water tend to resist their propagation and cause severe attenuation. Accordingly, there are two questions that need to be addressed for underwater environment, first what happens when high frequency EM signals operating at 2.4 GHz are used for communication, and second which factors affect the most to high frequency EM signals. To answer these questions, we present real-time experiments conducted at 2.4 GHz in terrestrial and underwater (fresh water) environments. The obtained results helped in studying the physical characteristics (i.e., EM properties, propagation and absorption loss) of underwater environments. It is observed that high frequency EM signals can propagate in fresh water at a shallow depth only and can be considered for a specific class of applications such as water sports. Furthermore, path loss, velocity of propagation, absorption loss and the rate of signal loss in different underwater environments are also calculated and presented in order to understand why EM signals cannot propagate in sea water and oceanic water environments. An optimal solk6ution for underwater communication in terms of coverage distance, bandwidth and nature of communication is presented, along with possible underwater applications of UWSNs at 2.4 GHz.

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

NASA Astrophysics Data System (ADS)

Secci, Massimiliano

2017-08-01

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

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

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

An Underwater Target Detection System for Electro-Optical Imagery Data

DTIC Science & Technology

2010-06-01

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

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

Code of Federal Regulations, 2010 CFR

2010-10-01

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

Resources for Underwater Robotics Education

ERIC Educational Resources Information Center

Wallace, Michael L.; Freitas, William M.

2016-01-01

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

The underwater photic environment of Cape Maclear, Lake Malawi: comparison between rock- and sand-bottom habitats and implications for cichlid fish vision.

PubMed

Sabbah, Shai; Gray, Suzanne M; Boss, Emmanuel S; Fraser, James M; Zatha, Richard; Hawryshyn, Craig W

2011-02-01

Lake Malawi boasts the highest diversity of freshwater fishes in the world. Nearshore sites are categorized according to their bottom substrate, rock or sand, and these habitats host divergent assemblages of cichlid fishes. Sexual selection driven by mate choice in cichlids led to spectacular diversification in male nuptial coloration. This suggests that the spectral radiance contrast of fish, the main determinant of visibility under water, plays a crucial role in cichlid visual communication. This study provides the first detailed description of underwater irradiance, radiance and beam attenuation at selected sites representing two major habitats in Lake Malawi. These quantities are essential for estimating radiance contrast and, thus, the constraints imposed on fish body coloration. Irradiance spectra in the sand habitat were shifted to longer wavelengths compared with those in the rock habitat. Beam attenuation in the sand habitat was higher than in the rock habitat. The effects of water depth, bottom depth and proximity to the lake bottom on radiometric quantities are discussed. The radiance contrast of targets exhibiting diffused and spectrally uniform reflectance depended on habitat type in deep water but not in shallow water. In deep water, radiance contrast of such targets was maximal at long wavelengths in the sand habitat and at short wavelengths in the rock habitat. Thus, to achieve conspicuousness, color patterns of rock- and sand-dwelling cichlids would be restricted to short and long wavelengths, respectively. This study provides a useful platform for the examination of cichlid visual communication.

Underwater 3d Modeling: Image Enhancement and Point Cloud Filtering

NASA Astrophysics Data System (ADS)

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

2016-06-01

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

Auditorily-induced illusory self-motion: a review.

PubMed

Väljamäe, Aleksander

2009-10-01

The aim of this paper is to provide a first review of studies related to auditorily-induced self-motion (vection). These studies have been scarce and scattered over the years and over several research communities including clinical audiology, multisensory perception of self-motion and its neural correlates, ergonomics, and virtual reality. The reviewed studies provide evidence that auditorily-induced vection has behavioral, physiological and neural correlates. Although the sound contribution to self-motion perception appears to be weaker than the visual modality, specific acoustic cues appear to be instrumental for a number of domains including posture prosthesis, navigation in unusual gravitoinertial environments (in the air, in space, or underwater), non-visual navigation, and multisensory integration during self-motion. A number of open research questions are highlighted opening avenue for more active and systematic studies in this area.

Associations between socio-demographic characteristics and chemical concentrations contributing to cumulative exposures in the United States.

PubMed

Huang, Hongtai; Tornero-Velez, Rogelio; Barzyk, Timothy M

2017-11-01

Association rule mining (ARM) has been widely used to identify associations between various entities in many fields. Although some studies have utilized it to analyze the relationship between chemicals and human health effects, fewer have used this technique to identify and quantify associations between environmental and social stressors. Socio-demographic variables were generated based on U.S. Census tract-level income, race/ethnicity population percentage, education level, and age information from the 2010-2014, 5-Year Summary files in the American Community Survey (ACS) database, and chemical variables were generated by utilizing the 2011 National-Scale Air Toxics Assessment (NATA) census tract-level air pollutant exposure concentration data. Six mobile- and industrial-source pollutants were chosen for analysis, including acetaldehyde, benzene, cyanide, particulate matter components of diesel engine emissions (namely, diesel PM), toluene, and 1,3-butadiene. ARM was then applied to quantify and visualize the associations between the chemical and socio-demographic variables. Census tracts with a high percentage of racial/ethnic minorities and populations with low income tended to have higher estimated chemical exposure concentrations (fourth quartile), especially for diesel PM, 1,3-butadiene, and toluene. In contrast, census tracts with an average population age of 40-50 years, a low percentage of racial/ethnic minorities, and moderate-income levels were more likely to have lower estimated chemical exposure concentrations (first quartile). Unsupervised data mining methods can be used to evaluate potential associations between environmental inequalities and social disparities, while providing support in public health decision-making contexts.

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

PubMed

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

2015-03-01

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

Optimized decoy state QKD for underwater free space communication

NASA Astrophysics Data System (ADS)

Lopes, Minal; Sarwade, Nisha

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

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

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

Code of Federal Regulations, 2010 CFR

2010-10-01

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

Underwater fiber-wireless communication with a passive front end

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Retrospective space-time cluster analysis of whooping cough, re-emergence in Barcelona, Spain, 2000-2011.

PubMed

Solano, Rubén; Gómez-Barroso, Diana; Simón, Fernando; Lafuente, Sarah; Simón, Pere; Rius, Cristina; Gorrindo, Pilar; Toledo, Diana; Caylà, Joan A

2014-05-01

A retrospective, space-time study of whooping cough cases reported to the Public Health Agency of Barcelona, Spain between the years 2000 and 2011 is presented. It is based on 633 individual whooping cough cases and the 2006 population census from the Spanish National Statistics Institute, stratified by age and sex at the census tract level. Cluster identification was attempted using space-time scan statistic assuming a Poisson distribution and restricting temporal extent to 7 days and spatial distance to 500 m. Statistical calculations were performed with Stata 11 and SatScan and mapping was performed with ArcGis 10.0. Only clusters showing statistical significance (P <0.05) were mapped. The most likely cluster identified included five census tracts located in three neighbourhoods in central Barcelona during the week from 17 to 23 August 2011. This cluster included five cases compared with the expected level of 0.0021 (relative risk = 2436, P <0.001). In addition, 11 secondary significant space-time clusters were detected with secondary clusters occurring at different times and localizations. Spatial statistics is felt to be useful by complementing epidemiological surveillance systems through visualizing excess in the number of cases in space and time and thus increase the possibility of identifying outbreaks not reported by the surveillance system.

Underwater Advanced Time-Domain Electromagnetic System

DTIC Science & Technology

2017-03-03

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

Program for Continued Development and Use of Ocean Acoustic/GPS Geodetic Techniques

NASA Technical Reports Server (NTRS)

Spiess, Fred N.

1997-01-01

Under prior NASA grants our group, with collaboration from scientists at the CalTech Jet Propulsion Lab (JPL), visualized and carried out the initial development of a combined GPS and underwater acoustic (GPS/A) method for determining the location of points on the deep sea floor with accuracy relevant to studies of crustal deformation. Under an immediately preceding grant we built, installed and surveyed a set of the necessary seafloor marker precision transponders just seaward of the Cascadia Subduction Zone off British Columbia. The JPL group carried out processing of the GPS data.

Estimating animal populations and body sizes from burrows: Marine ecologists have their heads buried in the sand

NASA Astrophysics Data System (ADS)

Schlacher, Thomas A.; Lucrezi, Serena; Peterson, Charles H.; Connolly, Rod M.; Olds, Andrew D.; Althaus, Franziska; Hyndes, Glenn A.; Maslo, Brooke; Gilby, Ben L.; Leon, Javier X.; Weston, Michael A.; Lastra, Mariano; Williams, Alan; Schoeman, David S.

2016-06-01

Most ecological studies require knowledge of animal abundance, but it can be challenging and destructive of habitat to obtain accurate density estimates for cryptic species, such as crustaceans that tunnel deeply into the seafloor, beaches, or mudflats. Such fossorial species are, however, widely used in environmental impact assessments, requiring sampling techniques that are reliable, efficient, and environmentally benign for these species and environments. Counting and measuring the entrances of burrows made by cryptic species is commonly employed to index population and body sizes of individuals. The fundamental premise is that burrow metrics consistently predict density and size. Here we review the evidence for this premise. We also review criteria for selecting among sampling methods: burrow counts, visual censuses, and physical collections. A simple 1:1 correspondence between the number of holes and population size cannot be assumed. Occupancy rates, indexed by the slope of regression models, vary widely between species and among sites for the same species. Thus, 'average' or 'typical' occupancy rates should not be extrapolated from site- or species specific field validations and then be used as conversion factors in other situations. Predictions of organism density made from burrow counts often have large uncertainty, being double to half of the predicted mean value. Whether such prediction uncertainty is 'acceptable' depends on investigators' judgements regarding the desired detectable effect sizes. Regression models predicting body size from burrow entrance dimensions are more precise, but parameter estimates of most models are specific to species and subject to site-to-site variation within species. These results emphasise the need to undertake thorough field validations of indirect census techniques that include tests of how sensitive predictive models are to changes in habitat conditions or human impacts. In addition, new technologies (e.g. drones, thermal-, acoustic- or chemical sensors) should be used to enhance visual census techniques of burrows and surface-active animals.

Terminal Homing for Autonomous Underwater Vehicle Docking

DTIC Science & Technology

2016-06-01

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

Underwater Acoustic Beacon Location System

DTIC Science & Technology

2016-12-23

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

Autonomous Adaptive Acoustic Relay Positioning

DTIC Science & Technology

2013-09-01

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

Non-Data Aided Doppler Shift Estimation for Underwater Acoustic Communication

DTIC Science & Technology

2014-05-01

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

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

DTIC Science & Technology

2014-03-31

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

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

PubMed

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

2012-05-01

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

Underwater 3D Surface Measurement Using Fringe Projection Based Scanning Devices

PubMed Central

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

2015-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

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.

Quantum imaging for underwater arctic navigation

NASA Astrophysics Data System (ADS)

Lanzagorta, Marco

2017-05-01

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

On Modeling Eavesdropping Attacks in Underwater Acoustic Sensor Networks †

PubMed Central

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

2016-01-01

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

Causes and prevalence of visual impairment among adults in the United States.

PubMed

Congdon, Nathan; O'Colmain, Benita; Klaver, Caroline C W; Klein, Ronald; Muñoz, Beatriz; Friedman, David S; Kempen, John; Taylor, Hugh R; Mitchell, Paul

2004-04-01

To estimate the cause-specific prevalence and distribution of blindness and low vision in the United States by age, race/ethnicity, and gender, and to estimate the change in these prevalence figures over the next 20 years. Summary prevalence estimates of blindness (both according to the US definition of < or =6/60 [< or =20/200] best-corrected visual acuity in the better-seeing eye and the World Health Organization standard of < 6/120 [< 20/400]) and low vision (< 6/12 [< 20/40] best-corrected vision in the better-seeing eye) were prepared separately for black, Hispanic, and white persons in 5-year age intervals starting at 40 years. The estimated prevalences were based on recent population-based studies in the United States, Australia, and Europe. These estimates were applied to 2000 US Census data, and to projected US population figures for 2020, to estimate the number of Americans with visual impairment. Cause-specific prevalences of blindness and low vision were also estimated for the different racial/ethnic groups. Based on demographics from the 2000 US Census, an estimated 937 000 (0.78%) Americans older than 40 years were blind (US definition). An additional 2.4 million Americans (1.98%) had low vision. The leading cause of blindness among white persons was age-related macular degeneration (54.4% of the cases), while among black persons, cataract and glaucoma accounted for more than 60% of blindness. Cataract was the leading cause of low vision, responsible for approximately 50% of bilateral vision worse than 6/12 (20/40) among white, black, and Hispanic persons. The number of blind persons in the US is projected to increase by 70% to 1.6 million by 2020, with a similar rise projected for low vision. Blindness or low vision affects approximately 1 in 28 Americans older than 40 years. The specific causes of visual impairment, and especially blindness, vary greatly by race/ethnicity. The prevalence of visual disabilities will increase markedly during the next 20 years, owing largely to the aging of the US population.

Analysis of security and threat of underwater wireless sensor network topology

NASA Astrophysics Data System (ADS)

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

2012-04-01

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

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

PubMed

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

2016-01-01

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

Adjustment of Sonar and Laser Acquisition Data for Building the 3D Reference Model of a Canal Tunnel.

PubMed

Moisan, Emmanuel; Charbonnier, Pierre; Foucher, Philippe; Grussenmeyer, Pierre; Guillemin, Samuel; Koehl, Mathieu

2015-12-11

In this paper, we focus on the construction of a full 3D model of a canal tunnel by combining terrestrial laser (for its above-water part) and sonar (for its underwater part) scans collected from static acquisitions. The modeling of such a structure is challenging because the sonar device is used in a narrow environment that induces many artifacts. Moreover, the location and the orientation of the sonar device are unknown. In our approach, sonar data are first simultaneously denoised and meshed. Then, above- and under-water point clouds are co-registered to generate directly the full 3D model of the canal tunnel. Faced with the lack of overlap between both models, we introduce a robust algorithm that relies on geometrical entities and partially-immersed targets, which are visible in both the laser and sonar point clouds. A full 3D model, visually promising, of the entrance of a canal tunnel is obtained. The analysis of the method raises several improvement directions that will help with obtaining more accurate models, in a more automated way, in the limits of the involved technology.

Adjustment of Sonar and Laser Acquisition Data for Building the 3D Reference Model of a Canal Tunnel †

PubMed Central

Moisan, Emmanuel; Charbonnier, Pierre; Foucher, Philippe; Grussenmeyer, Pierre; Guillemin, Samuel; Koehl, Mathieu

2015-01-01

In this paper, we focus on the construction of a full 3D model of a canal tunnel by combining terrestrial laser (for its above-water part) and sonar (for its underwater part) scans collected from static acquisitions. The modeling of such a structure is challenging because the sonar device is used in a narrow environment that induces many artifacts. Moreover, the location and the orientation of the sonar device are unknown. In our approach, sonar data are first simultaneously denoised and meshed. Then, above- and under-water point clouds are co-registered to generate directly the full 3D model of the canal tunnel. Faced with the lack of overlap between both models, we introduce a robust algorithm that relies on geometrical entities and partially-immersed targets, which are visible in both the laser and sonar point clouds. A full 3D model, visually promising, of the entrance of a canal tunnel is obtained. The analysis of the method raises several improvement directions that will help with obtaining more accurate models, in a more automated way, in the limits of the involved technology. PMID:26690444

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

NASA Astrophysics Data System (ADS)

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

2012-06-01

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

Three main paradigms of simultaneous localization and mapping (SLAM) problem

NASA Astrophysics Data System (ADS)

Imani, Vandad; Haataja, Keijo; Toivanen, Pekka

2018-04-01

Simultaneous Localization and Mapping (SLAM) is one of the most challenging research areas within computer and machine vision for automated scene commentary and explanation. The SLAM technique has been a developing research area in the robotics context during recent years. By utilizing the SLAM method robot can estimate the different positions of the robot at the distinct points of time which can indicate the trajectory of robot as well as generate a map of the environment. SLAM has unique traits which are estimating the location of robot and building a map in the various types of environment. SLAM is effective in different types of environment such as indoor, outdoor district, Air, Underwater, Underground and Space. Several approaches have been investigated to use SLAM technique in distinct environments. The purpose of this paper is to provide an accurate perceptive review of case history of SLAM relied on laser/ultrasonic sensors and camera as perception input data. In addition, we mainly focus on three paradigms of SLAM problem with all its pros and cons. In the future, use intelligent methods and some new idea will be used on visual SLAM to estimate the motion intelligent underwater robot and building a feature map of marine environment.

Observations on abundance of bluntnose sixgill sharks, Hexanchus griseus, in an urban waterway in Puget Sound, 2003-2005.

PubMed

Griffing, Denise; Larson, Shawn; Hollander, Joel; Carpenter, Tim; Christiansen, Jeff; Doss, Charles

2014-01-01

The bluntnose sixgill shark, Hexanchus griseus, is a widely distributed but poorly understood large, apex predator. Anecdotal reports of diver-shark encounters in the late 1990's and early 2000's in the Pacific Northwest stimulated interest in the normally deep-dwelling shark and its presence in the shallow waters of Puget Sound. Analysis of underwater video documenting sharks at the Seattle Aquarium's sixgill research site in Elliott Bay and mark-resight techniques were used to answer research questions about abundance and seasonality. Seasonal changes in relative abundance in Puget Sound from 2003-2005 are reported here. At the Seattle Aquarium study site, 45 sixgills were tagged with modified Floy visual marker tags, along with an estimated 197 observations of untagged sharks plus 31 returning tagged sharks, for a total of 273 sixgill observations recorded. A mark-resight statistical model based on analysis of underwater video estimated a range of abundance from a high of 98 sharks seen in July of 2004 to a low of 32 sharks seen in March of 2004. Both analyses found sixgills significantly more abundant in the summer months at the Seattle Aquarium's research station.

Observations on Abundance of Bluntnose Sixgill Sharks, Hexanchus griseus, in an Urban Waterway in Puget Sound, 2003-2005

PubMed Central

Griffing, Denise; Larson, Shawn; Hollander, Joel; Carpenter, Tim; Christiansen, Jeff; Doss, Charles

2014-01-01

The bluntnose sixgill shark, Hexanchus griseus, is a widely distributed but poorly understood large, apex predator. Anecdotal reports of diver-shark encounters in the late 1990’s and early 2000’s in the Pacific Northwest stimulated interest in the normally deep-dwelling shark and its presence in the shallow waters of Puget Sound. Analysis of underwater video documenting sharks at the Seattle Aquarium’s sixgill research site in Elliott Bay and mark-resight techniques were used to answer research questions about abundance and seasonality. Seasonal changes in relative abundance in Puget Sound from 2003–2005 are reported here. At the Seattle Aquarium study site, 45 sixgills were tagged with modified Floy visual marker tags, along with an estimated 197 observations of untagged sharks plus 31 returning tagged sharks, for a total of 273 sixgill observations recorded. A mark-resight statistical model based on analysis of underwater video estimated a range of abundance from a high of 98 sharks seen in July of 2004 to a low of 32 sharks seen in March of 2004. Both analyses found sixgills significantly more abundant in the summer months at the Seattle Aquarium’s research station. PMID:24475229

The Need for US Coast Guard Underwater Mission Development

DTIC Science & Technology

2013-04-23

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

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

DTIC Science & Technology

2014-03-10

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

Optimal Scheduling for Underwater Communications in Multiple-User Scenarios

DTIC Science & Technology

2015-09-30

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

OPTICAL correlation identification technology applied in underwater laser imaging target identification

NASA Astrophysics Data System (ADS)

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

2012-01-01

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

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

NASA Astrophysics Data System (ADS)

Rao, Jionghui; Yao, Wenming; Wen, Linqiang

2015-10-01

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

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

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

Distribution of sea snakes in the Great Barrier Reef Marine Park: observations from 10 yrs of baited remote underwater video station (BRUVS) sampling

NASA Astrophysics Data System (ADS)

Udyawer, Vinay; Cappo, Mike; Simpfendorfer, Colin A.; Heupel, Michelle R.; Lukoschek, Vimoksalehi

2014-09-01

The distributions of three species of sea snake (olive sea snake: Aipysurus laevis, spine-bellied sea snake: Lapemis curtus, and ornate sea snake: Hydrophis ocellatus) were estimated over 14° of latitude within the Great Barrier Reef Marine Park (GBRMP) using data from baited remote underwater video stations (BRUVS). A total of 2,471 deployments of BRUVS were made in a range of locations, in sites open and closed to trawl fishing. Sightings of sea snakes were analysed alongside six spatial factors [depth, relative distance across (longitude) and along (latitude) the GBRMP, proximity to land, proximity to the nearest reef, and habitat complexity] to determine the factors that most strongly influenced the distribution and abundance of sea snakes. The results showed a strong latitudinal effect on the distribution of all three sea snake species, with the highest densities and diversities occurring in central and southern GBRMP locations, while the northern Great Barrier Reef was relatively depauperate in terms of both occurrence and diversity. Shallow inshore areas were identified as key habitats for A. laevis and L. curtus, whereas deeper offshore habitats were most important for H. ocellatus. No significant difference was found in the mean number of snakes sighted per hour between sites open and closed to trawling. There was a high degree of congruence in the distribution of sea snakes estimated from the BRUVS data and results from previous trawl and underwater visual surveys, demonstrating the utility of BRUVS to estimate distribution and relative abundance in these species of sea snake at broad spatial scales in a non-extractive manner.

A man-made object detection for underwater TV

NASA Astrophysics Data System (ADS)

Cheng, Binbin; Wang, Wenwu; Chen, Yao

2018-03-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Evaluating the SCC resistance of underwater welds in sodium tetrathionate

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

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

1997-12-01

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

Underwater Nondestructive Testing of Ship Hull Welds

DTIC Science & Technology

1979-09-01

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

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

DTIC Science & Technology

2011-09-30

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

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

DTIC Science & Technology

2011-05-01

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

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

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

PubMed

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

2018-05-25

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

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

PubMed

Cambi, Jacopo; Livi, Ludovica; Livi, Walter

2017-05-01

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

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

PubMed Central

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

2016-01-01

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

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

PubMed

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

2016-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Calibration Techniques for Accurate Measurements by Underwater Camera Systems

PubMed Central

Shortis, Mark

2015-01-01

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

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.

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

DTIC Science & Technology

2015-09-30

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

Advanced instrumentation for research in diving and hyperbaric medicine.

PubMed

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

2010-01-01

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

Chemical films and monolayers on the water surface and their interactions with ultraviolet radiation: a pilot investigation

NASA Astrophysics Data System (ADS)

Schouten, Peter; Lemckert, Charles; Turnbull, David; Parisi, Alfio; Downs, Nathan; Underhill, Ian; Turner, Geoff

2011-06-01

Over the past 50 years numerous types of chemical films and monolayers have been deployed on top of a wide variety of water reserves in an endeavour to reduce evaporation. To date very little knowledge has been assimilated on how these chemical films and monolayers, once applied to a water surface, influence the underwater UV light field and, in turn, the delicate ecosystems that exist in aquatic environments. This manuscript presents underwater UV exposure profiles weighted to the DNA damage action spectrum measured under an octadecanol/hexadecanol/lime chemical film mixture, a silicone-based chemical film and an octadecanol monolayer applied to the water surface. UV transmission and absorption properties were also evaluated for each of these chemical films and monolayers. From this it was found that when chemical films/monolayers are applied to surface water they can reduce the penetration of biologically effective UV into the water column by up to 85% at a depth as small as 1 cm. This could have a positive influence on the aquatic ecosystem, as harmful UV radiation may be prevented from reaching and consequently damaging a variety of life forms or it could have a negative effect by potentially stopping aquatic organisms from adapting to solar ultraviolet radiation over extended application intervals. Additionally, there is currently no readily applicable system or technique available to readily detect or visualize chemical films and monolayers on the water surface. To overcome this problem a new method of monolayer and chemical film visualization, using a UV camera system, is detailed and tested and its applicability for usage in both laboratory-based trials and real-world operations is evaluated.

Population growth rates of reef sharks with and without fishing on the great barrier reef: robust estimation with multiple models.

PubMed

Hisano, Mizue; Connolly, Sean R; Robbins, William D

2011-01-01

Overfishing of sharks is a global concern, with increasing numbers of species threatened by overfishing. For many sharks, both catch rates and underwater visual surveys have been criticized as indices of abundance. In this context, estimation of population trends using individual demographic rates provides an important alternative means of assessing population status. However, such estimates involve uncertainties that must be appropriately characterized to credibly and effectively inform conservation efforts and management. Incorporating uncertainties into population assessment is especially important when key demographic rates are obtained via indirect methods, as is often the case for mortality rates of marine organisms subject to fishing. Here, focusing on two reef shark species on the Great Barrier Reef, Australia, we estimated natural and total mortality rates using several indirect methods, and determined the population growth rates resulting from each. We used bootstrapping to quantify the uncertainty associated with each estimate, and to evaluate the extent of agreement between estimates. Multiple models produced highly concordant natural and total mortality rates, and associated population growth rates, once the uncertainties associated with the individual estimates were taken into account. Consensus estimates of natural and total population growth across multiple models support the hypothesis that these species are declining rapidly due to fishing, in contrast to conclusions previously drawn from catch rate trends. Moreover, quantitative projections of abundance differences on fished versus unfished reefs, based on the population growth rate estimates, are comparable to those found in previous studies using underwater visual surveys. These findings appear to justify management actions to substantially reduce the fishing mortality of reef sharks. They also highlight the potential utility of rigorously characterizing uncertainty, and applying multiple assessment methods, to obtain robust estimates of population trends in species threatened by overfishing.

Population Growth Rates of Reef Sharks with and without Fishing on the Great Barrier Reef: Robust Estimation with Multiple Models

PubMed Central

Hisano, Mizue; Connolly, Sean R.; Robbins, William D.

2011-01-01

Overfishing of sharks is a global concern, with increasing numbers of species threatened by overfishing. For many sharks, both catch rates and underwater visual surveys have been criticized as indices of abundance. In this context, estimation of population trends using individual demographic rates provides an important alternative means of assessing population status. However, such estimates involve uncertainties that must be appropriately characterized to credibly and effectively inform conservation efforts and management. Incorporating uncertainties into population assessment is especially important when key demographic rates are obtained via indirect methods, as is often the case for mortality rates of marine organisms subject to fishing. Here, focusing on two reef shark species on the Great Barrier Reef, Australia, we estimated natural and total mortality rates using several indirect methods, and determined the population growth rates resulting from each. We used bootstrapping to quantify the uncertainty associated with each estimate, and to evaluate the extent of agreement between estimates. Multiple models produced highly concordant natural and total mortality rates, and associated population growth rates, once the uncertainties associated with the individual estimates were taken into account. Consensus estimates of natural and total population growth across multiple models support the hypothesis that these species are declining rapidly due to fishing, in contrast to conclusions previously drawn from catch rate trends. Moreover, quantitative projections of abundance differences on fished versus unfished reefs, based on the population growth rate estimates, are comparable to those found in previous studies using underwater visual surveys. These findings appear to justify management actions to substantially reduce the fishing mortality of reef sharks. They also highlight the potential utility of rigorously characterizing uncertainty, and applying multiple assessment methods, to obtain robust estimates of population trends in species threatened by overfishing. PMID:21966402

Locating underwater objects. [technology transfer

NASA Technical Reports Server (NTRS)

Grice, C. F.

1974-01-01

Underwater search operations are considered to be engineering and operational problems. A process for proper definition of the problem and selection of instrumentation and operational procedures is described. An outline of underwater search instrumentation and techniques is given.

Feasibility of Underwater Friction Stir Welding of HY-80 Steel

DTIC Science & Technology

2011-03-01

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

Topology Optimization for Energy Management in Underwater Sensor Networks

DTIC Science & Technology

2015-02-01

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

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

PubMed Central

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

2014-01-01

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

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2017-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2011-11-01

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

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

NASA Astrophysics Data System (ADS)

Tan, Yayun; Zhang, He; Zha, Bingting

2017-09-01

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

Extended census transform histogram for land-use scene classification

NASA Astrophysics Data System (ADS)

Yuan, Baohua; Li, Shijin

2017-04-01

With the popular use of high-resolution satellite images, more and more research efforts have been focused on land-use scene classification. In scene classification, effective visual features can significantly boost the final performance. As a typical texture descriptor, the census transform histogram (CENTRIST) has emerged as a very powerful tool due to its effective representation ability. However, the most prominent limitation of CENTRIST is its small spatial support area, which may not necessarily be adept at capturing the key texture characteristics. We propose an extended CENTRIST (eCENTRIST), which is made up of three subschemes in a greater neighborhood scale. The proposed eCENTRIST not only inherits the advantages of CENTRIST but also encodes the more useful information of local structures. Meanwhile, multichannel eCENTRIST, which can capture the interactions from multichannel images, is developed to obtain higher categorization accuracy rates. Experimental results demonstrate that the proposed method can achieve competitive performance when compared to state-of-the-art methods.

Underwater gait analysis in Parkinson's disease.

PubMed

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

2017-02-01

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

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2012 CFR

2012-01-01

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

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2013 CFR

2013-01-01

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

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2014 CFR

2014-01-01

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

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2010 CFR

2010-01-01

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

15 CFR 922.190 - Boundary.

Code of Federal Regulations, 2011 CFR

2011-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

Chinese research on underwater acoustics

NASA Astrophysics Data System (ADS)

Qian, Zhengxu; Ding, Dong

1992-09-01

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

Efficient Use of AUVs in the Maritime Environment

NASA Astrophysics Data System (ADS)

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

2017-06-01

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

Underwater sympathetic detonation of pellet explosive

NASA Astrophysics Data System (ADS)

Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

2017-06-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

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

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-23

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

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

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-05

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

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

DTIC Science & Technology

1981-09-15

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

Underwater Acoustic Source Localisation Among Blind and Sighted Scuba Divers

PubMed Central

Cambi, Jacopo; Livi, Ludovica; Livi, Walter

2017-01-01

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

The influence of underwater turbulence on optical phase measurements

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

Measurements of optical underwater turbulence under controlled conditions

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-10-01

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

Deep Learning Methods for Underwater Target Feature Extraction and Recognition

PubMed Central

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

2018-01-01

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

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

PubMed Central

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

2018-01-01

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

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

PubMed

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

2018-02-01

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

Non-song vocalizations of pygmy blue whales in Geographe Bay, Western Australia.

PubMed

Recalde-Salas, A; Salgado Kent, C P; Parsons, M J G; Marley, S A; McCauley, R D

2014-05-01

Non-song vocalizations of migrating pygmy blue whales (Balaenoptera musculus brevicauda) in Western Australia are described. Simultaneous land-based visual observations and underwater acoustic recordings detected 27 groups in Geographe Bay, WA over 2011 to 2012. Six different vocalizations were recorded that were not repeated in a pattern or in association with song, and thus were identified as non-song vocalizations. Five of these were not previously described for this population. Their acoustic characteristics and context are presented. Given that 56% of groups vocalized, 86% of which produced non-song vocalizations and 14% song units, the inclusion of non-song vocalizations in passive-acoustic monitoring is proposed.

Underwater methods for study of salmonids in the Intermountain West

Treesearch

Russell F. Thurow

1994-01-01

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

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

EPA Science Inventory

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

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

DTIC Science & Technology

2005-07-18

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

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

DTIC Science & Technology

2014-09-01

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

Multi-focused geospatial analysis using probes.

PubMed

Butkiewicz, Thomas; Dou, Wenwen; Wartell, Zachary; Ribarsky, William; Chang, Remco

2008-01-01

Traditional geospatial information visualizations often present views that restrict the user to a single perspective. When zoomed out, local trends and anomalies become suppressed and lost; when zoomed in for local inspection, spatial awareness and comparison between regions become limited. In our model, coordinated visualizations are integrated within individual probe interfaces, which depict the local data in user-defined regions-of-interest. Our probe concept can be incorporated into a variety of geospatial visualizations to empower users with the ability to observe, coordinate, and compare data across multiple local regions. It is especially useful when dealing with complex simulations or analyses where behavior in various localities differs from other localities and from the system as a whole. We illustrate the effectiveness of our technique over traditional interfaces by incorporating it within three existing geospatial visualization systems: an agent-based social simulation, a census data exploration tool, and an 3D GIS environment for analyzing urban change over time. In each case, the probe-based interaction enhances spatial awareness, improves inspection and comparison capabilities, expands the range of scopes, and facilitates collaboration among multiple users.

D Modelling and Mapping for Virtual Exploration of Underwater Archaeology Assets

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Sensor Network Architectures for Monitoring Underwater Pipelines

PubMed Central

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

2011-01-01

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

Sensor network architectures for monitoring underwater pipelines.

PubMed

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

2011-01-01

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

Ovis: A Framework for Visual Analysis of Ocean Forecast Ensembles.

PubMed

Höllt, Thomas; Magdy, Ahmed; Zhan, Peng; Chen, Guoning; Gopalakrishnan, Ganesh; Hoteit, Ibrahim; Hansen, Charles D; Hadwiger, Markus

2014-08-01

We present a novel integrated visualization system that enables interactive visual analysis of ensemble simulations of the sea surface height that is used in ocean forecasting. The position of eddies can be derived directly from the sea surface height and our visualization approach enables their interactive exploration and analysis.The behavior of eddies is important in different application settings of which we present two in this paper. First, we show an application for interactive planning of placement as well as operation of off-shore structures using real-world ensemble simulation data of the Gulf of Mexico. Off-shore structures, such as those used for oil exploration, are vulnerable to hazards caused by eddies, and the oil and gas industry relies on ocean forecasts for efficient operations. We enable analysis of the spatial domain, as well as the temporal evolution, for planning the placement and operation of structures.Eddies are also important for marine life. They transport water over large distances and with it also heat and other physical properties as well as biological organisms. In the second application we present the usefulness of our tool, which could be used for planning the paths of autonomous underwater vehicles, so called gliders, for marine scientists to study simulation data of the largely unexplored Red Sea.

Underwater Scene Composition

ERIC Educational Resources Information Center

Kim, Nanyoung

2009-01-01

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

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

NASA Astrophysics Data System (ADS)

Sun, Chunya; Song, Baowei; Wang, Peng

2015-11-01

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

Underwater Sensor Nodes and Networks

PubMed Central

Lloret, Jaime

2013-01-01

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

Underwater Sensor Network Redeployment Algorithm Based on Wolf Search

PubMed Central

Jiang, Peng; Feng, Yang; Wu, Feng

2016-01-01

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

Underwater Calibration of Dome Port Pressure Housings

NASA Astrophysics Data System (ADS)

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

2016-03-01

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

Feasibility of in situ beta ray measurements in underwater environment.

PubMed

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

2017-09-01

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

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

PubMed Central

Choi, Jee Woong

2017-01-01

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

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

PubMed

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

2015-09-28

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

Assessing coral health and disease from digital photographs and in situ surveys.

PubMed

Page, C A; Field, S N; Pollock, F J; Lamb, J B; Shedrawi, G; Wilson, S K

2017-01-01

Methods for monitoring the status of marine communities are increasingly adopting the use of images captured in the field. However, it is not always clear how data collected from photographic images relate to historic data collected using traditional underwater visual census methods. Here, we compare coral health and disease data collected in situ by scuba divers with photographic images collected simultaneously at 12 coral reef sites. Five globally relevant coral diseases were detected on 194 colonies from in situ surveys and 79 colonies from photos, whilst 698 colonies from in situ surveys and 535 colonies from photos exhibited signs of compromised health other than disease. Comparisons of in situ surveys with photographic analyses indicated that the number of disease cases occurring in the examined coral populations (prevalence) was six times higher (4.5 vs. 0.8% of colonies), whilst compromised health was three times higher (14 vs. 4% of colonies) from in situ surveys. Skeletal eroding band disease, sponge overgrowth and presence of Waminoa flatworms were not detected in photographs, though they were identified in situ. Estimates of black band disease and abnormally pigmented coral tissues were similar between the two methods. Estimates of the bleached and healthy colonies were also similar between methods and photographic analyses were a strong predictor of bleached (r 2  = 0.8) and healthy (r 2  = 0.5) colony prevalence from in situ surveys. Moreover, when data on disease and compromised health states resulting in white or pale coral colony appearance were pooled, the prevalence of 'white' colonies from in situ (14%) and photographic analyses (11%) were statistically similar. Our results indicate that information on coral disease and health collected by in situ surveys and photographic analyses are not directly comparable, with in situ surveys generally providing higher estimates of prevalence and greater ability to identify some diseases and compromised states. Careful sampling of photographs can however identify signs of coral stress, including some coral diseases, which may be used to trigger early-warning management interventions.

Advanced Undersea Warfare Systems

DTIC Science & Technology

2011-06-01

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

Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

DTIC Science & Technology

1998-03-31

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

Colorful Underwater Sea Creatures

ERIC Educational Resources Information Center

McCutcheon, Heather

2011-01-01

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

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

Code of Federal Regulations, 2010 CFR

2010-10-01

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

Seeking Teachers for Underwater Robotics PD Program

ERIC Educational Resources Information Center

McGrath, Beth; Sayres, Jason

2012-01-01

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

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

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-29

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

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

PubMed

Zhang, Tao; Chen, Liping; Li, Yao

2015-12-30

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

Underwater disaster victim identification: the process and the problems.

PubMed

Winskog, Calle

2012-06-01

An underwater disaster may involve a crime scene investigation which should be handled as if it were located above water and include a detailed description and documentation of items, belongings and findings. The environment, however, creates special circumstances, each with specific problems that are not encountered during land investigations. Risks associated with underwater recovery cannot be overestimated and underwater disaster recovery diving should not be performed without special training and careful pre-dive planning. Handling of cadavers in an underwater recovery operation also requires special training and a systematic approach to victim recovery. Environmental circumstances, local judicial requirements, religious and cultural issues and the scope of the disaster are only some of the factors that have to be considered before commencing any aquatic disaster victim recovery operation.

[The heart and underwater diving].

PubMed

Lafay, V

2006-11-01

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

Affordable underwater wireless optical communication using LEDs

NASA Astrophysics Data System (ADS)

Pilipenko, Vladimir; Arnon, Shlomi

2013-09-01

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

Spatial averaging of oceanic rainfall variability using underwater sound: Ionian Sea rainfall experiment 2004.

PubMed

Nystuen, Jeffrey A; Amitai, Eyal; Anagnostou, Emmanuel N; Anagnostou, Marios N

2008-04-01

An experiment to evaluate the inherent spatial averaging of the underwater acoustic signal from rainfall was conducted in the winter of 2004 in the Ionian Sea southwest of Greece. A mooring with four passive aquatic listeners (PALs) at 60, 200, 1000, and 2000 m was deployed at 36.85 degrees N, 21.52 degrees E, 17 km west of a dual-polarization X-band coastal radar at Methoni, Greece. The acoustic signal is classified into wind, rain, shipping, and whale categories. It is similar at all depths and rainfall is detected at all depths. A signal that is consistent with the clicking of deep-diving beaked whales is present 2% of the time, although there was no visual confirmation of whale presence. Co-detection of rainfall with the radar verifies that the acoustic detection of rainfall is excellent. Once detection is made, the correlation between acoustic and radar rainfall rates is high. Spatial averaging of the radar rainfall rates in concentric circles over the mooring verifies the larger inherent spatial averaging of the rainfall signal with recording depth. For the PAL at 2000 m, the maximum correlation was at 3-4 km, suggesting a listening area for the acoustic rainfall measurement of roughly 30-50 km(2).

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

NASA Astrophysics Data System (ADS)

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

2007-02-01

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

The Undercount in the 2000 Census. A Kids Count/PRB Report on Census 2000.

ERIC Educational Resources Information Center

Edmonston, Barry

Every 10 years, the national census describes the number of U.S. residents and their characteristics. This decennial census, however, is subject to error. This report summarizes what is known about census undercount and methods used to adjust census data, emphasizing the undercount of children and minorities. The Census Bureau reported that more…

Human Injury Criteria for Underwater Blasts

PubMed Central

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

2015-01-01

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

The world's biggest census.

PubMed

Xu, J H

1983-05-01

The purpose of the 3rd national population census, taken 18 years after "New China's" 2nd census, was to ascertain accurate population figures for China and the spatial population distribution in order to carry out socialist modernization, improve the people's material and cultural lives, and draw up a population policy and program in light of China's actual conditions. The census questionnaire contained 19 items, including 13 for individuals; and 6 items about the household. Preparations for the census began at the end of 1979 even though the census would not begin until July 1, 1982. The preparatory stage included: drafting the Census Statute; conducting pilot censuses in certain areas; rectifying household registration; installing computers; training computer technicians; convening national census work conference and similar conferences at various levels; selecting and training field census workers; printing census forms; and conducting widespread publicity. Pilot censuses were conducted at central, provincial, and county levels in order to draw useful experience for the nationwide census. A large number of census workers were selected and trained. Among them were about a million staff members working in census offices at various levels, 1000 computer technical personnel, 4000 data entry personnel, 100,000 coders, and 1 million census supervisors. 8 million cadres and volunteers at the grassroots actively helped conduct the census. Enumeration and verification was completed between July 1 and July 15, 1982. The postenumeration check on a sample basis showed only a net overcount of 0.15/1000 with an overcount of 0.71/1000 and an undercount of 0.56/1000. All levels of the government, the Communist Party, Trade Unions, and Women's Federations were mobilized to take part in the census, and all mass media were utilized. All census information will be finally tabulated by computers before the end of 1984, and census reports will be compiled and submitted to the State Council for examination before they are published.

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

DTIC Science & Technology

2012-08-01

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

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

NASA Technical Reports Server (NTRS)

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

1979-01-01

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

Underwater Photo-Elicitation: A New Experiential Marine Education Technique

ERIC Educational Resources Information Center

Andrews, Steve; Stocker, Laura; Oechel, Walter

2018-01-01

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

OD-ing on Reality: An Interview with Alex Flinn

ERIC Educational Resources Information Center

Lesesne, Teri S.

2005-01-01

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

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

DTIC Science & Technology

2011-02-01

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

Underwater Munitions Expert System to Predict Mobility and Burial

DTIC Science & Technology

2017-11-14

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

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

Code of Federal Regulations, 2010 CFR

2010-10-01

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

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

ERIC Educational Resources Information Center

Jabba Molinares, Daladier

2009-01-01

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

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

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-27

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

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

EPA Science Inventory

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

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

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

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

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

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

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

Hydrostatic weighing at residual volume and functional residual capacity.

PubMed

Thomas, T R; Etheridge, G L

1980-07-01

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

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

PubMed Central

Zhang, Tao; Chen, Liping; Li, Yao

2015-01-01

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

Trade-off Analysis of Underwater Acoustic Sensor Networks

NASA Astrophysics Data System (ADS)

Tuna, G.; Das, R.

2017-09-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

Luminescence signal profiling: a new proxy for sedimentologically "invisible" marine Mass Transport Deposits (MTDs)

NASA Astrophysics Data System (ADS)

López, Gloria I.; Bialik, Or; Waldmann, Nicolas

2017-04-01

When dealing with fine-grained, organic-rich, colour-monotone, underwater marine sediment cores retrieved from the continental shelf or slope, the initial visual impression, upon split-opening the vessels, is often of a "disappointing" homogeneous, monotonous, continuous archive. Only after thorough, micro- to macro-scale, multi-parameter investigations the sediment reveals its treasures, initially by performing some measurements on the intact core itself, hence depicting for the first time its contents, and subsequently by carrying out the destructive, multi-proxy sample-based analyses. Usually, routine Multi-Sensor Core Logger (MSCL) measurements of petrophysical parameters (e.g. magnetic susceptibility, density, P-Wave velocity) on un-split sediment cores are the first undertaken while still on-board in the field or back at the laboratory. Less often done, but equally valuable, are continuous X-Ray and CT scan imaging of the same intact archives. Upon splitting, routine granulometry, micro- and macro-fossil and invertebrate identification, total organic / inorganic carbon content (TOC / TIC), amid other analyses take place. The geochronology component is also established usually by AMS 14C on selected organic-rich units, and less common is Optically Stimulated Luminescence (OSL) dating used on the coarser-grained, siliciclastic layers. A relatively new tool used in Luminescence, the Portable OSL Reader, employed to rapidly assess the luminescence signal of untreated poly-mineral samples to assist with targeted field sampling for full OSL dating, was used for the first time in marine sediment cores as a novel petrophysical characterization tool with astonishing results. In this study, two 2 m-long underwater piston sediment cores recovered from 200 m depths on the continental shelf off-southern Israel, were subjected to pulsed-photon stimulation (PPSL) obtaining favourable luminescence signals along their entire lengths. Astoundingly, luminescence signals were obtained on both, already split-opened cores. Both cores depicted the monotonous characteristics of homogeneousness down-core as per most of the results obtained from the non-destructive and destructive tests. One of the cores showed several small higher energy events, including a Mass Transport Deposit (MTD) within its first 10 cm, only fully visible on the CT scan imaging, the PPSL profile and particle size distribution plot. This initial investigation demonstrates the feasibility and usefulness of luminescence profiling as a new sedimentological and petrophysical proxy to better visualize homogeneous yet complex, fine-grained, underwater archives. Moreover, it helps to understand the continuity of the stratigraphy and linearity of deposition of the sediment, besides assisting on the estimation of relative ages provided that good OSL ages are obtained throughout the recovered archive.

Long-term persistence of seeded grass species: an unwanted side effect of ecological restoration.

PubMed

Rydgren, Knut; Auestad, Inger; Hamre, Liv Norunn; Hagen, Dagmar; Rosef, Line; Skjerdal, Gudrun

2016-07-01

Spoil heaps are the visible footprint of hydropower production, particularly in vulnerable alpine environments. Speeding up vegetation development by seeding commercial grass species has been a common restoration practice for the last 50 years, but we lack information on whether seeded species decline and allow native plant cover to develop. We visually estimated cover of native vascular plants and five seeded grass species (Agrostis capillaris, Festuca ovina, Festuca rubra, Schedonorus pratensis and Phleum pratense) on eight spoil heaps at different elevations (boreal-alpine zone) in western Norway. Spoil heap vegetation was censused twice (9-20 and 24-36 years after spoil heap construction); the undisturbed surrounding vegetation was also censused on the second occasion. Total cover on the spoil heaps showed some increase, but remained far below that in surrounding areas. Cover of seeded grass species in the surroundings was low (but not negligible), indicating suboptimal establishment ability. Seeded species usually covered less than 20 % of the spoil heaps, and only F. rubra, F. ovina and A. capillaris contributed substantially. Proportional cover indicated better initial establishment by seeded species, but their cover decreased between the censuses on all but the highest located spoil heap. The persistence of seeded grass species is problematic, and despite the decrease in proportional cover, they are likely to persist for decades on spoil heaps, posing a risk of invasion of surrounding areas. We therefore recommend replacing the practice of seeding with more appropriate restoration measures.

Inter-habitat variation in density and size composition of reef fishes from the Cuban Northwestern shelf.

PubMed

Aguilar, Consuelo; González-Sansón, Gaspar; Cabrera, Yureidy; Ruiz, Alexei; Curry, R Allen

2014-06-01

Movement and exchange of individuals among habitats is critical for the dynamics and success of reef fish populations. Size segregation among habitats could be taken as evidence for habitat connectivity, and this would be a first step to formulate hypotheses about ontogenetic inter-habitat migrations. The primary goal of our research was to find evidence of inter-habitat differences in size distributions and density of reef fish species that can be classified a priori as habitat-shifters in an extensive (-600km2) Caribbean shelf area in NW Cuba. We sampled the fish assemblage of selected species using visual census (stationary and transect methods) in 20 stations (sites) located in mangrove roots, patch reefs, inner zone of the crest and fore reef (12-16m depth). In each site, we performed ten censuses for every habitat type in June and September 2009. A total of 11 507 individuals of 34 species were counted in a total of 400 censuses. We found significant differences in densities and size compositions among reef and mangrove habitats, supporting the species-specific use of coastal habitats. Adults were found in all habitats. Reef habitats, mainly patch reefs, seem to be most important for juvenile fish of most species. Mangroves were especially important for two species of snappers (Lutjanus apodus and L. griseus), providing habitat for juveniles. These species also displayed well defined gradients in length composition across the shelf.

Functional vision and cognition in infants with congenital disorders of the peripheral visual system.

PubMed

Dale, Naomi; Sakkalou, Elena; O'Reilly, Michelle; Springall, Clare; De Haan, Michelle; Salt, Alison

2017-07-01

To investigate how vision relates to early development by studying vision and cognition in a national cohort of 1-year-old infants with congenital disorders of the peripheral visual system and visual impairment. This was a cross-sectional observational investigation of a nationally recruited cohort of infants with 'simple' and 'complex' congenital disorders of the peripheral visual system. Entry age was 8 to 16 months. Vision level (Near Detection Scale) and non-verbal cognition (sensorimotor understanding, Reynell Zinkin Scales) were assessed. Parents completed demographic questionnaires. Of 90 infants (49 males, 41 females; mean 13mo, standard deviation [SD] 2.5mo; range 7-17mo); 25 (28%) had profound visual impairment (light perception at best) and 65 (72%) had severe visual impairment (basic 'form' vision). The Near Detection Scale correlated significantly with sensorimotor understanding developmental quotients in the 'total', 'simple', and 'complex' groups (all p<0.001). Age and vision accounted for 48% of sensorimotor understanding variance. Infants with profound visual impairment, especially in the 'complex' group with congenital disorders of the peripheral visual system with known brain involvement, showed the greatest cognitive delay. Lack of vision is associated with delayed early-object manipulative abilities and concepts; 'form' vision appeared to support early developmental advance. This paper provides baseline characteristics for cross-sectional and longitudinal follow-up investigations in progress. A methodological strength of the study was the representativeness of the cohort according to national epidemiological and population census data. © 2017 Mac Keith Press.

DeepSurveyCam--A Deep Ocean Optical Mapping System.

PubMed

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

2016-01-28

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

A horse's eye view: size and shape discrimination compared with other mammals.

PubMed

Tomonaga, Masaki; Kumazaki, Kiyonori; Camus, Florine; Nicod, Sophie; Pereira, Carlos; Matsuzawa, Tetsuro

2015-11-01

Mammals have adapted to a variety of natural environments from underwater to aerial and these different adaptations have affected their specific perceptive and cognitive abilities. This study used a computer-controlled touchscreen system to examine the visual discrimination abilities of horses, particularly regarding size and shape, and compared the results with those from chimpanzee, human and dolphin studies. Horses were able to discriminate a difference of 14% in circle size but showed worse discrimination thresholds than chimpanzees and humans; these differences cannot be explained by visual acuity. Furthermore, the present findings indicate that all species use length cues rather than area cues to discriminate size. In terms of shape discrimination, horses exhibited perceptual similarities among shapes with curvatures, vertical/horizontal lines and diagonal lines, and the relative contributions of each feature to perceptual similarity in horses differed from those for chimpanzees, humans and dolphins. Horses pay more attention to local components than to global shapes. © 2015 The Author(s).

The Milky Way Project: A Census of Small Bubbles

NASA Astrophysics Data System (ADS)

Arvidsson, Kim; Wolf-Chase, G. A.; Way Project, Milky

2013-01-01

The first data release (DR1) from the Milky Way Project (MWP) contains 1362 visually identified small bubbles drawn by users. These small infrared bubbles typically have diameters <0.5' and can be found throughout the Galactic plane. This project seeks to determine what classes of objects make up the small bubble catalog by comparing their positions to a wide variety of existing data sets. The most successful match was with the MSX6C point source catalog; >90% of all small bubbles are MSX point sources.

Understanding Who Reported Multiple Races in the U.S. Decennial Census: Results From Census 2000 and the 2010 Census

ERIC Educational Resources Information Center

Jones, Nicholas A.; Bullock, Jungmiwha J.

2013-01-01

The United States's collection of race data in Census 2000 and the 2010 Census provides a historical and landmark opportunity to compare results from two decennial censuses on the distributions of people reporting multiple races in response to the census. This research provides insights on the number of people who reported more than one race and…

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

NASA Astrophysics Data System (ADS)

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

2015-05-01

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

Study on Underwater Image Denoising Algorithm Based on Wavelet Transform

NASA Astrophysics Data System (ADS)

Jian, Sun; Wen, Wang

2017-02-01

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

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

NASA Image and Video Library

1984-07-05

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

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

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

A Secure Communication Suite for Underwater Acoustic Sensor Networks

PubMed Central

Dini, Gianluca; Duca, Angelica Lo

2012-01-01

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

R2 & NE Block Group - 2010 Census; Housing and Population Summary

EPA Pesticide Factsheets

The TIGER/Line Files are shapefiles and related database files (.dbf) that are an extract of selected geographic and cartographic information from the U.S. Census Bureau's Master Address File / Topologically Integrated Geographic Encoding and Referencing (MAF/TIGER) Database (MTDB). The MTDB represents a seamless national file with no overlaps or gaps between parts, however, each TIGER/Line File is designed to stand alone as an independent data set, or they can be combined to cover the entire nation. Block Groups (BGs) are defined before tabulation block delineation and numbering, but are clusters of blocks within the same census tract that have the same first digit of their 4-digit census block number from the same decennial census. For example, Census 2000 tabulation blocks 3001, 3002, 3003,.., 3999 within Census 2000 tract 1210.02 are also within BG 3 within that census tract. Census 2000 BGs generally contained between 600 and 3,000 people, with an optimum size of 1,500 people. Most BGs were delineated by local participants in the Census Bureau's Participant Statistical Areas Program (PSAP). The Census Bureau delineated BGs only where the PSAP participant declined to delineate BGs or where the Census Bureau could not identify any local PSAP participant. A BG usually covers a contiguous area. Each census tract contains at least one BG, and BGs are uniquely numbered within census tract. Within the standard census geographic hierarchy, BGs never cross

Remote Control over Underwater Dynamic Attachment/Detachment and Locomotion.

PubMed

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

2018-06-19

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

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

PubMed

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

2014-10-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

1992 Census of Transportation, Communications, and Utilities : 1993 Comodity Flow Survey

DOT National Transportation Integrated Search

1996-10-01

Title 13 of the United States Code (sections 131, 191, and 224) directs the Census Bureau to take the economic census every 5 years, covering years ending in 2 and 7. The 1992 Economic Census consists of the following eight censuses: (1) Census of Re...

EMI Modeling for UXO Detection and Discrimination Underwater

DTIC Science & Technology

2011-12-01

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

Underwater Acoustic Tracer System

DTIC Science & Technology

2009-03-13

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

Elastic Wave Propagation Mechanisms in Underwater Acoustic Environments

DTIC Science & Technology

2015-09-30

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

Development of High Data Rate Acoustic Multiple-Input/Multiple-Output Modems

DTIC Science & Technology

2015-09-30

communication capabilities of underwater platforms and facilitate real-time adaptive operations in the ocean. OBJECTIVES The ...signaling at the transmitter and low-complexity time reversal processing at the receiver. APPROACH Underwater acoustic (UWA) communication is useful...digital communications in shallow water environments. The advancement has direct impacts on defense appliations since underwater acoustic modems

Multireceiver Acoustic Communications in Time-Varying Environments

DTIC Science & Technology

2014-06-01

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

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.

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

PubMed

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

2017-07-14

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

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

NASA Astrophysics Data System (ADS)

Schoch, Stefan; Nikiforakis, Nikolaos

2015-01-01

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

Real-Time Communication Support for Underwater Acoustic Sensor Networks †

PubMed Central

Santos, Rodrigo; Orozco, Javier; Micheletto, Matias

2017-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-04-01

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

Filming Underwater in 3d Respecting Stereographic Rules

NASA Astrophysics Data System (ADS)

Rinaldi, R.; Hordosch, H.

2015-04-01

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

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.

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

NASA Astrophysics Data System (ADS)

Demir, Ozgur; Sahin, Abdurrahman; Yilmaz, Tamer

2012-09-01

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

Study of archaeological underwater finds: deterioration and conservation

NASA Astrophysics Data System (ADS)

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

2010-09-01

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

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

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

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

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

PubMed Central

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

1972-01-01

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

Chandra Observation of Polaris: Census of Low-mass Companions

NASA Astrophysics Data System (ADS)

Evans, Nancy Remage; Guinan, Edward; Engle, Scott; Wolk, Scott J.; Schlegel, Eric; Mason, Brian D.; Karovska, Margarita; Spitzbart, Bradley

2010-05-01

We have observed Cepheid Polaris (α UMi A: F7 Ib [Aa] + F6 V [Ab]) with Chandra ACIS-I for 10 ks. An X-ray source was found at the location of Polaris with log LX = 28.89 erg s-1 (0.3-8 keV) and kT = 0.6 keV. A spectrum this soft could come from either the supergiant or the dwarf, as shown by comparable coronal stars. Two resolved low-mass visual companions, "C" and "D," are not physical members of the system based on the lack of X-rays (indicating an age older than the Cepheid) and inconsistent proper motions. Polaris B is not an X-ray source, consistent with its early F spectral type, and probably does not have a lower mass companion itself. A possible more distant member is identified, and an additional less plausible one. This provides a complete census of companions out to 0.1 pc covering a mass ratio range of an order of magnitude and a ΔV of nearly 15 mag. Based on observations made with the NASA Chandra Satellite.

[Design and implementation of Chinese materia medica resources survey results display system].

PubMed

Wang, Hui; Zhang, Xiao-Bo; Ge, Xiao-Guang; Jin, Yan; Wang, Ling; Zhao, Yan-Ping; Jing, Zhi-Xian; Guo, Lan-Ping; Huang, Lu-Qi

2017-11-01

From the beginning of the fourth national census of traditional Chinese medicine resources in 2011, a large amount of data have been collected and compiled, including wild medicinal plant resource data, cultivation of medicinal plant information, traditional knowledge, and specimen information. The traditional paper-based recording method is inconvenient for query and application. The B/S architecture, JavaWeb framework and SOA are used to design and develop the fourth national census results display platform. Through the data integration and sorting, the users are to provide with integrated data services and data query display solutions. The platform realizes the fine data classification, and has the simple data retrieval and the university statistical analysis function. The platform uses Echarts components, Geo Server, Open Layers and other technologies to provide a variety of data display forms such as charts, maps and other visualization forms, intuitive reflects the number, distribution and type of Chinese material medica resources. It meets the data mapping requirements of different levels of users, and provides support for management decision-making. Copyright© by the Chinese Pharmaceutical Association.

75 FR 13484 - Renewal of the Census Advisory Committees on the Race and Ethnic Populations

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-22

... Asian Population, Census Advisory Committee on the Hispanic Populations and Census Advisory Committee on... Asian Population, Census Advisory Committee on the Hispanic Populations and Census Advisory Committee on...

Underwater Electrical Safety Practices

DTIC Science & Technology

1976-01-01

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

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

DTIC Science & Technology

2016-11-01

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

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

Code of Federal Regulations, 2013 CFR

2013-01-01

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

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

Code of Federal Regulations, 2012 CFR

2012-01-01

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

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

Code of Federal Regulations, 2014 CFR

2014-01-01

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

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

Code of Federal Regulations, 2010 CFR

2010-01-01

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

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

Code of Federal Regulations, 2011 CFR

2011-01-01

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

GOATS 2008 Autonomous, Adaptive Multistatic Acoustic Sensing

DTIC Science & Technology

2008-09-30

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

NRL Fact Book

DTIC Science & Technology

1988-05-01

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

Maritime In Situ Sensing Inter-Operable Networks (MISSION)

DTIC Science & Technology

2013-09-30

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

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

NASA Technical Reports Server (NTRS)

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

2018-01-01

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

A simple underwater imaging model.

PubMed

Hou, Weilin

2009-09-01

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

WODA Technical Guidance on Underwater Sound from Dredging.

PubMed

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

2016-01-01

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

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

PubMed

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

2016-01-01

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

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

PubMed

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

2016-11-01

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

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

PubMed

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

2017-10-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-06-01

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

Channel coding for underwater acoustic single-carrier CDMA communication system

NASA Astrophysics Data System (ADS)

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

2017-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Modeling the utility of binaural cues for underwater sound localization.

PubMed

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

2014-06-01

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

A bio-inspired electrocommunication system for small underwater robots.

PubMed

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

2017-03-29

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

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

PubMed Central

Wu, Geng-De; Huang, Chun-Ju

2017-01-01

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

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

PubMed

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

2017-06-22

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

Aquatic Acoustic Metrics Interface Utility for Underwater Sound Monitoring and Analysis

PubMed Central

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

2012-01-01

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

Time Series Analysis for Forecasting Hospital Census: Application to the Neonatal Intensive Care Unit

PubMed Central

Hoover, Stephen; Jackson, Eric V.; Paul, David; Locke, Robert

2016-01-01

Summary Background Accurate prediction of future patient census in hospital units is essential for patient safety, health outcomes, and resource planning. Forecasting census in the Neonatal Intensive Care Unit (NICU) is particularly challenging due to limited ability to control the census and clinical trajectories. The fixed average census approach, using average census from previous year, is a forecasting alternative used in clinical practice, but has limitations due to census variations. Objective Our objectives are to: (i) analyze the daily NICU census at a single health care facility and develop census forecasting models, (ii) explore models with and without patient data characteristics obtained at the time of admission, and (iii) evaluate accuracy of the models compared with the fixed average census approach. Methods We used five years of retrospective daily NICU census data for model development (January 2008 – December 2012, N=1827 observations) and one year of data for validation (January – December 2013, N=365 observations). Best-fitting models of ARIMA and linear regression were applied to various 7-day prediction periods and compared using error statistics. Results The census showed a slightly increasing linear trend. Best fitting models included a non-seasonal model, ARIMA(1,0,0), seasonal ARIMA models, ARIMA(1,0,0)x(1,1,2)7 and ARIMA(2,1,4)x(1,1,2)14, as well as a seasonal linear regression model. Proposed forecasting models resulted on average in 36.49% improvement in forecasting accuracy compared with the fixed average census approach. Conclusions Time series models provide higher prediction accuracy under different census conditions compared with the fixed average census approach. Presented methodology is easily applicable in clinical practice, can be generalized to other care settings, support short- and long-term census forecasting, and inform staff resource planning. PMID:27437040

Time Series Analysis for Forecasting Hospital Census: Application to the Neonatal Intensive Care Unit.

PubMed

Capan, Muge; Hoover, Stephen; Jackson, Eric V; Paul, David; Locke, Robert

2016-01-01

Accurate prediction of future patient census in hospital units is essential for patient safety, health outcomes, and resource planning. Forecasting census in the Neonatal Intensive Care Unit (NICU) is particularly challenging due to limited ability to control the census and clinical trajectories. The fixed average census approach, using average census from previous year, is a forecasting alternative used in clinical practice, but has limitations due to census variations. Our objectives are to: (i) analyze the daily NICU census at a single health care facility and develop census forecasting models, (ii) explore models with and without patient data characteristics obtained at the time of admission, and (iii) evaluate accuracy of the models compared with the fixed average census approach. We used five years of retrospective daily NICU census data for model development (January 2008 - December 2012, N=1827 observations) and one year of data for validation (January - December 2013, N=365 observations). Best-fitting models of ARIMA and linear regression were applied to various 7-day prediction periods and compared using error statistics. The census showed a slightly increasing linear trend. Best fitting models included a non-seasonal model, ARIMA(1,0,0), seasonal ARIMA models, ARIMA(1,0,0)x(1,1,2)7 and ARIMA(2,1,4)x(1,1,2)14, as well as a seasonal linear regression model. Proposed forecasting models resulted on average in 36.49% improvement in forecasting accuracy compared with the fixed average census approach. Time series models provide higher prediction accuracy under different census conditions compared with the fixed average census approach. Presented methodology is easily applicable in clinical practice, can be generalized to other care settings, support short- and long-term census forecasting, and inform staff resource planning.

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.

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

NASA Astrophysics Data System (ADS)

Carneiro, Brooke Elizabeth

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

Ocean Variability Effects on Underwater Acoustic Communications

DTIC Science & Technology

2012-09-30

2000. [2] B. Li, J. Huang, S. Zhou, K. Ball, M. Stojanovic, L. Freitag, and P. Willett. MIMO - OFDM for high rate underwater acoustic...alternative to orthogonal frequency-division multiplexing ( OFDM ) [2], we developed a multiband transceiver, where a wide frequency band is divided into...multiple separated sub-bands. These sub- bands are several kilohertz in width, much wider than OFDM sub-carriers used in underwater channels

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

Improving the Navys Passive Underwater Acoustic Monitoring of Marine Mammal Populations

DTIC Science & Technology

2015-09-30

DISTRIBUTION STATEMENT A: Distribution approved for public release; distribution is unlimited. Improving the Navy’s Passive Underwater Acoustic...mpl.ucsd.edu LONG-TERM GOALS The long-term goals of this research effort are to improve the Navy’s passive underwater acoustic monitoring of marine...research of a graduate student in marine bioacoustics and ocean acoustics at the Scripps Institution of Oceanography. OBJECTIVES The

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

DTIC Science & Technology

2013-12-01

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

Optical Magnetometry for Detecting Underwater Objects

DTIC Science & Technology

2015-09-21

underwater object. The two mechanisms responsible for the polarization rotation are the Surface Magneto-Optical Kerr Effect (SMOKE) and the Faraday effect...the underwater object itself ( Faraday effect). An analytical expression is obtained for the polarization-rotated field when the incident plane wave...Washington, DC 20375-5320 October 2014 – August 2015 NRL *University of Maryland, College Park, MD 20742-4111 Faraday SMOKE 67-4374-C4 1 Optical

Kinematical Comparison of the 200 m Backstroke Turns between National and Regional Level Swimmers

PubMed Central

Veiga, Santiago; Cala, Antonio; Frutos, Pablo González; Navarro, Enrique

2013-01-01

The aims of this investigation were to determine the evolution of selected turn variables during competitive backstroke races and to compare these kinematic variables between two different levels of swimmers. Sixteen national and regional level male swimmers participant in the 200 m backstroke event at the Spanish Swimming Championships in short course (25 m) were selected to analyze their turn performances. The individual distances method with two-dimensional Direct Linear Transformation (2D-DLT) algorithms was used to perform race analyses. National level swimmers presented a shorter “turn time”, a longer “distance in”, a faster “underwater velocity” and “normalized underwater velocity”, and a faster “stroking velocity” than regional level swimmers, whereas no significant differences were detected between levels for the “underwater distance”. National level swimmers maintained similar “turn times” over the event and increased “underwater velocity” and “normalized underwater velocity” in the last (seventh) turn segment, whereas regional level swimmers increased “turn time” in the last half of the race. For both national and regional level swimmers, turn “underwater distance” during the last three turns of the race was significantly shorter while no significant differences in distance into the wall occurred throughout the race. The skill level of the swimmers has an impact on the competitive backstroke turn segments. In a 200 m event, the underwater velocity should be maximized to maintain turn proficiency, whereas turn distance must be subordinated to the average velocity. Key Points The underwater turn velocity is as a critical variable related to the swimmers’ level of skill in a 200 m backstroke event. Best swimmers perform faster but no longer turn segments during a 200 m backstroke event. Best swimmers maintain their turn performance throughout the 200 m backstroke event by increasing the underwater velocity during the final part of the race. The turn distance out seems to be subordinated in order to maximize the average velocity during a 200 m backstroke event. PMID:24421733

Automated Visual Event Detection, Tracking, and Data Management System for Cabled- Observatory Video

NASA Astrophysics Data System (ADS)

Edgington, D. R.; Cline, D. E.; Schlining, B.; Raymond, E.

2008-12-01

Ocean observatories and underwater video surveys have the potential to unlock important discoveries with new and existing camera systems. Yet the burden of video management and analysis often requires reducing the amount of video recorded through time-lapse video or similar methods. It's unknown how many digitized video data sets exist in the oceanographic community, but we suspect that many remain under analyzed due to lack of good tools or human resources to analyze the video. To help address this problem, the Automated Visual Event Detection (AVED) software and The Video Annotation and Reference System (VARS) have been under development at MBARI. For detecting interesting events in the video, the AVED software has been developed over the last 5 years. AVED is based on a neuromorphic-selective attention algorithm, modeled on the human vision system. Frames are decomposed into specific feature maps that are combined into a unique saliency map. This saliency map is then scanned to determine the most salient locations. The candidate salient locations are then segmented from the scene using algorithms suitable for the low, non-uniform light and marine snow typical of deep underwater video. For managing the AVED descriptions of the video, the VARS system provides an interface and database for describing, viewing, and cataloging the video. VARS was developed by the MBARI for annotating deep-sea video data and is currently being used to describe over 3000 dives by our remotely operated vehicles (ROV), making it well suited to this deepwater observatory application with only a few modifications. To meet the compute and data intensive job of video processing, a distributed heterogeneous network of computers is managed using the Condor workload management system. This system manages data storage, video transcoding, and AVED processing. Looking to the future, we see high-speed networks and Grid technology as an important element in addressing the problem of processing and accessing large video data sets.

15 CFR 80.1 - General requirements.

Code of Federal Regulations, 2012 CFR

2012-01-01

..., DEPARTMENT OF COMMERCE FURNISHING PERSONAL CENSUS DATA FROM CENSUS OF POPULATION SCHEDULES § 80.1 General requirements. (a) Data from records of decennial census of population questionnaires pertaining to an...) Requests for information from decennial census of population records (herein “Census Information”) should...

China.

PubMed

1981-01-01

China's 3rd national census will belong to the era of modern census taking. Over 6 million enumerators will be involved along with 29 computers for data processing. The 3-year budget exceeds the equivalent of $135 million. A pilot census was taken in the city and country of Wuxi in Jiangsu province south of Shanghai during June 1980. Additional pilot censuses are to be conducted in the provinces beginning early in 1981. The full count is scheduled to be 1 year later on July 1, 1982. Results will be processed and made available by 1984 so that planners can utilize them in drafting the 5-year development plan for 1985-1990. The censuses of 1953 and 1964 yeilded little data by modern standards. The longterm objective of the Population Census Office is to build up a modern census taking capability. This will provide data for the formulation of population and development policies, programs to implement those policies, and family planning activities. Another longterm objective is to extend the new data processing system to 399 prefectures and 2168 counties in China. The equipment will be subsequently used in related research activities. For the current census, a complete organization of census offices, census working teams, and census working groups will be established at successive administrative levels down to neighborhood (urban) and brigade (rural) levels, beginning early in 1981. The full census will cover 29 provinces of China. Approximately 6 million enumerators will each cover about 30-40 households. 2 models of computer and corresponding data entry systems are being used: 8 Wang VS 2200 systems and 21 IBM 4300 series systems from the U.S. The United Nations Fund for Population Activities is supplying equipment and technical assistance for the entire census amounting to more than $15 million. The Population Census Office will analyze and publish the census data.

Underwater video enhancement using multi-camera super-resolution

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

78 FR 54863 - Bureau of the Census Geographically Updated Population Certification Program (GUPCP)

Federal Register 2010, 2011, 2012, 2013, 2014

2013-09-06

... Geographically Updated Population Certification Program (GUPCP) AGENCY: Bureau of the Census, Department of... Census (Census Bureau) will resume processing applications for certified decennial census population and... Updated Population Certification Program (GUPCP), was suspended on January 1, 2008, to accommodate the...

Key issues in the quality assurance of the One Number Census.

PubMed

Diamond, Ian; Abbott, Owen; Jackson, Neil

2003-01-01

As part of the 2001 Census, the One Number Census project estimated and adjusted the Census database for underenumeration. As a result of the highly innovative One Number Census and the Quality Assurance process it encompassed, it was also ensured that robust results could be obtained for each local authority area. This article examines some of the issues and analyses that were undertaken as part of that assessment of the 2001 Census population counts for England and Wales. The article firstly highlights the key issues surrounding the implementation of the 2001 Census fieldwork. The article then explores the 2001 Census results through a series of demographic analyses to illustrate the sorts of issues investigated during the One Number Census Quality Assurance process itself. These analyses look at the patterns contained within the results, and comparisons with key alternative sources of population counts. Overall, these in-depth analyses and investigations provide further credence to the plausibility of the One Number Census results.

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.

Aquatic Acoustic Metrics Interface

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

2012-12-18

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

Object detection from images obtained through underwater turbulence medium

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Motion analysis and trials of the deep sea hybrid underwater glider Petrel-II

NASA Astrophysics Data System (ADS)

Liu, Fang; Wang, Yan-hui; Wu, Zhi-liang; Wang, Shu-xin

2017-03-01

A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.

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

PubMed

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

2012-01-01

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

Development of hybrid method for the prediction of underwater propeller noise

NASA Astrophysics Data System (ADS)

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

2005-11-01

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

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

PubMed

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

2018-06-01

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

75 FR 75452 - Proposed Information Collection; Comment Request; 2012 Economic Census General Classification Report

Federal Register 2010, 2011, 2012, 2013, 2014

2010-12-03

... Economic Census General Classification Report AGENCY: U.S. Census Bureau, Commerce. ACTION: Notice. SUMMARY... directed to Scott P. Handmaker, Chief, Economic Classifications Operations Branch, U.S. Census Bureau... . SUPPLEMENTARY INFORMATION: I. Abstract The Economic Census General Classification Report (NC-99023) collects...

76 FR 22864 - Proposed Information Collection; Comment Request; Census Employment Inquiry

Federal Register 2010, 2011, 2012, 2013, 2014

2011-04-25

... Employment Inquiry AGENCY: U.S. Census Bureau, Commerce. ACTION: Notice. SUMMARY: The Department of Commerce.... SUPPLEMENTARY INFORMATION: I. Abstract The BC-170, Census Employment Inquiry, is used to collect information... and intercensal periods for surveys, special censuses, decennial census pretests, and dress rehearsals...

Spanwise visualization of the flow around a three-dimensional foil with leading edge protuberances

NASA Astrophysics Data System (ADS)

Stanway, M. J.; Techet, A. H.

2006-11-01

Studies of model humpback whale fins have shown that leading edge protuberances, or tubercles, can lead to delayed stall and increased lift at higher angles of attack, compared to foils with geometrically smooth leading edges. Such enhanced performance characteristics could prove highly useful in underwater vehicles such as gliders or long range AUVs (autonomous underwater vehicles). In this work, Particle Imaging Velocimetry (PIV) is performed on two static wings in a water tunnel over a range of angles of attack. These three- dimensional, finite-aspect ratio wings are modeled after a humpback whale flipper and are identical in shape, tapered from root to tip, except for the leading edge. In one of the foils the leading edge is smooth, whereas in the other, regularly spaced leading edge bumps are machined to simulate the whale’s fin tubercles. Results from these PIV tests reveal distinct cells where coherent flow structures are destroyed as a result of the leading edge perturbations. Tests are performed at Reynolds numbers Re ˜ O(10^5), based on chordlength, in a recirculating water tunnel. An inline six-axis load cell is mounted to measure the forces on the foil over a range of static pitch angles. It is hypothesized that this spanwise breakup of coherent vortical structures is responsible for the delayed angle of stall. These quantitative experiments complement exiting qualitative studies with two dimensional foils.

Research on the mechanics of underwater supersonic gas jets

NASA Astrophysics Data System (ADS)

Shi, Honghui; Wang, Boyi; Dai, Zhenqing

2010-03-01

An experimental research was carried out to study the fluid mechanics of underwater supersonic gas jets. High pressure air was injected into a water tank through converging-diverging nozzles (Laval nozzles). The jets were operated at different conditions of over-, full- and under-expansions. The jet sequences were visualized using a CCD camera. It was found that the injection of supersonic air jets into water is always accompanied by strong flow oscillation, which is related to the phenomenon of shock waves feedback in the gas phase. The shock wave feedback is different from the acoustic feedback when a supersonic gas jet discharges into open air, which causes screech tone. It is a process that the shock waves enclosed in the gas pocket induce a periodic pressure with large amplitude variation in the gas jet. Consequently, the periodic pressure causes the jet oscillation including the large amplitude expansion. Detailed pressure measurements were also conducted to verify the shock wave feedback phenomenon. Three kinds of measuring methods were used, i.e., pressure probe submerged in water, pressure measurements from the side and front walls of the nozzle devices respectively. The results measured by these methods are in a good agreement. They show that every oscillation of the jets causes a sudden increase of pressure and the average frequency of the shock wave feedback is about 5-10 Hz.

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Development of a Long-Range Gliding Underwater Vehicle Utilizing Java Sun SPOT Technology

DTIC Science & Technology

2008-09-01

release; distribution is unlimited DEVELOPMENT OF A LONG-RANGE GLIDING UNMANNED UNDERWATER VEHICLE UTILIZING JAVA SUN SPOT TECHNOLOGY by...TYPE AND DATES COVERED Master’s Thesis 4. TITLE AND SUBTITLE: Development of a Long-Range Gliding Underwater Vehicle Utilizing Java Sun SPOT...vehicle. Further work is needed to demonstrate the efficiency and effectiveness of this design. 15. NUMBER OF PAGES 117 14. SUBJECT TERMS Java

A Summary of the Naval Postgraduate School Research Program.

DTIC Science & Technology

1982-05-01

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

An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

DTIC Science & Technology

2013-02-01

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

Quantifying the Effects of Propagation on Classification of Cetacean Vocalizations

DTIC Science & Technology

2015-09-30

mammals can be found in all ocean basins, their habitats cover diverse underwater environments. It is well known that acoustic propagation can vary...propagation on an automated classifier, using both underwater propagation experiments and complementary modeling. If propagation does impact some... Underwater Sound, 3rd ed., McGraw-Hill Book Company, 1983. [2] F. B. Jensen, W. A. Kuperman, M.B. Porter, and H. Schmidt, Computational Ocean Acoustics

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

DTIC Science & Technology

2013-09-30

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

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

NASA Astrophysics Data System (ADS)

Agoes Moelyadi, Mochammad; Bambang Riswandi, Bagus

2018-04-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization.

PubMed

Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y; Alouini, Mohamed-Slim

2017-12-26

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Gas film retention and underwater photosynthesis during field submergence of four contrasting rice genotypes

PubMed Central

Winkel, Anders; Pedersen, Ole; Ella, Evangelina; Ismail, Abdelbagi M.; Colmer, Timothy D.

2014-01-01

Floods can completely submerge some rice (Oryza sativa L.) fields. Leaves of rice have gas films that aid O2 and CO2 exchange under water. The present study explored the relationship between gas film persistence and underwater net photosynthesis (PN) as influenced by genotype and submergence duration. Four contrasting genotypes (FR13A, IR42, Swarna, and Swarna-Sub1) were submerged for 13 days in the field and leaf gas films, chlorophyll, and the capacity for underwater PN at near ambient and high CO2 were assessed with time of submergence. At high CO2 during the PN assay, all genotypes initially showed high rates of underwater PN, and this rate was not affected by time of submergence in FR13A. This superior photosynthetic performance of FR13A was not evident in Swarna-Sub1 (carrying the SUB1 QTL) and the declines in underwater PN in both Swarna-Sub1 and Swarna were equal to that in IR42. At near ambient CO2 concentration, underwater PN declined in all four genotypes and this corresponded with loss of leaf gas films with time of submergence. FR13A retained leaf gas films moderately longer than the other genotypes, but gas film retention was not linked to SUB1. Diverse rice germplasm should be screened for gas film persistence during submergence, as this trait could potentially increase carbohydrate status and internal aeration owing to increased underwater PN, which contributes to submergence tolerance in rice. PMID:24759881

The key kinematic determinants of undulatory underwater swimming at maximal velocity.

PubMed

Connaboy, Chris; Naemi, Roozbeh; Brown, Susan; Psycharakis, Stelios; McCabe, Carla; Coleman, Simon; Sanders, Ross

2016-01-01

The optimisation of undulatory underwater swimming is highly important in competitive swimming performance. Nineteen kinematic variables were identified from previous research undertaken to assess undulatory underwater swimming performance. The purpose of the present study was to determine which kinematic variables were key to the production of maximal undulatory underwater swimming velocity. Kinematic data at maximal undulatory underwater swimming velocity were collected from 17 skilled swimmers. A series of separate backward-elimination analysis of covariance models was produced with cycle frequency and cycle length as dependent variables (DVs) and participant as a fixed factor, as including cycle frequency and cycle length would explain 100% of the maximal swimming velocity variance. The covariates identified in the cycle-frequency and cycle-length models were used to form the saturated model for maximal swimming velocity. The final parsimonious model identified three covariates (maximal knee joint angular velocity, maximal ankle angular velocity and knee range of movement) as determinants of the variance in maximal swimming velocity (adjusted-r2 = 0.929). However, when participant was removed as a fixed factor there was a large reduction in explained variance (adjusted r2 = 0.397) and only maximal knee joint angular velocity continued to contribute significantly, highlighting its importance to the production of maximal swimming velocity. The reduction in explained variance suggests an emphasis on inter-individual differences in undulatory underwater swimming technique and/or anthropometry. Future research should examine the efficacy of other anthropometric, kinematic and coordination variables to better understand the production of maximal swimming velocity and consider the importance of individual undulatory underwater swimming techniques when interpreting the data.

Gas film retention and underwater photosynthesis during field submergence of four contrasting rice genotypes.

PubMed

Winkel, Anders; Pedersen, Ole; Ella, Evangelina; Ismail, Abdelbagi M; Colmer, Timothy D

2014-07-01

Floods can completely submerge some rice (Oryza sativa L.) fields. Leaves of rice have gas films that aid O2 and CO2 exchange under water. The present study explored the relationship between gas film persistence and underwater net photosynthesis (PN) as influenced by genotype and submergence duration. Four contrasting genotypes (FR13A, IR42, Swarna, and Swarna-Sub1) were submerged for 13 days in the field and leaf gas films, chlorophyll, and the capacity for underwater PN at near ambient and high CO2 were assessed with time of submergence. At high CO2 during the PN assay, all genotypes initially showed high rates of underwater PN, and this rate was not affected by time of submergence in FR13A. This superior photosynthetic performance of FR13A was not evident in Swarna-Sub1 (carrying the SUB1 QTL) and the declines in underwater PN in both Swarna-Sub1 and Swarna were equal to that in IR42. At near ambient CO2 concentration, underwater PN declined in all four genotypes and this corresponded with loss of leaf gas films with time of submergence. FR13A retained leaf gas films moderately longer than the other genotypes, but gas film retention was not linked to SUB1. Diverse rice germplasm should be screened for gas film persistence during submergence, as this trait could potentially increase carbohydrate status and internal aeration owing to increased underwater PN, which contributes to submergence tolerance in rice. © The Author 2014. Published by Oxford University Press on behalf of the Society for Experimental Biology.

Roles of individual radicals generated by a submerged dielectric barrier discharge plasma reactor during Escherichia coli O157:H7 inactivation

NASA Astrophysics Data System (ADS)

Khan, Muhammad Saiful Islam; Lee, Eun-Jung; Kim, Yun-Ji

2015-10-01

A submerged dielectric barrier discharge plasma reactor (underwater DBD) has been used on Escherichia coli O157:H7 (ATCC 35150). Plasma treatment was carried out using clean dry air gas to investigate the individual effects of the radicals produced by underwater DBD on an E. coli O157:H7 suspension (8.0 log CFU/ml). E. coli O157:H7 was reduced by 6.0 log CFU/ml for 2 min of underwater DBD plasma treatment. Optical Emission Spectra (OES) shows that OH and NO (α, β) radicals, generated by underwater DBD along with ozone gas. E. coli O157:H7 were reduced by 2.3 log CFU/ml for 10 min of underwater DBD plasma treatment with the terephthalic acid (TA) OH radical scavenger solution, which is significantly lower (3.7 log CFU/ml) than the result obtained without using the OH radical scavenger. A maximum of 1.5 ppm of ozone gas was produced during the discharge of underwater DBD, and the obtained reduction difference in E.coli O157:H7 in presence and in absence of ozone gas was 1.68 log CFU/ml. The remainder of the 0.62 log CFU/ml reduction might be due to the effect of the NO (α, β) radicals or due to the combined effect of all the radicals produced by underwater DBD. A small amount of hydrogen peroxide was also generated but does not play any role in E. coli O157:H7 inactivation.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

PubMed Central

Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

2017-01-01

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique. PMID:29278405

A Massive Star Census of the Starburst Cluster R136

NASA Astrophysics Data System (ADS)

Crowther, Paul

2011-10-01

We propose to carry out a comprehensive census of the most massive stars in the central parsec {4"} of the starburst cluster, R136, which powers the Tarantula Nebula in the LMC. R136 is both sufficiently massive that the upper mass function is richly populated and young enough that its most massive stars have yet to explode as supernovae. The identification of very massive stars in R136, up to 300 solar masses, raises general questions of star formation, binarity and feedback in young massive clusters. The proposed STIS spectral survey of 36 stars more massive than 50 solar masses within R136 is ground-breaking, of legacy value, and is specifically tailored to a} yield physical properties; b} detect the majority of binaries by splitting observations between Cycles 19 and 20; c} measure rotational velocities, relevant for predictions of rotational mixing; d} quantify mass-loss properties for very massive stars; e} determine surface compositions; f} measure radial velocities, relevant for runaway stars and cluster dynamics; g} quantify radiative and mechanical feedback. This census will enable the mass function of very massive stars to be measured for the first time, as a result of incomplete and inadequate spectroscopy to date. It will also perfectly complement our Tarantula Survey, a ground-based VLT Large Programme, by including the most massive stars that are inaccessible to ground-based visual spectroscopy due to severe crowding. These surveys, together with existing integrated UV and optical studies will enable 30 Doradus to serve as a bona-fide template for unresolved extragalactic starburst regions.

A Massive Star Census of the Starburst Cluster R136

NASA Astrophysics Data System (ADS)

Crowther, Paul

2012-10-01

We propose to carry out a comprehensive census of the most massive stars in the central parsec {4"} of the starburst cluster, R136, which powers the Tarantula Nebula in the LMC. R136 is both sufficiently massive that the upper mass function is richly populated and young enough that its most massive stars have yet to explode as supernovae. The identification of very massive stars in R136, up to 300 solar masses, raises general questions of star formation, binarity and feedback in young massive clusters. The proposed STIS spectral survey of 36 stars more massive than 50 solar masses within R136 is ground-breaking, of legacy value, and is specifically tailored to a} yield physical properties; b} detect the majority of binaries by splitting observations between Cycles 19 and 20; c} measure rotational velocities, relevant for predictions of rotational mixing; d} quantify mass-loss properties for very massive stars; e} determine surface compositions; f} measure radial velocities, relevant for runaway stars and cluster dynamics; g} quantify radiative and mechanical feedback. This census will enable the mass function of very massive stars to be measured for the first time, as a result of incomplete and inadequate spectroscopy to date. It will also perfectly complement our Tarantula Survey, a ground-based VLT Large Programme, by including the most massive stars that are inaccessible to ground-based visual spectroscopy due to severe crowding. These surveys, together with existing integrated UV and optical studies will enable 30 Doradus to serve as a bona-fide template for unresolved extragalactic starburst regions.

76 FR 13980 - Proposed Information Collection; Comment Request; 2012 Economic Census Covering the Information...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-03-15

... essential information for government, business, and the general public. Economic data are the Census Bureau... Economic Census Covering the Information, etc. AGENCY: U.S. Census Bureau, Commerce. ACTION: Notice... ). SUPPLEMENTARY INFORMATION: I. Abstract The economic census, conducted under authority of Title 13, United States...

200 Years and Counting: Celebrating the Bicentennial Census of the United States.

ERIC Educational Resources Information Center

McFarland, Mary

1989-01-01

Comments on the importance of the census to the constitutional process. Stresses the census' origin and the importance of the 1990 Census. Remarks on the involvement of the National Council for the Social Studies' (NCSS) efforts to increase educators awareness of the 1990 Census. (LS)

75 FR 29508 - The 2010 Census Count Question Resolution Program

Federal Register 2010, 2011, 2012, 2013, 2014

2010-05-26

.... Relevant 2010 Census Data Releases The Redistricting Data (Pub. L. 94-171) are scheduled for release from... redistricting functions within each State and State equivalents who are acting on the behalf of a local or... 2010 Census base files, 2010 Census apportionment counts, redistricting data, or 2010 Census data...

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2017-05-04

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

OceanVideoLab: A Tool for Exploring Underwater Video

NASA Astrophysics Data System (ADS)

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

2016-02-01

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

Underwater videography outperforms above-water videography and in-person surveys for monitoring the spawning of Devils Hole Pupfish

USGS Publications Warehouse

Chaudoin, Ambre L.; Feuerbacher, Olin; Bonar, Scott A.; Barrett, Paul J.

2015-01-01

The monitoring of threatened and endangered fishes in remote environments continues to challenge fisheries biologists. The endangered Devils Hole Pupfish Cyprinodon diabolis, which is confined to a single warm spring in Death Valley National Park, California–Nevada, has recently experienced record declines, spurring renewed conservation and recovery efforts. In February–December 2010, we investigated the timing and frequency of spawning in the species' native habitat by using three survey methods: underwater videography, above-water videography, and in-person surveys. Videography methods incorporated fixed-position, solar-powered cameras to record continuous footage of a shallow rock shelf that Devils Hole Pupfish use for spawning. In-person surveys were conducted from a platform placed above the water's surface. The underwater camera recorded more overall spawning throughout the year (mean ± SE = 0.35 ± 0.06 events/sample) than the above-water camera (0.11 ± 0.03 events/sample). Underwater videography also recorded more peak-season spawning (March: 0.83 ± 0.18 events/sample; April: 2.39 ± 0.47 events/sample) than above-water videography (March: 0.21 ± 0.10 events/sample; April: 0.9 ± 0.32 events/sample). Although the overall number of spawning events per sample did not differ significantly between underwater videography and in-person surveys, underwater videography provided a larger data set with much less variability than data from in-person surveys. Fixed videography was more cost efficient than in-person surveys (\\$1.31 versus \\$605 per collected data-hour), and underwater videography provided more usable data than above-water videography. Furthermore, video data collection was possible even under adverse conditions, such as the extreme temperatures of the region, and could be maintained successfully with few study site visits. Our results suggest that self-contained underwater cameras can be efficient tools for monitoring remote and sensitive aquatic ecosystems.

Building a Billion Spatio-Temporal Object Search and Visualization Platform

NASA Astrophysics Data System (ADS)

Kakkar, D.; Lewis, B.

2017-10-01

With funding from the Sloan Foundation and Harvard Dataverse, the Harvard Center for Geographic Analysis (CGA) has developed a prototype spatio-temporal visualization platform called the Billion Object Platform or BOP. The goal of the project is to lower barriers for scholars who wish to access large, streaming, spatio-temporal datasets. The BOP is now loaded with the latest billion geo-tweets, and is fed a real-time stream of about 1 million tweets per day. The geo-tweets are enriched with sentiment and census/admin boundary codes when they enter the system. The system is open source and is currently hosted on Massachusetts Open Cloud (MOC), an OpenStack environment with all components deployed in Docker orchestrated by Kontena. This paper will provide an overview of the BOP architecture, which is built on an open source stack consisting of Apache Lucene, Solr, Kafka, Zookeeper, Swagger, scikit-learn, OpenLayers, and AngularJS. The paper will further discuss the approach used for harvesting, enriching, streaming, storing, indexing, visualizing and querying a billion streaming geo-tweets.

Neonatal Intensive Care Unit Census Influences Discharge of Moderately Preterm Infants

PubMed Central

Profit, Jochen; McCormick, Marie C.; Escobar, Gabriel J.; Richardson, Douglas K.; Zheng, Zheng; Coleman-Phox, Kim; Roberts, Rebecca; Zupancic, John A. F.

2011-01-01

Objective The timely discharge of moderately premature infants has important economic implications. The decision to discharge should occur independent of unit census. We evaluated the impact of unit census on the decision to discharge moderately preterm infants. Design/Methods In a prospective multicenter cohort study, we enrolled 850 infants born between 30 and 34 weeks' gestation at 10 NICUs in Massachusetts and California. We divided the daily census from each hospital into quintiles and tested whether discharges were evenly distributed among them. Using logistic regression, we analyzed predictors of discharge within census quintiles associated with a greater- or less-than-expected likelihood of discharge. We then explored parental satisfaction and postdischarge resource consumption in relation to discharge during census periods that were associated with high proportions of discharge. Results There was a significant correlation between unit census and likelihood of discharge. When unit census was in the lowest quintile, patients were 20% less likely to be discharged when compared with all of the other quintiles of unit census. In the lowest quintile of unit census, patient/nurse ratio was the only variable associated with discharge. When census was in the highest quintile, patients were 32% more likely to be discharged when compared with all of the other quintiles of unit census. For patients in this quintile, a higher patient/nurse ratio increased the likelihood of discharge. Conversely, infants with prolonged lengths of stay, an increasing Score for Neonatal Acute Physiology II, and minor congenital anomalies were less likely to be discharged. Infants discharged at high unit census did not differ from their peers in terms of parental satisfaction, emergency department visits, home nurse visits, or rehospitalization rates. Conclusions Discharges are closely correlated with unit census. Providers incorporate demand and case mix into their discharge decisions. PMID:17272621

R2 & NE Tract - 2010 Census; Housing and Population Summary

EPA Pesticide Factsheets

The TIGER/Line Files are shapefiles and related database files (.dbf) that are an extract of selected geographic and cartographic information from the U.S. Census Bureau's Master Address File / Topologically Integrated Geographic Encoding and Referencing (MAF/TIGER) Database (MTDB). The MTDB represents a seamless national file with no overlaps or gaps between parts, however, each TIGER/Line File is designed to stand alone as an independent data set, or they can be combined to cover the entire nation. Census tracts are small, relatively permanent statistical subdivisions of a county or equivalent entity, and were defined by local participants as part of the 2010 Census Participant Statistical Areas Program. The Census Bureau delineated the census tracts in situations where no local participant existed or where all the potential participants declined to participate. The primary purpose of census tracts is to provide a stable set of geographic units for the presentation of census data and comparison back to previous decennial censuses. Census tracts generally have a population size between 1,200 and 8,000 people, with an optimum size of 4,000 people. When first delineated, census tracts were designed to be homogeneous with respect to population characteristics, economic status, and living conditions. The spatial size of census tracts varies widely depending on the density of settlement. Physical changes in street patterns caused by highway construction, new

Visual orientation by the crown-of-thorns starfish ( Acanthaster planci)

NASA Astrophysics Data System (ADS)

Petie, Ronald; Hall, Michael R.; Hyldahl, Mia; Garm, Anders

2016-12-01

Photoreception in echinoderms has been known for over 200 years, but their visual capabilities remain poorly understood. As has been reported for some asteroids, the crown-of-thorns starfish ( Acanthaster planci) possess a seemingly advanced eye at the tip of each of its 7-23 arms. With such an array of eyes, the starfish can integrate a wide field of view of its surroundings. We hypothesise that, at close range, orientation and directional movements of the crown-of-thorns starfish are visually guided. In this study, the eyes and vision of A. planci were examined by means of light microscopy, electron microscopy, underwater goniometry, electroretinograms and behavioural experiments in the animals' natural habitat. We found that only animals with intact vision could orient to a nearby coral reef, whereas blinded animals, with olfaction intact, walked in random directions. The eye had peak sensitivity in the blue part (470 nm) of the visual spectrum and a narrow, horizontal visual field of approximately 100° wide and 30° high. With approximately 250 ommatidia in each adult compound eye and average interommatidial angles of 8°, crown-of-thorns starfish have the highest spatial resolution of any starfish studied to date. In addition, they have the slowest vision of all animals examined thus far, with a flicker fusion frequency of only 0.6-0.7 Hz. This may be adaptive as fast vision is not required for the detection of stationary objects such as reefs. In short, the eyes seem optimised for detecting large, dark, stationary objects contrasted against an ocean blue background. Our results show that the visual sense of the crown-of-thorns starfish is much more elaborate than has been thus far appreciated and is essential for orientation and localisation of suitable habitats.

Census in Schools Educator Update, June 2009

ERIC Educational Resources Information Center

US Census Bureau, 2009

2009-01-01

The "Census in Schools Educator Update" is sent to educators and educational organizations periodically to keep them informed about current and upcoming census data and to provide ideas about how to use data in the classroom. This issue of the "Census in Schools Educator Update" newsletter focuses on the following topics: (1) 2010 Census; (2)…

76 FR 14647 - Proposed Information Collection; Comment Request; 2012 Economic Census Covering the Mining Sector

Federal Register 2010, 2011, 2012, 2013, 2014

2011-03-17

... Economic Census Covering the Mining Sector AGENCY: U.S. Census Bureau. ACTION: Notice. SUMMARY: The... provider of timely, relevant and quality data about the people and economy of the United States. Economic data are the Census Bureau's primary program commitment during non-decennial census years. The economic...

Experimental Investigations of the Effects of Underwater Explosions on Swimbladder Fish. I. 1973 Chesapeake Bay Tests

DTIC Science & Technology

1975-06-20

H1101600 Underwater Explosions Explosion Effects on Fish Fish Lethal Ranges " Environmental Effects of Explosions 𔃺. A*STRACT reverse side It nooosemy and...effects of its research operations. When such operations involve the detonation of underwater explosions, one of the environmental factors to be evaluated...04o APPENDIX A: EXPERIMENTS WITH CRABS AND OYSTERS ......... .. A-I APPENDIX B: FINAL REPORT: ENVIRONMENTAL EFFECTS OF EXPLOSIVE TESTING

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

ROVs in a Bucket: Contagious, Experiential Learning by Building Inexpensive, Underwater Robots

DTIC Science & Technology

2007-01-01

R., “Toward an applied theory of experiential learning ,” in C. Cooper (ed.) Theories of Group Process, London: John Wiley. (1975) [8] C. Beard, JP...ROVs in a Bucket” Contagious, Experiential Learning by Building Inexpensive, Underwater Robots Douglas R. Levin Krista Trono Christine...Contagious, Experiential Learning by Building Inexpensive, Underwater Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S

Extending The Calibration In The Underwater Sound Reference Division (USRD) Reciprocity Coupler To Incorporate Phase

DTIC Science & Technology

2016-09-01

NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS EXTENDING THE CALIBRATION IN THE UNDERWATER SOUND REFERENCE DIVISION (USRD) RECIPROCITY COUPLER...AND DATES COVERED Master’s Thesis 08-01-2014 to 08-21-2016 4. TITLE AND SUBTITLE EXTENDING THE CALIBRATION IN THE UNDERWATER SOUND REFERENCE DIVISION...SPONSORING / MONITORING AGENCY REPORT NUMBER 11. SUPPLEMENTARY NOTES The views expressed in this document are those of the author and do not reflect

Research on the Effect of Welding Speed on the Quality of Welding Seam Based on the Local Dry Underwater Welding

NASA Astrophysics Data System (ADS)

Liu, Lei; Chen, Wu; Wang, Huagang; Ba, Jinyu; Li, Bing

2017-12-01

The repair of nuclear spent fuel pool has a high requirement for the quality of welding, the welding speed directly affects the quality of the weld when local dry automatic underwater welding is used to repair the damaged surface. Under the condition of the same condition, the local dry automatic underwater welding test was carried out under the condition of the same welding condition. Taking the 20cm as the experimental condition, after massive experiments show that when the welding speed is approximately 48cm/min the weld quality is high, meeting the design requirements, based on the double layer shrinkage nozzle chamber of local dry underwater automatic welding.

Underwater electric field detection system based on weakly electric fish

NASA Astrophysics Data System (ADS)

Xue, Wei; Wang, Tianyu; Wang, Qi

2018-04-01

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

Underwater smelling by the star-nosed mole

NASA Astrophysics Data System (ADS)

Lee, Alexander; Spencer, Thomas; Hu, David

2017-11-01

The star-nosed mole can sniff underwater objects by rapidly blowing and inhaling bubbles. How these mammals manipulate bubbles without losing them is poorly understood. In this experimental study, we show that the peculiar shape of the mole's nose can stabilize bubbles. We laser-cut a series of star-shaped plastic templates and measure the largest angle they can be titled before bubbles are released. The arms of the star anchor the bubbles in place by enabling the buoyancy forces between the arms to counter the effects of tilt. Based on this finding, we design and construct a mole-inspired underwater sniffing device that uses oscillation of bubbles to feed a metal oxide chemical sensor, a first step in expanding machine olfaction to underwater applications

Underwater sightings of sea turtles in the northern Gulf of Mexico. Final report

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

Rosman, I.; Boland, G.S.; Martin, L.

1987-10-01

Between 1975 and 1985, eight scientific studies were conducted in the northern Gulf of Mexico. The purpose here was to review the data collected from all eight studies for information concerning underwater sightings of sea turtles. Records of 1,024 scuba dives, 909 hours of underwater video and submersible observations, and some 1,500 days of time-lapse photographic observations were compiled from published reports, data logs, and photographic material. The effort yielded 268 verifiable underwater sightings of sea turtles, 231 of which came from time-lapse cameras. The majority of sightings that could be identified by species were of loggerheads. Other species sightedmore » included three leatherbacks and one Kemp's Ridley.« less

Magnetic gradiometer for underwater detection applications

NASA Astrophysics Data System (ADS)

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

2006-05-01

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

Study of opto-acoustic communication between air and underwater carrier

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

A Network Coding Based Hybrid ARQ Protocol for Underwater Acoustic Sensor Networks

PubMed Central

Wang, Hao; Wang, Shilian; Zhang, Eryang; Zou, Jianbin

2016-01-01

Underwater Acoustic Sensor Networks (UASNs) have attracted increasing interest in recent years due to their extensive commercial and military applications. However, the harsh underwater channel causes many challenges for the design of reliable underwater data transport protocol. In this paper, we propose an energy efficient data transport protocol based on network coding and hybrid automatic repeat request (NCHARQ) to ensure reliability, efficiency and availability in UASNs. Moreover, an adaptive window length estimation algorithm is designed to optimize the throughput and energy consumption tradeoff. The algorithm can adaptively change the code rate and can be insensitive to the environment change. Extensive simulations and analysis show that NCHARQ significantly reduces energy consumption with short end-to-end delay. PMID:27618044

Ecomorphology of eye shape and retinal topography in waterfowl (Aves: Anseriformes: Anatidae) with different foraging modes.

PubMed

Lisney, Thomas J; Stecyk, Karyn; Kolominsky, Jeffrey; Schmidt, Brian K; Corfield, Jeremy R; Iwaniuk, Andrew N; Wylie, Douglas R

2013-05-01

Despite the large body of literature on ecomorphological adaptations to foraging in waterfowl, little attention has been paid to their sensory systems, especially vision. Here, we compare eye shape and retinal topography across 12 species representing 4 different foraging modes. Eye shape was significantly different among foraging modes, with diving and pursuit-diving species having relatively smaller corneal diameters compared to non-diving species. This may be associated with differences in ambient light intensity while foraging or an ability to tightly constrict the pupil in divers in order to facilitate underwater vision. Retinal topography was similar across all species, consisting of an oblique visual streak, a central area of peak cell density, and no discernible fovea. Because the bill faces downwards when the head is held in the normal posture in waterfowl, the visual streak will be held horizontally, allowing the horizon to be sampled with higher visual acuity. Estimates of spatial resolving power were similar among species with only the Canada goose having a higher spatial resolution. Overall, we found no evidence of ecomorphological adaptations to different foraging modes in the retinal ganglion cell layer in waterfowl. Rather, retinal topography in these birds seems to reflect the 'openness' of their habitats.

Visual Detection of Speckles in the Fish Xenotoca variata by the Predatory Snake Thamnophis melanogaster in Water of Different Turbidity

PubMed Central

Manjarrez, Javier; Rivas-González, Eric; Venegas-Barrera, Crystian S.; Moyaho, Alejandro

2015-01-01

Semi-aquatic snakes integrate visual and chemical stimuli, and prey detection and capture success are therefore linked to the display of visual predatory behavior. The snake Thamnophis melanogaster responds preferentially to individuals of the fish Xenotoca variata with a greater number of bright, colorful spots (lateral speckles) compared with those with a smaller number; however, water turbidity can reduce underwater visibility and effect the vulnerability of fish. In this study, we tested whether the presence of iridescent speckles on the flanks of male X. variata interacted with water turbidity to modify the predatory behavior displayed by the snake T. melanogaster. We predicted that in an experimental laboratory test, the snakes would increase the frequency of their predatory behavior to the extent that the water turbidity decreases. The snakes were tested at six different levels of water turbidity, in combination with three categories of male fish (with few, a median number of, or many speckles). The results showed that in a pool with high or zero turbidity, the number of speckles is not a determining factor in the deployment of the predatory behavior of the snake T. melanogaster toward X. variata. Our findings suggest that snakes can view the fish at intermediate percentages of turbidity, but the number of speckles in male X. variata is irrelevant as an interspecific visual signal in environments with insufficient luminosity. The successful capture of aquatic prey is influenced by integration between chemical and visual signals, according to environmental factors that may influence the recognition of individual traits. PMID:26061294

Visual Detection of Speckles in the Fish Xenotoca variata by the Predatory Snake Thamnophis melanogaster in Water of Different Turbidity.

PubMed

Manjarrez, Javier; Rivas-González, Eric; Venegas-Barrera, Crystian S; Moyaho, Alejandro

2015-01-01

Semi-aquatic snakes integrate visual and chemical stimuli, and prey detection and capture success are therefore linked to the display of visual predatory behavior. The snake Thamnophis melanogaster responds preferentially to individuals of the fish Xenotoca variata with a greater number of bright, colorful spots (lateral speckles) compared with those with a smaller number; however, water turbidity can reduce underwater visibility and effect the vulnerability of fish. In this study, we tested whether the presence of iridescent speckles on the flanks of male X. variata interacted with water turbidity to modify the predatory behavior displayed by the snake T. melanogaster. We predicted that in an experimental laboratory test, the snakes would increase the frequency of their predatory behavior to the extent that the water turbidity decreases. The snakes were tested at six different levels of water turbidity, in combination with three categories of male fish (with few, a median number of, or many speckles). The results showed that in a pool with high or zero turbidity, the number of speckles is not a determining factor in the deployment of the predatory behavior of the snake T. melanogaster toward X. variata. Our findings suggest that snakes can view the fish at intermediate percentages of turbidity, but the number of speckles in male X. variata is irrelevant as an interspecific visual signal in environments with insufficient luminosity. The successful capture of aquatic prey is influenced by integration between chemical and visual signals, according to environmental factors that may influence the recognition of individual traits.

REGRESSION ANALYSIS OF SEA-SURFACE-TEMPERATURE PATTERNS FOR THE NORTH PACIFIC OCEAN.

DTIC Science & Technology

SEA WATER, *SURFACE TEMPERATURE, *OCEANOGRAPHIC DATA, PACIFIC OCEAN, REGRESSION ANALYSIS , STATISTICAL ANALYSIS, UNDERWATER EQUIPMENT, DETECTION, UNDERWATER COMMUNICATIONS, DISTRIBUTION, THERMAL PROPERTIES, COMPUTERS.

Calibration and comparison of the acoustic location methods used during the spring migration of the bowhead whale, Balaena mysticetus, off Pt. Barrow, Alaska, 1984-1993.

PubMed

Clark, C W; Ellison, W T

2000-06-01

Between 1984 and 1993, visual and acoustic methods were combined to census the Bering-Chukchi-Beaufort bowhead whale, Balaena mysticetus, population. Passive acoustic location was based on arrival-time differences of transient bowhead sounds detected on sparse arrays of three to five hydrophones distributed over distances of 1.5-4.5 km along the ice edge. Arrival-time differences were calculated from either digital cross correlation of spectrograms (old method), or digital cross correlation of time waveforms (new method). Acoustic calibration was conducted in situ in 1985 at five sites with visual site position determined by triangulation using two theodolites. The discrepancy between visual and acoustic locations was <1%-5% of visual range and less than 0.7 degrees of visual bearing for either method. Comparison of calibration results indicates that the new method yielded slightly more precise and accurate positions than the old method. Comparison of 217 bowhead whale call locations from both acoustic methods showed that the new method was more precise, with location errors 3-4 times smaller than the old method. Overall, low-frequency bowhead transients were reliably located out to ranges of 3-4 times array size. At these ranges in shallow water, signal propagation appears to be dominated by the fundamental mode and is not corrupted by multipath.

Effect of visual art on patient anxiety and agitation in a mental health facility and implications for the business case.

PubMed

Nanda, U; Eisen, S; Zadeh, R S; Owen, D

2011-06-01

There is a growing body of evidence on the impact of the environment on health and well-being. This study focuses on the impact of visual artworks on the well-being of psychiatric patients in a multi-purpose lounge of an acute care psychiatric unit. Well-being was measured by the rate of pro re nata (PRN) medication issued by nurses in response to visible signs of patient anxiety and agitation. Nurses were interviewed to get qualitative feedback on the patient response. Findings revealed that the ratio of PRN/patient census was significantly lower on the days when a realistic nature photograph was displayed, compared to the control condition (no art) and abstract art. Nurses reported that some patients displayed agitated behaviour in response to the abstract image. This study makes a case for the impact of visual art on mental well-being. The research findings were also translated into the time and money invested on PRN incidents, and annual cost savings of almost $US30,000 a year was projected. This research makes a case that simple environmental interventions like visual art can save the hospital costs of medication, and staff and pharmacy time, by providing a visual distraction that can alleviate anxiety and agitation in patients. © 2010 Blackwell Publishing.

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

PubMed

Tie, Lu; Guo, Zhiguang; Liu, Weimin

2015-05-20

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

The effect of different rutile electrodes on mechanical properties of underwater wet welded AH-36 steel plates

NASA Astrophysics Data System (ADS)

Winarto, Winarto; Purnama, Dewin; Churniawan, Iwan

2018-04-01

Underwater welding is an important role in the rescue of ships and underwater structures, in case of emergency. In this study, the marine steel plates used are AH-36 steel as parent material. This type of steel is included in the High Strength Low Alloy (HSLA). Electrodes used for welding AH-36 steel plates are commonly the E6013 and E 7024 which are the type of based rutile electrodes. Those electrodes are widely available on the market and they would be compared with the original electrode for underwater which is the type of E7014 with the trade name of Broco UW-CS-1. Welding method used is Shielding Metal Arc Welding (SMAW) with the variation of 5 m and 10 m underwater depth and also varied with the electric current of 120A, 140A and 250A. It was found that hardness value of increased in the area of weld metal and HAZ. HAZ also tends to have the highest hardness compared to both of weld metal and base metal. Non destructive test by radiographed test (RT) on welds showed that there are found welding defects in the form of incomplete penetration on all variations of welding parameters, but there is no porosity defect detected. The results of the hardness tests of underwater wet welded steel plates show that the hardness value of both rutile electrodes (E6013 and E 7024) is apparently similar hardness value compared with the existing commercial electrode (E7014 of Broco UW-CS- 1). The tensile test results of underwater wet welded steel plates show that the use of rutile electrode of E6013 gives a better tensile properties than other rutile electrodes.

Effects of underwater escape training--a psychophysiological study.

PubMed

Hytten, K; Jensen, A; Vaernes, R

1989-05-01

The effect of underwater escape training was analysed among 78 participants at the Norwegian Underwater Technological Center (NUTEC), Bergen, in a psychophysiological study. The training caused significant physiological activation. Perceived training effect was found to be inversely related to anxiety during training. Most of the participants developed a positive response outcome expectancy and increased confidence in flying. The learning aspects were versatile and partly dependent on personality factors. A more individualized approach to training is recommended.

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

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

NASA Astrophysics Data System (ADS)

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

2016-07-01

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

Aquatic gilled mushrooms: Psathyrella fruiting in the Rogue River in southern Oregon.

PubMed

Frank, Jonathan L; Coffan, Robert A; Southworth, Darlene

2010-01-01

A species of Psathyrella (Basidiomycota) with true gills has been observed fruiting underwater in the clear, cold, flowing waters of the upper Rogue River in Oregon. Fruiting bodies develop and mature in the main channel, where they are constantly submerged, and were observed fruiting over 11 wk. These mushrooms develop underwater, not on wood recently washed into the river. Substrates include water-logged wood, gravel and the silty riverbed. DNA sequences of the ITS region and a portion of the ribosomal large subunit gene place this fungus in Psathyrella sensu stricto near P. atomata, P. fontinalis and P. superiorensis. Morphological characters distinguish the underwater mushroom from previously described species. Fruiting bodies have long fibrillose stipes with small diameter caps. Immature stages have a thin veil that is soon lost. Gills lack reddish edges. Cystidia are ventricose with subacute apices. Spores were observed as wedge-shape rafts released into gas pockets below the caps. Underwater gills and ballistospores indicate a recent adaptation to the stream environment. This particular river habitat combines the characteristics of spring-fed flows and cold, aerated water with woody debris in shallow depths on a fine volcanic substrate. Based on molecular and morphological evidence we conclude that the underwater mushrooms are a new species, Psathyrella aquatica. This report adds to the biodiversity of stream fungi that degrade woody substrates. The underwater environment is a new habitat for gilled mushrooms.

Archaeology Hijacked: Addressing the Historical Misappropriations of Maritime and Underwater Archaeology

NASA Astrophysics Data System (ADS)

Gately, Iain; Benjamin, Jonathan

2017-09-01

As a discipline that has grown up in the eyes of the camera, maritime and underwater archaeology has struggled historically to distinguish itself from early misrepresentations of it as adventure-seeking, treasure hunting and underwater salvage as popularized in the 1950s and 1960s. Though many professional archaeologists have successfully moved forward from this history through broader theoretical engagement and the development of the discipline within anthropology, public perception of archaeology under water has not advanced in stride. Central to this issue is the portrayal of underwater archaeology within popular culture and the representational structures from the 1950s and 1960s persistently used to introduce the profession to the public, through the consumption of popular books and especially television. This article explores representations of maritime and underwater archaeology to examine how the discipline has been consumed by the public, both methodologically and theoretically, through media. In order to interrogate this, we first examine maritime and underwater archaeology as a combined sub-discipline of archaeology and consider how it has been defined historically and in contemporary professional practice. Finally, we consider how practitioners can take a proactive approach to portray their work and convey archaeological media to the public. In this respect, we aim to advance the theoretical discussion in a way so as to reduce further cases whereby archaeology is accidentally misappropriated or deliberately hijacked.

Specialization for underwater hearing by the tympanic middle ear of the turtle, Trachemys scripta elegans

PubMed Central

Christensen-Dalsgaard, Jakob; Brandt, Christian; Willis, Katie L.; Christensen, Christian Bech; Ketten, Darlene; Edds-Walton, Peggy; Fay, Richard R.; Madsen, Peter T.; Carr, Catherine E.

2012-01-01

Turtles, like other amphibious animals, face a trade-off between terrestrial and aquatic hearing. We used laser vibrometry and auditory brainstem responses to measure their sensitivity to vibration stimuli and to airborne versus underwater sound. Turtles are most sensitive to sound underwater, and their sensitivity depends on the large middle ear, which has a compliant tympanic disc attached to the columella. Behind the disc, the middle ear is a large air-filled cavity with a volume of approximately 0.5 ml and a resonance frequency of approximately 500 Hz underwater. Laser vibrometry measurements underwater showed peak vibrations at 500–600 Hz with a maximum of 300 µm s−1 Pa−1, approximately 100 times more than the surrounding water. In air, the auditory brainstem response audiogram showed a best sensitivity to sound of 300–500 Hz. Audiograms before and after removing the skin covering reveal that the cartilaginous tympanic disc shows unchanged sensitivity, indicating that the tympanic disc, and not the overlying skin, is the key sound receiver. If air and water thresholds are compared in terms of sound intensity, thresholds in water are approximately 20–30 dB lower than in air. Therefore, this tympanic ear is specialized for underwater hearing, most probably because sound-induced pulsations of the air in the middle ear cavity drive the tympanic disc. PMID:22438494

Specialization for underwater hearing by the tympanic middle ear of the turtle, Trachemys scripta elegans.

PubMed

Christensen-Dalsgaard, Jakob; Brandt, Christian; Willis, Katie L; Christensen, Christian Bech; Ketten, Darlene; Edds-Walton, Peggy; Fay, Richard R; Madsen, Peter T; Carr, Catherine E

2012-07-22

Turtles, like other amphibious animals, face a trade-off between terrestrial and aquatic hearing. We used laser vibrometry and auditory brainstem responses to measure their sensitivity to vibration stimuli and to airborne versus underwater sound. Turtles are most sensitive to sound underwater, and their sensitivity depends on the large middle ear, which has a compliant tympanic disc attached to the columella. Behind the disc, the middle ear is a large air-filled cavity with a volume of approximately 0.5 ml and a resonance frequency of approximately 500 Hz underwater. Laser vibrometry measurements underwater showed peak vibrations at 500-600 Hz with a maximum of 300 µm s(-1) Pa(-1), approximately 100 times more than the surrounding water. In air, the auditory brainstem response audiogram showed a best sensitivity to sound of 300-500 Hz. Audiograms before and after removing the skin covering reveal that the cartilaginous tympanic disc shows unchanged sensitivity, indicating that the tympanic disc, and not the overlying skin, is the key sound receiver. If air and water thresholds are compared in terms of sound intensity, thresholds in water are approximately 20-30 dB lower than in air. Therefore, this tympanic ear is specialized for underwater hearing, most probably because sound-induced pulsations of the air in the middle ear cavity drive the tympanic disc.

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

PubMed

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

2015-01-01

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

Omnidirectional Underwater Camera Design and Calibration

PubMed Central

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

2015-01-01

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

15 CFR 50.40 - Fee structure for statistics for city blocks in the 1980 Census of Population and Housing.

Code of Federal Regulations, 2012 CFR

2012-01-01

... blocks in the 1980 Census of Population and Housing. 50.40 Section 50.40 Commerce and Foreign Trade... the 1980 Census of Population and Housing. (a) As part of the regular program of the 1980 census, the Census Bureau will publish printed reports containing certain summary population and housing statistics...

15 CFR 50.40 - Fee structure for statistics for city blocks in the 1980 Census of Population and Housing.

Code of Federal Regulations, 2013 CFR

2013-01-01

... blocks in the 1980 Census of Population and Housing. 50.40 Section 50.40 Commerce and Foreign Trade... the 1980 Census of Population and Housing. (a) As part of the regular program of the 1980 census, the Census Bureau will publish printed reports containing certain summary population and housing statistics...

15 CFR 50.40 - Fee structure for statistics for city blocks in the 1980 Census of Population and Housing.

Code of Federal Regulations, 2014 CFR

2014-01-01

... blocks in the 1980 Census of Population and Housing. 50.40 Section 50.40 Commerce and Foreign Trade... the 1980 Census of Population and Housing. (a) As part of the regular program of the 1980 census, the Census Bureau will publish printed reports containing certain summary population and housing statistics...

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

PubMed

Pedersen, Ole; Colmer, Timothy D

2012-03-01

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

Operation of electrothermal and electrostatic MUMPs microactuators underwater

NASA Astrophysics Data System (ADS)

Sameoto, Dan; Hubbard, Ted; Kujath, Marek

2004-10-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Effect of Boric Acid Concentration on Viscosity of Slag and Property of Weld Metal Obtained from Underwater Wet Welding

NASA Astrophysics Data System (ADS)

Guo, Ning; Guo, Wei; Xu, Changsheng; Du, Yongpeng; Feng, Jicai

2015-06-01

Underwater wet welding is a crucial repair and maintenance technology for nuclear plant. A boric acid environment raises a new challenge for the underwater welding maintenance of nuclear plant. This paper places emphasis on studying the influence of a boric acid environment in nuclear plant on the underwater welding process. Several groups of underwater wet welding experiments have been conducted in boric acid aqueous solution with different concentration (0-35000 ppm). The viscosity of the welding slag and the mechanical properties of welds, such as the hardness, strength, and elongation, have been studied. The results show that with increasing boric acid concentration, the viscosity of the slag decreases first and then increases at a lower temperature (less than 1441 °C). However, when the temperature is above 1480 °C, the differences between the viscosity measurements become less pronounced, and the viscosity tends to a constant value. The hardness and ductility of the joints can be enhanced significantly, and the maximum strength of the weld metal can be reached at 2300 ppm.

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

Assessment of laser tracking and data transfer for underwater optical communications

NASA Astrophysics Data System (ADS)

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

2014-10-01

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

Strong underwater adhesives made by self-assembling multi-protein nanofibres.

PubMed

Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M; Lu, Timothy K

2014-10-01

Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly and structure-function relationships of these natural amyloid fibres remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibres. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibres have an underwater adhesion energy approaching 20.9 mJ m(-2), which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibres taken on their own and exhibit better tolerance to auto-oxidation than Mfps at pH ≥ 7.0.

Comparison of Effects of a Proprioceptive Exercise Program in Water and on Land the Balance of Chronic Stroke Patients

PubMed Central

Han, Seul Ki; Kim, Myung Chul; An, Chang Sik

2013-01-01

[Purpose] The purpose of this study was to compare changes in balance ability of land exercise and underwater exercise on chronic stroke patients. [Subjects] A total of 60 patients received exercise for 40 minutes, three times a week, for 6 weeks. [Methods] Subjects from both groups performed general conventional treatment during the experimental period. In addition, all subjects engaged in extra treatment sessions. This extra treatment consisted of unstable surface exercise. The underwater exercise group used wonder boards in a pool (depth 1.1m, water temperature 33.5 °C, air temperature 27 °C) dedicated to underwater exercise, and the land exercise group used balance mats. [Result] The joint position sense, sway area, Berg Balance Scale showed significant improvements in both groups. However, the joint position sense test, sway area, and Berg Balance Scale showed there was more improvement in the underwater exercise group than in the land exercise group. [Conclusion] The results suggest that underwater exercise is more effective than land exercise at improving the joint position sense and balance of stroke patients. PMID:24259761

DOA Estimation for Underwater Wideband Weak Targets Based on Coherent Signal Subspace and Compressed Sensing.

PubMed

Li, Jun; Lin, Qiu-Hua; Kang, Chun-Yu; Wang, Kai; Yang, Xiu-Ting

2018-03-18

Direction of arrival (DOA) estimation is the basis for underwater target localization and tracking using towed line array sonar devices. A method of DOA estimation for underwater wideband weak targets based on coherent signal subspace (CSS) processing and compressed sensing (CS) theory is proposed. Under the CSS processing framework, wideband frequency focusing is accompanied by a two-sided correlation transformation, allowing the DOA of underwater wideband targets to be estimated based on the spatial sparsity of the targets and the compressed sensing reconstruction algorithm. Through analysis and processing of simulation data and marine trial data, it is shown that this method can accomplish the DOA estimation of underwater wideband weak targets. Results also show that this method can considerably improve the spatial spectrum of weak target signals, enhancing the ability to detect them. It can solve the problems of low directional resolution and unreliable weak-target detection in traditional beamforming technology. Compared with the conventional minimum variance distortionless response beamformers (MVDR), this method has many advantages, such as higher directional resolution, wider detection range, fewer required snapshots and more accurate detection for weak targets.

Comparison of effects of a proprioceptive exercise program in water and on land the balance of chronic stroke patients.

PubMed

Han, Seul Ki; Kim, Myung Chul; An, Chang Sik

2013-10-01

[Purpose] The purpose of this study was to compare changes in balance ability of land exercise and underwater exercise on chronic stroke patients. [Subjects] A total of 60 patients received exercise for 40 minutes, three times a week, for 6 weeks. [Methods] Subjects from both groups performed general conventional treatment during the experimental period. In addition, all subjects engaged in extra treatment sessions. This extra treatment consisted of unstable surface exercise. The underwater exercise group used wonder boards in a pool (depth 1.1m, water temperature 33.5 °C, air temperature 27 °C) dedicated to underwater exercise, and the land exercise group used balance mats. [Result] The joint position sense, sway area, Berg Balance Scale showed significant improvements in both groups. However, the joint position sense test, sway area, and Berg Balance Scale showed there was more improvement in the underwater exercise group than in the land exercise group. [Conclusion] The results suggest that underwater exercise is more effective than land exercise at improving the joint position sense and balance of stroke patients.

15 CFR 90.2 - Policy of the Census Bureau.

Code of Federal Regulations, 2014 CFR

2014-01-01

... CENSUS, DEPARTMENT OF COMMERCE PROCEDURE FOR CHALLENGING POPULATION ESTIMATES § 90.2 Policy of the Census Bureau. It is the policy of the Census Bureau to provide the most accurate population estimates possible...

DeepSurveyCam—A Deep Ocean Optical Mapping System

PubMed Central

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

2016-01-01

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

A universal glue: underwater adhesion of the secretion of the carnivorous flypaper plant Roridula gorgonias

PubMed Central

Voigt, Dagmar; Konrad, Wilfried; Gorb, Stanislav

2015-01-01

Glandular trichomes of the carnivorous plant Roridula gorgonias release a viscous resinous secretion. Its adhesion to hydrophilic and hydrophobic glass surfaces was measured in air and underwater. The underwater adhesion reached up to 91% (on hydrophilic glass) and 28% (on hydrophobic glass) of that measured in the air. After being submersed for 24 h in water, trichomes did not lose their ability to adhere to both types of glass surfaces underwater. We assume that acylglycerides and triterpenoids, which have been demonstrated previously to be main compounds of the secretion, cause the predominantly non-polar character and the insolubility in water. The robustness of the secretion to a wet environment presumably enables the plant to maintain its trapping function also under humid conditions and during rainy weather. PMID:25657836

Enhancing the Reliability of Head Nodes in Underwater Sensor Networks

PubMed Central

Min, Hong; Cho, Yookun; Heo, Junyoung

2012-01-01

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