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.

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.

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...

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.

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.

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.

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.

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.

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.

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.

46 CFR 189.40-5 - Notice and plans required.

Code of Federal Regulations, 2013 CFR

2013-10-01

... Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION... examination, or underwater survey or whenever repairs are made to the vessel's hull. (c) Each barge that holds... barge undergoes a drydock examination, internal structural examination, or underwater survey or whenever...

46 CFR 189.40-5 - Notice and plans required.

Code of Federal Regulations, 2014 CFR

2014-10-01

... Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION... examination, or underwater survey or whenever repairs are made to the vessel's hull. (c) Each barge that holds... barge undergoes a drydock examination, internal structural examination, or underwater survey or whenever...

46 CFR 189.40-5 - Notice and plans required.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION... examination, or underwater survey or whenever repairs are made to the vessel's hull. (c) Each barge that holds... barge undergoes a drydock examination, internal structural examination, or underwater survey or whenever...

46 CFR 189.40-5 - Notice and plans required.

Code of Federal Regulations, 2012 CFR

2012-10-01

... Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION... examination, or underwater survey or whenever repairs are made to the vessel's hull. (c) Each barge that holds... barge undergoes a drydock examination, internal structural examination, or underwater survey or whenever...

46 CFR 189.40-5 - Notice and plans required.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION... examination, or underwater survey or whenever repairs are made to the vessel's hull. (c) Each barge that holds... barge undergoes a drydock examination, internal structural examination, or underwater survey or whenever...

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

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

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

Stepanov, Vyacheslav; Potapov, Victor; Safronov, Alexey

2013-07-01

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

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

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.

Recovery of Coastal Fauna after the 2011 Tsunami in Japan as Determined by Bimonthly Underwater Visual Censuses Conducted over Five Years.

PubMed

Masuda, Reiji; Hatakeyama, Makoto; Yokoyama, Katsuhide; Tanaka, Masaru

2016-01-01

Massive tsunamis induce catastrophic disturbance in marine ecosystems, yet they can provide unique opportunities to observe the process of regeneration. Here, we report the recovery of fauna after the 2011 tsunami in northeast Japan based on underwater visual censuses performed every two months over five years. Both total fish abundance and species richness increased from the first to the second year after the tsunami followed by stabilization in the following years. Short-lived fish, such as the banded goby Pterogobius elapoides, were relatively abundant in the first two years, whereas long-lived species, such as the black rockfish Sebastes cheni, increased in the latter half of the survey period. Tropical fish species were recorded only in the second and third years after the tsunami. The body size of long-lived fish increased during the survey period resulting in a gradual increase of total fish biomass. The recovery of fish assemblages was slow at one site located in the inner bay, where the impact of the tsunami was the strongest. Apart from fish, blooms of the moon jellyfish Aurelia sp. occurred only in the first two years after the tsunami, whereas the abundances of sea cucumber Apostichopus japonicus and abalone Haliotis discus hannai increased after the second year. Although we lack quantitative data prior to the tsunami, we conclude that it takes approximately three years for coastal reef fish assemblages to recover from a heavy disturbance such as a tsunami and that the recovery is dependent on species-specific life span and habitat.

Recovery of Coastal Fauna after the 2011 Tsunami in Japan as Determined by Bimonthly Underwater Visual Censuses Conducted over Five Years

PubMed Central

Masuda, Reiji; Hatakeyama, Makoto; Yokoyama, Katsuhide; Tanaka, Masaru

2016-01-01

Massive tsunamis induce catastrophic disturbance in marine ecosystems, yet they can provide unique opportunities to observe the process of regeneration. Here, we report the recovery of fauna after the 2011 tsunami in northeast Japan based on underwater visual censuses performed every two months over five years. Both total fish abundance and species richness increased from the first to the second year after the tsunami followed by stabilization in the following years. Short-lived fish, such as the banded goby Pterogobius elapoides, were relatively abundant in the first two years, whereas long-lived species, such as the black rockfish Sebastes cheni, increased in the latter half of the survey period. Tropical fish species were recorded only in the second and third years after the tsunami. The body size of long-lived fish increased during the survey period resulting in a gradual increase of total fish biomass. The recovery of fish assemblages was slow at one site located in the inner bay, where the impact of the tsunami was the strongest. Apart from fish, blooms of the moon jellyfish Aurelia sp. occurred only in the first two years after the tsunami, whereas the abundances of sea cucumber Apostichopus japonicus and abalone Haliotis discus hannai increased after the second year. Although we lack quantitative data prior to the tsunami, we conclude that it takes approximately three years for coastal reef fish assemblages to recover from a heavy disturbance such as a tsunami and that the recovery is dependent on species-specific life span and habitat. PMID:27942028

Underwater acoustic wireless sensor networks: advances and future trends in physical, MAC and routing layers.

PubMed

Climent, Salvador; Sanchez, Antonio; Capella, Juan Vicente; Meratnia, Nirvana; Serrano, Juan Jose

2014-01-06

This survey aims to provide a comprehensive overview of the current research on underwater wireless sensor networks, focusing on the lower layers of the communication stack, and envisions future trends and challenges. It analyzes the current state-of-the-art on the physical, medium access control and routing layers. It summarizes their security threads and surveys the currently proposed studies. Current envisioned niches for further advances in underwater networks research range from efficient, low-power algorithms and modulations to intelligent, energy-aware routing and medium access control protocols.

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.

46 CFR 115.600 - Drydock examination, internal structural examination, and underwater survey intervals.

Code of Federal Regulations, 2010 CFR

2010-10-01

... a United States port, it must undergo the required examination before sailing. (c) If your vessel is... hull exams and two internal structural exams within any five-year period. If a vessel completes a satisfactory alternate hull exam, with the underwater survey portion conducted predominantly by an approved...

46 CFR 169.230 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2011 CFR

2011-10-01

... Section 169.230 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Inspection and Certification Drydocking Or Hauling Out § 169.230 Underwater Survey in Lieu... vessel is— (1) Less than 15 years of age; (2) A steel or aluminum hulled vessel; (3) Fitted with an...

46 CFR 169.230 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2012 CFR

2012-10-01

... Section 169.230 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Inspection and Certification Drydocking Or Hauling Out § 169.230 Underwater Survey in Lieu... vessel is— (1) Less than 15 years of age; (2) A steel or aluminum hulled vessel; (3) Fitted with an...

46 CFR 169.230 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2013 CFR

2013-10-01

... Section 169.230 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Inspection and Certification Drydocking Or Hauling Out § 169.230 Underwater Survey in Lieu... vessel is— (1) Less than 15 years of age; (2) A steel or aluminum hulled vessel; (3) Fitted with an...

46 CFR 169.230 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2014 CFR

2014-10-01

... Section 169.230 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Inspection and Certification Drydocking Or Hauling Out § 169.230 Underwater Survey in Lieu... vessel is— (1) Less than 15 years of age; (2) A steel or aluminum hulled vessel; (3) Fitted with an...

46 CFR 189.40-3 - Drydock examination, internal structural examination, cargo tank internal examination, and...

Code of Federal Regulations, 2014 CFR

2014-10-01

..., cargo tank internal examination, and underwater survey intervals. 189.40-3 Section 189.40-3 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION AND... examination, and underwater survey intervals. (a) Except as provided for in paragraphs (b) through (g) of this...

46 CFR 189.40-3 - Drydock examination, internal structural examination, cargo tank internal examination, and...

Code of Federal Regulations, 2010 CFR

2010-10-01

..., cargo tank internal examination, and underwater survey intervals. 189.40-3 Section 189.40-3 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION AND... examination, and underwater survey intervals. (a) Except as provided for in paragraphs (b) through (g) of this...

46 CFR 189.40-3 - Drydock examination, internal structural examination, cargo tank internal examination, and...

Code of Federal Regulations, 2011 CFR

2011-10-01

..., cargo tank internal examination, and underwater survey intervals. 189.40-3 Section 189.40-3 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION AND... examination, and underwater survey intervals. (a) Except as provided for in paragraphs (b) through (g) of this...

46 CFR 189.40-3 - Drydock examination, internal structural examination, cargo tank internal examination, and...

Code of Federal Regulations, 2013 CFR

2013-10-01

..., cargo tank internal examination, and underwater survey intervals. 189.40-3 Section 189.40-3 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION AND... examination, and underwater survey intervals. (a) Except as provided for in paragraphs (b) through (g) of this...

46 CFR 189.40-3 - Drydock examination, internal structural examination, cargo tank internal examination, and...

Code of Federal Regulations, 2012 CFR

2012-10-01

..., cargo tank internal examination, and underwater survey intervals. 189.40-3 Section 189.40-3 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS INSPECTION AND... examination, and underwater survey intervals. (a) Except as provided for in paragraphs (b) through (g) of this...

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

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.

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.

Underwater Acoustic Wireless Sensor Networks: Advances and Future Trends in Physical, MAC and Routing Layers

PubMed Central

Climent, Salvador; Sanchez, Antonio; Capella, Juan Vicente; Meratnia, Nirvana; Serrano, Juan Jose

2014-01-01

This survey aims to provide a comprehensive overview of the current research on underwater wireless sensor networks, focusing on the lower layers of the communication stack, and envisions future trends and challenges. It analyzes the current state-of-the-art on the physical, medium access control and routing layers. It summarizes their security threads and surveys the currently proposed studies. Current envisioned niches for further advances in underwater networks research range from efficient, low-power algorithms and modulations to intelligent, energy-aware routing and medium access control protocols. PMID:24399155

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.

46 CFR 169.230 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2010 CFR

2010-10-01

... vessel is— (1) Less than 15 years of age; (2) A steel or aluminum hulled vessel; (3) Fitted with an... less than 15 years of age, you must submit an application for an underwater survey to the OCMI at least... of the hull protection system; and (7) The name and qualifications of any third party examiner. (c...

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

Code of Federal Regulations, 2011 CFR

2011-10-01

... SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-33 Underwater Survey in Lieu of Drydocking... a drydock examination at alternating intervals if your vessel is— (1) Less than 15 years of age; (2...) Described in 46 CFR 167.15-30(a)(1) or (2). (b) For vessels less than 15 years of age, you must submit an...

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

Code of Federal Regulations, 2013 CFR

2013-10-01

... SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-33 Underwater Survey in Lieu of Drydocking... a drydock examination at alternating intervals if your vessel is— (1) Less than 15 years of age; (2...) Described in 46 CFR 167.15-30(a)(1) or (2). (b) For vessels less than 15 years of age, you must submit an...

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

Code of Federal Regulations, 2012 CFR

2012-10-01

... SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-33 Underwater Survey in Lieu of Drydocking... a drydock examination at alternating intervals if your vessel is— (1) Less than 15 years of age; (2...) Described in 46 CFR 167.15-30(a)(1) or (2). (b) For vessels less than 15 years of age, you must submit an...

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

Code of Federal Regulations, 2014 CFR

2014-10-01

... SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-33 Underwater Survey in Lieu of Drydocking... a drydock examination at alternating intervals if your vessel is— (1) Less than 15 years of age; (2...) Described in 46 CFR 167.15-30(a)(1) or (2). (b) For vessels less than 15 years of age, you must submit an...

Assessing the suitability of a remotely operated vehicle (ROV) to study the fish community associated with offshore gas platforms in the Ionian Sea: a comparative analysis with underwater visual censuses (UVCs)

NASA Astrophysics Data System (ADS)

Andaloro, Franco; Ferraro, Maria; Mostarda, Edoardo; Romeo, Teresa; Consoli, Pierpaolo

2013-06-01

The effectiveness of a remotely operated vehicle (ROV) to describe the fish communities of three gas platforms located offshore Crotone (Italy, Ionian Sea) was investigated by comparing its observations with underwater visual censuses (UVCs). The study was carried out at two depth layers (0-6 and 12-18 m). Moreover, the ROV was used to survey three deeper depth layers up to 76 m. Overall, the ROV surveys failed to give a truthful representation of the fish communities underestimating the number of species and their abundances as compared to UVCs. The main discrepancies in data regarded crypto-benthic and nekto-benthic species, whereas the ROV proved to be a suitable method to census low-mobile and abundant planktivorous species. The differences between the fish assemblage described by the ROV, with respect to the one depicted by UVC, should be considered in the light of the technical limits of the recording camera, whose resolution and field of vision is clearly lower than the diver's eye. In addition, video images did not allow for the acquisition of a correct estimate of the distance between the individuals and the platform structures. This led, almost certainly, to an under- or over-estimation of fish abundance as regards to the censused volume. In spite of this, as a result of its capacity to reach depths inaccessible to scuba divers and then to add complementary information, the ROV could be used jointly with UVCs, in studies having as their objective the description of the fish communities associated with offshore platforms.

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

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.

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.

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.

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.

Photogrammetry in maritime and underwater archaeology: two marble wrecks from Sicily

NASA Astrophysics Data System (ADS)

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

2015-06-01

Underwater survey, compared to land archaeology, needs some specific techniques, because the application of some active 3D sensor, such as laser scanner, is obviously impossible. The necessity to produce three-dimensional survey, offering the same accuracy of classical terrestrial laserscanning or photogrammetric methods, combined with the request of low costs and rapid solutions, led the researchers to test and apply oftentimes image-based techniques. In the last two years the Ca' Foscari University and University IUAV of Venice are conducting a research on the application of integrated techniques to support underwater metric documentation, comparing them to the manual traditional one. The gained experience (and confirmed by other recently published papers) shows that the actual multiimage digital photogrammetry is a good solution for the underwater archaeology. This approach is useful both from a metric and from a recording point of view, because it achieves high quality results, such as accurate 3D models or 2D representations, offering a complete documentation of underwater sites. But photogrammetry has to be supported by a topographical survey (to acquire ground control points - GCP) to georeference all the finds in the same reference system. This paper presents the integrated survey of two roman shipwrecks, approaching differently in the GCP's acquisition just for the different morphological characteristic of the sites. The wrecks' cargos are huge marble blocks, presenting differences in quantities, layout and depths. Those characteristics determine the choice of the topographic survey. The results of the survey are two 3D polygonal textured models of the sites, which can be easily used for different analyses and reconstructive hypothesis, opening new possibilities of documentation with both specialists and the wider public. Furthermore, 3D models are the geometric base for 2D orthophoto and cross section extraction. The paper will illustrate all the phases regarding the survey's design, acquisition and realization and the data processing to obtain 2D and 3D final representation.

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.

Enhancing fish Underwater Visual Census to move forward assessment of fish assemblages: An application in three Mediterranean Marine Protected Areas

PubMed Central

Thiriet, Pierre; Di Franco, Antonio; Francour, Patrice

2017-01-01

Monitoring fish assemblages is needed to assess whether Marine Protected Areas (MPAs) are meeting their conservation and fisheries management goals, as it allows one to track the progress of recovery of exploited species and associated communities. Underwater Visual Census techniques (UVC) are used to monitor fish assemblages in MPAs. UVCs should be adapted to fish abundance, body-size and behaviour, which can strongly affect fish detectability. In Mediterranean subtidal habitats, however, UVC strip transects of one surface area (25x5 m2) are commonly used to survey the whole fish assemblage, from large shy fish to small crypto-benthic fish. Most high trophic level predators (HTLPs) are large shy fish which rarely swim close to divers and, consequently, their abundance may be under-estimated with commonly used transects. Here, we propose an improvement to traditional transect surveys to better account for differences in behaviour among and within species. First, we compared the effectiveness of combining two transect surface areas (large: 35x20 m2; medium: 25x5 m2) in quantifying large, shy fish within and outside Mediterranean MPAs. We identified species-specific body-size thresholds defining a smaller and a larger size class better sampled by medium and large transects respectively. Combining large and medium transects provided more accurate biomass and species richness estimates for large, shy species than using medium transects alone. We thus combined the new approach with two other transect surface areas commonly used to survey crypto-benthic (10x1 m2) and necto-benthic (25x5 m2) species in order to assess how effectively MPAs protection the whole fish assemblage. We verified that MPAs offer significant protection for HTLPs, their response in terms of biomass and density increase in MPAs was always higher in magnitude than other functional groups. Inside MPAs, the contribution of HTLP reached >25% of total fish biomass, against < 2% outside MPAs. Surveys with multiple transect surface areas allow for a more realistic assessment of the structure of the whole fish assemblage and better assessment of potential recovery of HTLPs within reserves of HTLP. PMID:28594836

Enhancing fish Underwater Visual Census to move forward assessment of fish assemblages: An application in three Mediterranean Marine Protected Areas.

PubMed

Prato, Giulia; Thiriet, Pierre; Di Franco, Antonio; Francour, Patrice

2017-01-01

Monitoring fish assemblages is needed to assess whether Marine Protected Areas (MPAs) are meeting their conservation and fisheries management goals, as it allows one to track the progress of recovery of exploited species and associated communities. Underwater Visual Census techniques (UVC) are used to monitor fish assemblages in MPAs. UVCs should be adapted to fish abundance, body-size and behaviour, which can strongly affect fish detectability. In Mediterranean subtidal habitats, however, UVC strip transects of one surface area (25x5 m2) are commonly used to survey the whole fish assemblage, from large shy fish to small crypto-benthic fish. Most high trophic level predators (HTLPs) are large shy fish which rarely swim close to divers and, consequently, their abundance may be under-estimated with commonly used transects. Here, we propose an improvement to traditional transect surveys to better account for differences in behaviour among and within species. First, we compared the effectiveness of combining two transect surface areas (large: 35x20 m2; medium: 25x5 m2) in quantifying large, shy fish within and outside Mediterranean MPAs. We identified species-specific body-size thresholds defining a smaller and a larger size class better sampled by medium and large transects respectively. Combining large and medium transects provided more accurate biomass and species richness estimates for large, shy species than using medium transects alone. We thus combined the new approach with two other transect surface areas commonly used to survey crypto-benthic (10x1 m2) and necto-benthic (25x5 m2) species in order to assess how effectively MPAs protection the whole fish assemblage. We verified that MPAs offer significant protection for HTLPs, their response in terms of biomass and density increase in MPAs was always higher in magnitude than other functional groups. Inside MPAs, the contribution of HTLP reached >25% of total fish biomass, against < 2% outside MPAs. Surveys with multiple transect surface areas allow for a more realistic assessment of the structure of the whole fish assemblage and better assessment of potential recovery of HTLPs within reserves of HTLP.

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

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.

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.

Habitat diversity in the Northeastern Gulf of Mexico: Selected video clips from the Gulfstream Natural Gas Pipeline digital archive

USGS Publications Warehouse

Raabe, Ellen A.; D'Anjou, Robert; Pope, Domonique K.; Robbins, Lisa L.

2011-01-01

This project combines underwater video with maps and descriptions to illustrate diverse seafloor habitats from Tampa Bay, Florida, to Mobile Bay, Alabama. A swath of seafloor was surveyed with underwater video to 100 meters (m) water depth in 1999 and 2000 as part of the Gulfstream Natural Gas System Survey. The U.S. Geological Survey (USGS) in St. Petersburg, Florida, in cooperation with Eckerd College and the Florida Department of Environmental Protection (FDEP), produced an archive of analog-to-digital underwater movies. Representative clips of seafloor habitats were selected from hundreds of hours of underwater footage. The locations of video clips were mapped to show the distribution of habitat and habitat transitions. The numerous benthic habitats in the northeastern Gulf of Mexico play a vital role in the region's economy, providing essential resources for tourism, natural gas, recreational water sports (fishing, boating, scuba diving), materials, fresh food, energy, a source of sand for beach renourishment, and more. These submerged natural resources are important to the economy but are often invisible to the general public. This product provides a glimpse of the seafloor with sample underwater video, maps, and habitat descriptions. It was developed to depict the range and location of seafloor habitats in the region but is limited by depth and by the survey track. It should not be viewed as comprehensive, but rather as a point of departure for inquiries and appreciation of marine resources and seafloor habitats. Further information is provided in the Resources section.

Bathymetric and underwater video survey of Lower Granite Reservoir and vicinity, Washington and Idaho, 2009-10

USGS Publications Warehouse

Williams, Marshall L.; Fosness, Ryan L.; Weakland, Rhonda J.

2012-01-01

The U.S. Geological Survey conducted a bathymetric survey of the Lower Granite Reservoir, Washington, using a multibeam echosounder, and an underwater video mapping survey during autumn 2009 and winter 2010. The surveys were conducted as part of the U.S. Army Corps of Engineer's study on sediment deposition and control in the reservoir. The multibeam echosounder survey was performed in 1-mile increments between river mile (RM) 130 and 142 on the Snake River, and between RM 0 and 2 on the Clearwater River. The result of the survey is a digital elevation dataset in ASCII coordinate positioning data (easting, northing, and elevation) useful in rendering a 3×3-foot point grid showing bed elevation and reservoir geomorphology. The underwater video mapping survey was conducted from RM 107.73 to 141.78 on the Snake River and RM 0 to 1.66 on the Clearwater River, along 61 U.S. Army Corps of Engineers established cross sections, and dredge material deposit transects. More than 900 videos and 90 bank photographs were used to characterize the sediment facies and ground-truth the multibeam echosounder data. Combined, the surveys were used to create a surficial sediment facies map that displays type of substrate, level of embeddedness, and presence of silt.

GoPros™ as an underwater photogrammetry tool for citizen science

PubMed Central

David, Peter A.; Dupont, Sally F.; Mathewson, Ciaran P.; O’Neill, Samuel J.; Powell, Nicholas N.; Williamson, Jane E.

2016-01-01

Citizen science can increase the scope of research in the marine environment; however, it suffers from necessitating specialized training and simplified methodologies that reduce research output. This paper presents a simplified, novel survey methodology for citizen scientists, which combines GoPro imagery and structure from motion to construct an ortho-corrected 3D model of habitats for analysis. Results using a coral reef habitat were compared to surveys conducted with traditional snorkelling methods for benthic cover, holothurian counts, and coral health. Results were comparable between the two methods, and structure from motion allows the results to be analysed off-site for any chosen visual analysis. The GoPro method outlined in this study is thus an effective tool for citizen science in the marine environment, especially for comparing changes in coral cover or volume over time. PMID:27168973

GoPros™ as an underwater photogrammetry tool for citizen science.

PubMed

Raoult, Vincent; David, Peter A; Dupont, Sally F; Mathewson, Ciaran P; O'Neill, Samuel J; Powell, Nicholas N; Williamson, Jane E

2016-01-01

Citizen science can increase the scope of research in the marine environment; however, it suffers from necessitating specialized training and simplified methodologies that reduce research output. This paper presents a simplified, novel survey methodology for citizen scientists, which combines GoPro imagery and structure from motion to construct an ortho-corrected 3D model of habitats for analysis. Results using a coral reef habitat were compared to surveys conducted with traditional snorkelling methods for benthic cover, holothurian counts, and coral health. Results were comparable between the two methods, and structure from motion allows the results to be analysed off-site for any chosen visual analysis. The GoPro method outlined in this study is thus an effective tool for citizen science in the marine environment, especially for comparing changes in coral cover or volume over time.

Density Can Be Misleading for Low-Density Species: Benefits of Passive Acoustic Monitoring

PubMed Central

Rogers, Tracey L.; Ciaglia, Michaela B.; Klinck, Holger; Southwell, Colin

2013-01-01

Climate-induced changes may be more substantial within the marine environment, where following ecological change is logistically difficult, and typically expensive. As marine animals tend to produce stereotyped, long-range signals, they are ideal for repeatable surveying. In this study we illustrate the potential for calling rates to be used as a tool for determining habitat quality by using an Antarctic pack-ice seal, the leopard seal, as a model.With an understanding of the vocal behavior of a species, their seasonal and diurnal patterns, sex and age-related differences, an underwater passive-acoustic survey conducted alongside a visual survey in an arc of 4,225 km across the Davis Sea, Eastern Antarctica, showed that while acoustic and visual surveys identified similar regions as having high densities, the acoustic surveys surprisingly identified the opposite regions as being ‘critical’ habitats. Density surveys of species that cannot be differentiated into population classes may be misleading because overall density can be a negative indicator of habitat quality.Under special circumstances acoustics can offer enormous advantage over traditional techniques and open up monitoring to regions that are remote, difficult and expensive to work within, no longer restricting long-term community assessment to resource-wealthy communities. As climatic change affects a broad range of organisms across geographic boundaries we propose that capitalizing on the significant advances in passive acoustic technology, alongside physical acoustics and population modeling, can help in addressing ecological questions more broadly. PMID:23326339

Habitat complexity and fish size affect the detection of Indo-Pacific lionfish on invaded coral reefs

NASA Astrophysics Data System (ADS)

Green, S. J.; Tamburello, N.; Miller, S. E.; Akins, J. L.; Côté, I. M.

2013-06-01

A standard approach to improving the accuracy of reef fish population estimates derived from underwater visual censuses (UVCs) is the application of species-specific correction factors, which assumes that a species' detectability is constant under all conditions. To test this assumption, we quantified detection rates for invasive Indo-Pacific lionfish ( Pterois volitans and P. miles), which are now a primary threat to coral reef conservation throughout the Caribbean. Estimates of lionfish population density and distribution, which are essential for managing the invasion, are currently obtained through standard UVCs. Using two conventional UVC methods, the belt transect and stationary visual census (SVC), we assessed how lionfish detection rates vary with lionfish body size and habitat complexity (measured as rugosity) on invaded continuous and patch reefs off Cape Eleuthera, the Bahamas. Belt transect and SVC surveys performed equally poorly, with both methods failing to detect the presence of lionfish in >50 % of surveys where thorough, lionfish-focussed searches yielded one or more individuals. Conventional methods underestimated lionfish biomass by ~200 %. Crucially, detection rate varied significantly with both lionfish size and reef rugosity, indicating that the application of a single correction factor across habitats and stages of invasion is unlikely to accurately characterize local populations. Applying variable correction factors that account for site-specific lionfish size and rugosity to conventional survey data increased estimates of lionfish biomass, but these remained significantly lower than actual biomass. To increase the accuracy and reliability of estimates of lionfish density and distribution, monitoring programs should use detailed area searches rather than standard visual survey methods. Our study highlights the importance of accounting for sources of spatial and temporal variation in detection to increase the accuracy of survey data from coral reef systems.

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.

Survey of Temperature Measurement Techniques For Studying Underwater Shock Waves

NASA Technical Reports Server (NTRS)

Danehy, Paul M.; Alderfer, David W.

2004-01-01

Several optical methods for measuring temperature near underwater shock waves are reviewed and compared. The relative merits of the different techniques are compared, considering accuracy, precision, ease of use, applicable temperature range, maturity, spatial resolution, and whether or not special additives are required.

Underwater Acoustic Target Tracking: A Review

PubMed Central

Han, Ying; Fan, Liying

2018-01-01

Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper. PMID:29301318

Underwater Photogrammetry and 3d Reconstruction of Marble Cargos Shipwreck

NASA Astrophysics Data System (ADS)

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

2015-04-01

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

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.

Surveying, Modeling and 3d Representation of a wreck for Diving Purposes: Cargo Ship "vera"

NASA Astrophysics Data System (ADS)

Ktistis, A.; Tokmakidis, P.; Papadimitriou, K.

2017-02-01

This paper presents the results from an underwater recording of the stern part of a contemporary cargo-ship wreck. The aim of this survey was to create 3D representations of this wreck mainly for recreational diving purposes. The key points of this paper are: a) the implementation of the underwater recording at a diving site; b) the reconstruction of a 3d model from data that have been captured by recreational divers; and c) the development of a set of products to be used by the general public for the ex situ presentation or for the in situ navigation. The idea behind this project is to define a simple and low cost procedure for the surveying, modeling and 3D representation of a diving site. The perspective of our team is to repeat the proposed methodology for the documentation and the promotion of other diving sites with cultural features, as well as to train recreational divers in underwater surveying procedures towards public awareness and community engagement in the maritime heritage.

Localization Algorithms of Underwater Wireless Sensor Networks: A Survey

PubMed Central

Han, Guangjie; Jiang, Jinfang; Shu, Lei; Xu, Yongjun; Wang, Feng

2012-01-01

In Underwater Wireless Sensor Networks (UWSNs), localization is one of most important technologies since it plays a critical role in many applications. Motivated by widespread adoption of localization, in this paper, we present a comprehensive survey of localization algorithms. First, we classify localization algorithms into three categories based on sensor nodes’ mobility: stationary localization algorithms, mobile localization algorithms and hybrid localization algorithms. Moreover, we compare the localization algorithms in detail and analyze future research directions of localization algorithms in UWSNs. PMID:22438752

Aided target recognition processing of MUDSS sonar data

NASA Astrophysics Data System (ADS)

Lau, Brian; Chao, Tien-Hsin

1998-09-01

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

Chemical Sensing of Unexploded Ordnance with the Mobile Underwater Survey System (MUDSS)

NASA Technical Reports Server (NTRS)

Chutjian, A.; Darrach, M.

1999-01-01

The ability to sense explosives residues in the marine environment is a critical tool for identification and classification of underwater unexploded ordnance (UXO). Trace explosives signatures of TNT and DNT have been extracted from mulitple sediment samples adjacent to unexploded undersea ordnance at Halifax Harbor, Canada.

46 CFR 71.50-25 - Alternative Hull Examination (AHE) procedure.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 3 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) procedure. 71.50-25... INSPECTION AND CERTIFICATION Drydocking § 71.50-25 Alternative Hull Examination (AHE) procedure. (a) To complete the underwater survey you must— (1) Perform a general examination of the underwater hull plating...

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

PubMed Central

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

2012-01-01

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

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.

Complementarity of Rotating Video and Underwater Visual Census for Assessing Species Richness, Frequency and Density of Reef Fish on Coral Reef Slopes

PubMed Central

Mallet, Delphine; Wantiez, Laurent; Lemouellic, Soazig; Vigliola, Laurent; Pelletier, Dominique

2014-01-01

Estimating diversity and abundance of fish species is fundamental for understanding community structure and dynamics of coral reefs. When designing a sampling protocol, one crucial step is the choice of the most suitable sampling technique which is a compromise between the questions addressed, the available means and the precision required. The objective of this study is to compare the ability to sample reef fish communities at the same locations using two techniques based on the same stationary point count method: one using Underwater Visual Census (UVC) and the other rotating video (STAVIRO). UVC and STAVIRO observations were carried out on the exact same 26 points on the reef slope of an intermediate reef and the associated inner barrier reefs. STAVIRO systems were always deployed 30 min to 1 hour after UVC and set exactly at the same place. Our study shows that; (i) fish community observations by UVC and STAVIRO differed significantly; (ii) species richness and density of large species were not significantly different between techniques; (iii) species richness and density of small species were higher for UVC; (iv) density of fished species was higher for STAVIRO and (v) only UVC detected significant differences in fish assemblage structure across reef type at the spatial scale studied. We recommend that the two techniques should be used in a complementary way to survey a large area within a short period of time. UVC may census reef fish within complex habitats or in very shallow areas such as reef flat whereas STAVIRO would enable carrying out a large number of stations focused on large and diver-averse species, particularly in the areas not covered by UVC due to time and depth constraints. This methodology would considerably increase the spatial coverage and replication level of fish monitoring surveys. PMID:24392126

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.

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.

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

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

NASA Astrophysics Data System (ADS)

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

2009-12-01

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

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.

Padus, Sandalus, Gens Fadiena. Underwater Surveys in Palaeo-Watercourses (ferrara District - Italy)

NASA Astrophysics Data System (ADS)

Bucci, G.

2015-04-01

In the ambit of our program of researches on ancient rivers in Ferrara hinterland (Italy), we have been joining a Scientific - Didactic Project between Soprintendenza per i Beni Archeologici dell'Emilia Romagna, Comune di Portomaggiore Assessorato alla Cultura, CMAS A.CDCI. - Confédération Mondiale des Activités Subaquatiques Federation ITA F07 - Associazione CMAS Diving Center Italia. The Project is focused on underwater archaeological surveys in ex quarry lakes, following the Rivers Padus and Sandalus between Voghiera, Gambulaga and Portomaggiore (Ferrara District). Here we are going to introduce our most recent results, after the last immersions and a 3D bathymetrical survey completed by echo-side scan sonar in Tramonto Lake at Gambulaga, explaining the connection with remote sensing investigations and direct surveys applied to underwater archaeology of the inland water. The main submerged structure individuated is a part of wooden dock on the left side of Padus, in front of the Necropolis of Fadieni (1st-3rd cent. A.D.). Thanks to the study of 183 finds coming from the lake, involving students and young collaborators of the Archaeological National Museum of Ferrara, we are reconstructing the ancient landscape between Proto-Imperial Age and Late Antique.

Using Side-scan Sonar to Characterize and Map Physical Habitat and Anthropogenic Underwater Features in the St. Louis River. (poster)

EPA Science Inventory

Characterizing underwater habitat and other features is difficult and costly, especially in large river systems. The St. Louis River is the largest US tributary to Lake Superior and the lower portion consists of a 48.5 km2 complex of wetlands, tributaries, and bays. We surveyed 8...

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

EPA Science Inventory

Characterizing underwater habitat and other features is difficult and costly, especially in large river systems. The St. Louis River is the largest US tributary to Lake Superior and the lower portion consists of a 48.5 km2 complex of wetlands, tributaries, and bays. We surveyed 8...

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

EPA Science Inventory

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

Interactive Visual Analysis within Dynamic Ocean Models

NASA Astrophysics Data System (ADS)

Butkiewicz, T.

2012-12-01

The many observation and simulation based ocean models available today can provide crucial insights for all fields of marine research and can serve as valuable references when planning data collection missions. However, the increasing size and complexity of these models makes leveraging their contents difficult for end users. Through a combination of data visualization techniques, interactive analysis tools, and new hardware technologies, the data within these models can be made more accessible to domain scientists. We present an interactive system that supports exploratory visual analysis within large-scale ocean flow models. The currents and eddies within the models are illustrated using effective, particle-based flow visualization techniques. Stereoscopic displays and rendering methods are employed to ensure that the user can correctly perceive the complex 3D structures of depth-dependent flow patterns. Interactive analysis tools are provided which allow the user to experiment through the introduction of their customizable virtual dye particles into the models to explore regions of interest. A multi-touch interface provides natural, efficient interaction, with custom multi-touch gestures simplifying the otherwise challenging tasks of navigating and positioning tools within a 3D environment. We demonstrate the potential applications of our visual analysis environment with two examples of real-world significance: Firstly, an example of using customized particles with physics-based behaviors to simulate pollutant release scenarios, including predicting the oil plume path for the 2010 Deepwater Horizon oil spill disaster. Secondly, an interactive tool for plotting and revising proposed autonomous underwater vehicle mission pathlines with respect to the surrounding flow patterns predicted by the model; as these survey vessels have extremely limited energy budgets, designing more efficient paths allows for greater survey areas.

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

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

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

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

2008-05-15

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

Scuba diving & underwater cultural resources: differences in environmental beliefs, ascriptions of responsibility, and management preferences based on level of development

Treesearch

Sharon L. Todd; Tiffany Cooper; Alan R. Graefe

2001-01-01

This study examined SCUBA divers' level of development in relationship to environmental beliefs, ascriptions of responsibility, and management preferences concerning the use and management of New York's Great Lakes' underwater cultural resources. More than 850 New York State divers were surveyed during the fall of 1999, ranging from novices to experts...

Design of Omni Directional Remotely Operated Vehicle (ROV)

NASA Astrophysics Data System (ADS)

Rahimuddin; Hasan, Hasnawiya; Rivai, Haryanti A.; Iskandar, Yanu; Claudio, P.

2018-02-01

Nowadays, underwater activities are increased with the increase of oil resources finding. The gap between demand and supply of oil and gas cause engineers to find oil and gas resources in deep water. In other side, high risk of working in deep underwater environment can cause a dangerous situation for human. Therefore, many research activities are developing an underwater vehicle to replace the human’s work such as ROV or Remotely Operated Vehicles. The vehicle operated using tether to transport the signals and electric power from the surface vehicle. Arrangements of weight, buoyancy, and the propeller placements are significant aspect in designing the vehicle’s performance. This paper presents design concept of ROV for survey and observation the underwater objects with interaction vectored propellers used for vehicle’s motions.

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.

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2012 CFR

2012-10-01

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

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2011 CFR

2011-10-01

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

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2013 CFR

2013-10-01

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

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2010 CFR

2010-10-01

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

46 CFR 115.640 - Pre-Survey meeting.

Code of Federal Regulations, 2014 CFR

2014-10-01

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

Self-Assembled Rov and Photogrammetric Surveys with Low Cost Techniques

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

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.

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…

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.

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.

Time series dataset of fish assemblages near thermal discharges at nuclear power plants in northern Taiwan.

PubMed

Chen, Hungyen; Chen, Ching-Yi; Shao, Kwang-Tsao

2018-05-08

Long-term time series datasets with consistent sampling methods are rather rare, especially the ones of non-target coastal fishes. Here we described a long-term time series dataset of fish collected by trammel net fish sampling and observed by an underwater diving visual census near the thermal discharges at two nuclear power plants on the northern coast of Taiwan. Both experimental and control stations of these two investigations were monitored four times per year in the surrounding seas at both plants from 2000 to 2017. The underwater visual census mainly monitored reef fish assemblages and trammel net samples monitored pelagic or demersal fishes above the muddy/sandy bottom. In total, 508 samples containing 203,863 individuals from 347 taxa were recorded in both investigations at both plants. These data can be used by ecologists and fishery biologists interested in the elucidation of the temporal patterns of species abundance and composition.

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.

Leveraging U.S. Geo-Strategic Positional Advantage to Prevail in a Mercantile World

DTIC Science & Technology

2013-02-14

Underwater Acoustic Sensor Networks,” gravimetric analysis, as discussed in the American Scientist article , “Detecting Irregular Gravity,” and...Technology. Atlanta, GA: 21 January 2005. http://www.ece.gatech.edu/research/labs/bwn/surveys/underwater.pdf. American Scientist article . “Detecting... culture , and civil law and order. The challenge of implementing these adjustments, combined with other internal challenges, will relegate India to

Natural hydrocarbon seeps observation with underwater gliders and UV fluorescence sensor

NASA Astrophysics Data System (ADS)

Rochet, V.

2016-02-01

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

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.

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

Passive Bottom Loss Estimation Using Compact Arrays and Autonomous Underwater Vehicles

DTIC Science & Technology

2015-09-30

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

Optical Sensors and Methods for Underwater 3D Reconstruction

PubMed Central

Massot-Campos, Miquel; Oliver-Codina, Gabriel

2015-01-01

This paper presents a survey on optical sensors and methods for 3D reconstruction in underwater environments. The techniques to obtain range data have been listed and explained, together with the different sensor hardware that makes them possible. The literature has been reviewed, and a classification has been proposed for the existing solutions. New developments, commercial solutions and previous reviews in this topic have also been gathered and considered. PMID:26694389

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.

Acoustic survey for marine mammal occurrence and distribution off East Antarctica (30-80°E) in January-February 2006

NASA Astrophysics Data System (ADS)

Gedamke, Jason; Robinson, Sarah M.

2010-05-01

A large scale, systematic, acoustic survey for whales and seals in eastern Antarctic waters was conducted in January-February 2006. During the BROKE-West survey of Southern Ocean waters between 30 and 80° E longitude, an acoustic survey was conducted to complement a traditional visual survey for marine mammal occurrence and distribution. As part of the survey, 145 DIFAR sonobuoys were deployed every 30' of latitude on north-south transects, and prior to CTD stations on the initial east-west transect. Underwater sound was analyzed for 70 minute samples from each sonobuoy. Blue whales were the most commonly recorded species, identified at 55 of the sonobuoy deployment sites. Other species recorded include: sperm (46 sites), fin (14), humpback (2), and sei (3) whales, and leopard (11) and Ross (17) seals. Large numbers of blue and sperm whales, and all Ross seals were detected on the westernmost two transects, which were the only transects of the survey with relatively extensive sea ice remaining off the continental shelf. Large numbers of blue whales were also detected in the more eastern waters of the survey off the Prydz Bay region, while two detections of pygmy blue whales represent the farthest south these whales have been recorded. Of the relatively few fin whale detections, most occurred in more northerly waters. Fin whale vocalizations from this region were distinctly different than those recorded elsewhere around Antarctica suggesting acoustic recordings may be useful to delineate regional or stock boundaries of this species. Previously undescribed sounds were attributed to Ross seals. Acoustic detections of these and leopard seal sounds indicate these animals venture further from their traditionally described distributions, with vocalizing leopard seals occurring much further north than might be expected. Overall, the results of the sonobuoy survey provide a measure of each species' relative spatial distribution over the survey area based on acoustic detections, and when combined with the results of the visual survey, will provide a comprehensive view of marine mammal distribution throughout the region during the BROKE-West survey.

Underwater MASW to evaluate stiffness of water-bottom sediments

USGS Publications Warehouse

Park, C.B.; Miller, R.D.; Xia, J.; Ivanov, J.; Sonnichsen, G.V.; Hunter, J.A.; Good, R.L.; Burns, R.A.; Christian, H.

2005-01-01

The multichannel analysis of surface waves (MASW) is initially intended as a land survey method to investigate the near-surface materials for their elastic properties. The acquired data are first analyzed for dispersion characteristics and, from these the shear-wave velocity is estimated using an inversion technique. Land applications show the potential of the MASW method to map 2D bedrock surface, zones of low strength, Poisson's ratio, voids, as well as to generate shear-wave profiles for various othe geotechnical problems. An overview is given of several underwater applications of the MASW method to characterize stiffness distribution of water-bottom sediments. The first application details the survey under shallow-water (1-6 m) in the Fraser River (Canada). The second application is an innovative experimental marine seismic survey in the North Atlantic Ocean near oil fields in Grand Bank offshore Newfoundland.

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.

46 CFR 71.50-1 - Definitions relating to hull examinations.

Code of Federal Regulations, 2011 CFR

2011-10-01

... a combination of underwater surveys, internal examinations, and annual hull condition assessment... Charge, Marine Inspection (OCMI), to have the appropriate training and experience to perform the survey... the AHE; (4) Possessing the knowledge of vessel structures, design features, nomenclature, and the...

46 CFR 71.50-1 - Definitions relating to hull examinations.

Code of Federal Regulations, 2012 CFR

2012-10-01

... a combination of underwater surveys, internal examinations, and annual hull condition assessment... Charge, Marine Inspection (OCMI), to have the appropriate training and experience to perform the survey... the AHE; (4) Possessing the knowledge of vessel structures, design features, nomenclature, and the...

Laser Scanner Reliefs of Selected Archeological Structures in the Submerged Baiae (naples)

NASA Astrophysics Data System (ADS)

Davidde Petriaggi, B.; Gomez de Ayala, G.

2015-04-01

In 2011 the ISCR (Rome), in the frame of the Project Restoring Underwater directed by Barbara Davidde Petriaggi, started to test Naumacos Laser Scann 1, designed by Gabriele Gomez de Ayala, in order to document the restoration of a room paved with opus sectile probably part of the Bath of Punta Epitaffio (Underwater Park of Baiae - Marine Protected Area, Naples). The experimentation conducted in Baiae by ISCR has shown the effectiveness of the Laser Scanner; this method also allowed to considerably reduce times and costs of underwater surveying. Moreover, the 3D relief obtained, has the characteristic of being geometrically (accuracy is sub-millimetric) and chromatically faithful to the reconstructed structure, as well as being exportable in various forms and usable in several contexts. From 2011 to 2013 the evolution of the instrument Naumacos Laser Scanner 3 was developed and tested in the restoration work of the Villa con ingresso a protiro, where three structures were documented in 3D (a paved with black and white mosaic decorated with hexagons and peltae, a very fragmentary black and white mosaic and a stone artefact. This paper shows the results of this documentation campaign and it underlines the prominent role in documentation and in museum display of Underwater Cultural Heritage played by the three-dimensional laser scanning survey. This technique also contributes to the increase of the value of scientific dissemination.

Lightweight Autonomous Underwater Vehicles (AUVs) performing coastal survey operations in REP 10A

NASA Astrophysics Data System (ADS)

Incze, Michael L.

2011-11-01

Lightweight Autonomous Underwater Vehicles (AUVs) were developed for Naval Special Warfare (NSW) Group 4 search and survey missions from a commercial AUV baseline (Iver 2) through integration of commercial off-the-shelf (COTS) hardware components, and through software development for enhanced on-board Command and Control functions. The development period was 1 year under a project sponsored by the Office of Naval Research TechSolutions Program Office. Hardware integration was completed by the commercial AUV vendor, OceanServer Technology, Inc., and software development was conducted by the Naval Undersea Warfare Center, Naval Oceanographic Office, and U MASS Dartmouth, with support from hardware and software application providers (YSI, Inc., Imagenex Technology Corp., and CARIS). At the conclusion of the integration and development period, an at-sea performance evaluation was scheduled for the Lightweight NSW AUVs with NSWG-4 personnel. The venue for this evaluation was the NATO exercise Recognized Environmental Picture 10A (REP 10A), hosted by Marinha Portuguesa, and coordinated by the Faculdade de Engenharia-Universidade do Porto. REP 10A offered an opportunity to evaluate the performance of the new AUVs and to explore the Concept of Operations (CONOPS) for employing them in military survey operations in shallow coastal waters. Shore- and ship-launched scenarios with launch/recovery by a single operator in a one-to-many coordinated survey, on-scene data product generation and visualization, data push to Reach Back Cells for product integration and enhancement, and survey optimization to streamline survey effort and timelines were included in the CONOPS review. Opportunities to explore employment of hybrid AUV fleets in Combined Force scenarios were also utilized. The Naval Undersea Warfare Center, Marinha Portuguesa, the Faculdade de Engenharia-Universidade do Porto, and OceanServer Technology, Inc., were the primary participants bringing in-water resources to REP 10A. Technical support and products were provided by the Naval Research Laboratory-Stennis Space Center, Naval Oceanographic Office, NATO Undersea Research Centre, University of Massachusetts-Dartmouth, and YSI, Inc. REP 10A proved to be a very effective exercise in meeting each of the critical goals. Results of the performance evaluation guided final development and Independent Verification and Validation (IV&V) for the Lightweight NSW AUV, leading to on-time, successful Factory Acceptance Testing and delivery of the three contracted vehicles to NSWG-4 in September, 2010.

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.

Instruments and Methodologies for the Underwater Tridimensional Digitization and Data Musealization

NASA Astrophysics Data System (ADS)

Repola, L.; Memmolo, R.; Signoretti, D.

2015-04-01

In the research started within the SINAPSIS project of the Università degli Studi Suor Orsola Benincasa an underwater stereoscopic scanning aimed at surveying of submerged archaeological sites, integrable to standard systems for geomorphological detection of the coast, has been developed. The project involves the construction of hardware consisting of an aluminum frame supporting a pair of GoPro Hero Black Edition cameras and software for the production of point clouds and the initial processing of data. The software has features for stereoscopic vision system calibration, reduction of noise and the of distortion of underwater captured images, searching for corresponding points of stereoscopic images using stereo-matching algorithms (dense and sparse), for points cloud generating and filtering. Only after various calibration and survey tests carried out during the excavations envisaged in the project, the mastery of methods for an efficient acquisition of data has been achieved. The current development of the system has allowed generation of portions of digital models of real submerged scenes. A semi-automatic procedure for global registration of partial models is under development as a useful aid for the study and musealization of sites.

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

46 CFR 71.50-1 - Definitions relating to hull examinations.

Code of Federal Regulations, 2010 CFR

2010-10-01

... a combination of underwater surveys, internal examinations, and annual hull condition assessment..., Marine Inspection (OCMI), to have the appropriate training and experience to perform the survey and to... the AHE; (4) Possessing the knowledge of vessel structures, design features, nomenclature, and the...

77 FR 20792 - New England Fishery Management Council (NEFMC); Public Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2012-04-06

... experimental fishery permit applications that have been made available since the January 2012 Council meeting... will present information about future plans for the federal sea scallop survey, including the integration of Habcam (towed underwater camera) results with existing survey technologies. The Enforcement...

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

NASA Astrophysics Data System (ADS)

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

2011-03-01

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

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

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.

The value of closed-circuit rebreathers for biological research

USGS Publications Warehouse

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

2016-01-01

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

Underwater Gravity Survey of Northern Monterey Bay.

DTIC Science & Technology

stations were occupied just above the swash zone. A complete Bouguer anomaly map was drawn and tied in with the previous land surveys and with one...covering the southern half of the bay. The isolines of the complete Bouguer anomaly indicate the relative vertical position of the basement complex Santa

Integrated synoptic surveys using an autonomous underwater vehicle and manned boats

USGS Publications Warehouse

Jackson, P. Ryan

2013-01-01

Traditional surface-water surveys are being combined with autonomous technology to produce integrated surveys of bathymetry, water quality, and velocity in inland lakes and reservoirs. This new technology provides valuable, high-resolution, integrated data that allow a systems-based approach to understanding common environmental problems. This fact sheet presents several example applications of integrated surveys within inland lakes and coastal Lake Michigan and Lake Erie.

End to End Digitisation and Analysis of Three-Dimensional Coral Models, from Communities to Corallites.

PubMed

Gutierrez-Heredia, Luis; Benzoni, Francesca; Murphy, Emma; Reynaud, Emmanuel G

2016-01-01

Coral reefs hosts nearly 25% of all marine species and provide food sources for half a billion people worldwide while only a very small percentage have been surveyed. Advances in technology and processing along with affordable underwater cameras and Internet availability gives us the possibility to provide tools and softwares to survey entire coral reefs. Holistic ecological analyses of corals require not only the community view (10s to 100s of meters), but also the single colony analysis as well as corallite identification. As corals are three-dimensional, classical approaches to determine percent cover and structural complexity across spatial scales are inefficient, time-consuming and limited to experts. Here we propose an end-to-end approach to estimate these parameters using low-cost equipment (GoPro, Canon) and freeware (123D Catch, Meshmixer and Netfabb), allowing every community to participate in surveys and monitoring of their coral ecosystem. We demonstrate our approach on 9 species of underwater colonies in ranging size and morphology. 3D models of underwater colonies, fresh samples and bleached skeletons with high quality texture mapping and detailed topographic morphology were produced, and Surface Area and Volume measurements (parameters widely used for ecological and coral health studies) were calculated and analysed. Moreover, we integrated collected sample models with micro-photogrammetry models of individual corallites to aid identification and colony and polyp scale analysis.

End to End Digitisation and Analysis of Three-Dimensional Coral Models, from Communities to Corallites

PubMed Central

Gutierrez-Heredia, Luis; Benzoni, Francesca; Murphy, Emma; Reynaud, Emmanuel G.

2016-01-01

Coral reefs hosts nearly 25% of all marine species and provide food sources for half a billion people worldwide while only a very small percentage have been surveyed. Advances in technology and processing along with affordable underwater cameras and Internet availability gives us the possibility to provide tools and softwares to survey entire coral reefs. Holistic ecological analyses of corals require not only the community view (10s to 100s of meters), but also the single colony analysis as well as corallite identification. As corals are three-dimensional, classical approaches to determine percent cover and structural complexity across spatial scales are inefficient, time-consuming and limited to experts. Here we propose an end-to-end approach to estimate these parameters using low-cost equipment (GoPro, Canon) and freeware (123D Catch, Meshmixer and Netfabb), allowing every community to participate in surveys and monitoring of their coral ecosystem. We demonstrate our approach on 9 species of underwater colonies in ranging size and morphology. 3D models of underwater colonies, fresh samples and bleached skeletons with high quality texture mapping and detailed topographic morphology were produced, and Surface Area and Volume measurements (parameters widely used for ecological and coral health studies) were calculated and analysed. Moreover, we integrated collected sample models with micro-photogrammetry models of individual corallites to aid identification and colony and polyp scale analysis. PMID:26901845

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.

AUV technology heads for new depths[Autonomous Underwater Vehicle

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

Hayes, D.

2000-04-01

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

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.

The Underwater Spectrometric System Based on CZT Detector for Survey of the Bottom of MR Reactor Pool - 13461

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

Potapov, Victor; Safronov, Alexey; Ivanov, Oleg

2013-07-01

The underwater spectrometer system for detection of irradiated nuclear fuel on the pool bottom of the reactor was elaborated. During the development process metrological studies of CdZnTe (CZT) detectors were conducted. These detectors are designed for spectrometric measurements in high radiation fields. A mathematical model based on the Monte Carlo method was created to evaluate the capability of such a system. A few experimental models were realized and the characteristics of the spectrometric system are represented. (authors)

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

DTIC Science & Technology

2015-09-30

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

A Survey on Underwater Acoustic Sensor Network Routing Protocols.

PubMed

Li, Ning; Martínez, José-Fernán; Meneses Chaus, Juan Manuel; Eckert, Martina

2016-03-22

Underwater acoustic sensor networks (UASNs) have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research.

A Survey on Underwater Acoustic Sensor Network Routing Protocols

PubMed Central

Li, Ning; Martínez, José-Fernán; Meneses Chaus, Juan Manuel; Eckert, Martina

2016-01-01

Underwater acoustic sensor networks (UASNs) have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research. PMID:27011193

High-resolution bathymetry as a primary exploration tool for seafloor massive sulfide deposits - lessons learned from exploration on the Mid-Atlantic and Juan de Fuca Ridges, and northern Lau Basin

NASA Astrophysics Data System (ADS)

Jamieson, J. W.; Clague, D. A.; Petersen, S.; Yeo, I. A.; Escartin, J.; Kwasnitschka, T.

2016-12-01

High-resolution, autonomous underwater vehicle (AUV)-derived multibeam bathymetry is increasingly being used as an exploration tool for delineating the size and extent of hydrothermal vent fields and associated seafloor massive sulfide deposits. However, because of the limited amount of seafloor that can be surveyed during a single dive, and the challenges associated with distinguishing hydrothermal chimneys and mounds from other volcanic and tectonic features using solely bathymetric data, AUV mapping surveys have largely been employed as a secondary exploration tool once hydrothermal sites have been discovered using other exploration methods such as plume, self-potential and TV surveys, or ROV and submersible dives. Visual ground-truthing is often required to attain an acceptable level of confidence in the hydrothermal origin of features identified in AUV-derived bathymetry. Here, we present examples of high-resolution bathymetric surveys of vent fields from a variety of tectonic environments, including slow- and intermediate-rate mid-ocean ridges, oceanic core complexes and back arc basins. Results illustrate the diversity of sulfide deposit morphologies, and the challenges associated with identifying hydrothermal features in different tectonic environments. We present a developing set of criteria that can be used to distinguish hydrothermal deposits in bathymetric data, and how AUV surveys can be used either on their own or in conjunction with other exploration techniques as a primary exploration tool.

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.

Research on Localization Algorithms Based on Acoustic Communication for Underwater Sensor Networks

PubMed Central

Fan, Liying; Wu, Shan; Yan, Xueting

2017-01-01

The water source, as a significant body of the earth, with a high value, serves as a hot topic to study Underwater Sensor Networks (UWSNs). Various applications can be realized based on UWSNs. Our paper mainly concentrates on the localization algorithms based on the acoustic communication for UWSNs. An in-depth survey of localization algorithms is provided for UWSNs. We first introduce the acoustic communication, network architecture, and routing technique in UWSNs. The localization algorithms are classified into five aspects, namely, computation algorithm, spatial coverage, range measurement, the state of the nodes and communication between nodes that are different from all other survey papers. Moreover, we collect a lot of pioneering papers, and a comprehensive comparison is made. In addition, some challenges and open issues are raised in our paper. PMID:29301369

A Wide Area Risk Assessment Framework for Underwater Military Munitions Response

NASA Astrophysics Data System (ADS)

Holland, K. T.; Calantoni, J.

2017-12-01

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

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

NASA Astrophysics Data System (ADS)

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

2016-11-01

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

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

PubMed

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

2016-04-15

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

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.

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.

Mapping underwater sound noise and assessing its sources by using a self-organizing maps method.

PubMed

Rako, Nikolina; Vilibić, Ivica; Mihanović, Hrvoje

2013-03-01

This study aims to provide an objective mapping of the underwater noise and its sources over an Adriatic coastal marine habitat by applying the self-organizing maps (SOM) method. Systematic sampling of sea ambient noise (SAN) was carried out at ten predefined acoustic stations between 2007 and 2009. Analyses of noise levels were performed for 1/3 octave band standard centered frequencies in terms of instantaneous sound pressure levels averaged over 300 s to calculate the equivalent continuous sound pressure levels. Data on vessels' presence, type, and distance from the monitoring stations were also collected at each acoustic station during the acoustic sampling. Altogether 69 noise surveys were introduced to the SOM predefined 2 × 2 array. The overall results of the analysis distinguished two dominant underwater soundscapes, associating them mainly to the seasonal changes in the nautical tourism and fishing activities within the study area and to the wind and wave action. The analysis identified recreational vessels as the dominant anthropogenic source of underwater noise, particularly during the tourist season. The method demonstrated to be an efficient tool in predicting the SAN levels based on the vessel distribution, indicating also the possibility of its wider implication for marine conservation.

Discovery of a new hydrothermal vent based on an underwater, high-resolution geophysical survey

NASA Astrophysics Data System (ADS)

Nakamura, Kentaro; Toki, Tomohiro; Mochizuki, Nobutatsu; Asada, Miho; Ishibashi, Jun-ichiro; Nogi, Yoshifumi; Yoshikawa, Shuro; Miyazaki, Jun-ichi; Okino, Kyoko

2013-04-01

A new hydrothermal vent site in the Southern Mariana Trough has been discovered using acoustic and magnetic surveys conducted by the Japan Agency for Marine-Earth Science and Technology's (JAMSTEC) autonomous underwater vehicle (AUV), Urashima. The high-resolution magnetic survey, part of a near-bottom geophysical mapping around a previously known hydrothermal vent site, the Pika site, during the YK09-08 cruise in June-July 2009, found that a clear magnetization low extends ˜500 m north from the Pika site. Acoustic signals, suggesting hydrothermal plumes, and 10 m-scale chimney-like topographic highs were detected within this low magnetization zone by a 120 kHz side-scan sonar and a 400 kHz multibeam echo sounder. In order to confirm the seafloor sources of the geophysical signals, seafloor observations were carried out using the deep-sea manned submersible Shinkai 6500 during the YK 10-10 cruise in August 2010. This discovered a new hydrothermal vent site (12°55.30'N, 143°38.89'E; at a depth of 2922 m), which we have named the Urashima site. This hydrothermal vent site covers an area of approximately 300 m×300 m and consists of black and clear smoker chimneys, brownish-colored shimmering chimneys, and inactive chimneys. All of the fluids sampled from the Urashima and Pika sites have chlorinity greater than local ambient seawater, suggesting subseafloor phase separation or leaching from rocks in the hydrothermal reaction zone. End-member compositions of the Urashima and Pika fluids suggest that fluids from two different sources feed the two sites, even though they are located on the same knoll and separated by only ˜500 m. We demonstrate that investigations on hydrothermal vent sites located in close proximity to one another can provide important insights into subseafloor hydrothermal fluid flow, and also that, while such hydrothermal sites are difficult to detect by conventional plume survey methods, high-resolution underwater geophysical surveys provide an effective means.

A methodology for conducting underwater archaeological surveys : final report.

DOT National Transportation Integrated Search

1990-01-01

Departments of transportation and other construction agencies are required to locate and conserve cultural resources located in the area of a construction project. Although most organizations have procedures for locating cultural resources on land, t...

Avoidance of seismic survey activities by penguins.

PubMed

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

2017-11-24

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

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.

D Reconstruction of AN Underwater Archaelogical Site: Comparison Between Low Cost Cameras

NASA Astrophysics Data System (ADS)

Capra, A.; Dubbini, M.; Bertacchini, E.; Castagnetti, C.; Mancini, F.

2015-04-01

The 3D reconstruction with a metric content of a submerged area, where objects and structures of archaeological interest are found, could play an important role in the research and study activities and even in the digitization of the cultural heritage. The reconstruction of 3D object, of interest for archaeologists, constitutes a starting point in the classification and description of object in digital format and for successive fruition by user after delivering through several media. The starting point is a metric evaluation of the site obtained with photogrammetric surveying and appropriate 3D restitution. The authors have been applying the underwater photogrammetric technique since several years using underwater digital cameras and, in this paper, digital low cost cameras (off-the-shelf). Results of tests made on submerged objects with three cameras are presented: Canon Power Shot G12, Intova Sport HD e GoPro HERO 2. The experimentation had the goal to evaluate the precision in self-calibration procedures, essential for multimedia underwater photogrammetry, and to analyze the quality of 3D restitution. Precisions obtained in the calibration and orientation procedures was assessed by using three cameras, and an homogeneous set control points. Data were processed with Agisoft Photoscan. Successively, 3D models were created and the comparison of the models derived from the use of different cameras was performed. Different potentialities of the used cameras are reported in the discussion section. The 3D restitution of objects and structures was integrated with sea bottom floor morphology in order to achieve a comprehensive description of the site. A possible methodology of survey and representation of submerged objects is therefore illustrated, considering an automatic and a semi-automatic approach.

Evaluation of Underwater Adhesives and Friction Coatings for In Situ Attachment of Fiber Optic Sensor System for Subsea Applications

NASA Technical Reports Server (NTRS)

Tang, Henry H.; Le, Suy Q.; Orndoff, Evelyne S.; Smith, Frederick D.; Tapia, Alma S.; Brower, David V.

2012-01-01

Integrity and performance monitoring of subsea pipelines and structures provides critical information for managing offshore oil and gas production operation and preventing environmentally damaging and costly catastrophic failure. Currently pipeline monitoring devices require ground assembly and installation prior to the underwater deployment of the pipeline. A monitoring device that could be installed in situ on the operating underwater structures could enhance the productivity and improve the safety of current offshore operation. Through a Space Act Agreement (SAA) between the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) and Astro Technology, Inc. (ATI), JSC provides technical expertise and testing facilities to support the development of fiber optic sensor technologies by ATI. This paper details the first collaboration effort between NASA JSC and ATI in evaluating underwater applicable adhesives and friction coatings for attaching fiber optic sensor system to subsea pipeline. A market survey was conducted to examine different commercial ]off ]the ]shelf (COTS) underwater adhesive systems and to select adhesive candidates for testing and evaluation. Four COTS epoxy based underwater adhesives were selected and evaluated. The adhesives were applied and cured in simulated seawater conditions and then evaluated for application characteristics and adhesive strength. The adhesive that demonstrated the best underwater application characteristics and highest adhesive strength were identified for further evaluation in developing an attachment system that could be deployed in the harsh subsea environment. Various friction coatings were also tested in this study to measure their shear strengths for a mechanical clamping design concept for attaching fiber optic sensor system. A COTS carbide alloy coating was found to increase the shear strength of metal to metal clamping interface by up to 46 percent. This study provides valuable data for assessing the feasibility of developing the next generation fiber optic senor system that could be retrofitted onto existing subsea pipeline structures.

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

PubMed

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

2016-01-01

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

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

PubMed Central

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

2016-01-01

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

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

Assessment of a Static Multibeam Sonar Scanner for 3d Surveying in Confined Subaquatic Environments

NASA Astrophysics Data System (ADS)

Moisan, E.; Charbonnier, P.; Foucher, P.; Grussenmeyer, P.; Guillemin, S.; Samat, O.; Pagès, C.

2016-06-01

Mechanical Scanning Sonar (MSS) is a promising technology for surveying underwater environments. Such devices are comprised of a multibeam echosounder attached to a pan & tilt positioner, that allows sweeping the scene in a similar way as Terrestrial Laser Scanners (TLS). In this paper, we report on the experimental assessment of a recent MSS, namely, the BlueView BV5000, in a confined environment: lock number 50 on the Marne-Rhin canal (France). To this aim, we hung the system upside-down to scan the lock chamber from the surface, which allows surveying the scanning positions, up to an horizontal orientation. We propose a geometric method to estimate the remaining angle and register the scans in a coordinate system attached to the site. After reviewing the different errors that impair sonar data, we compare the resulting point cloud to a TLS model that was acquired the day before, while the lock was completely empty for maintenance. While the results exhibit a bias that can be partly explained by an imperfect setup, the maximum difference is less than 15 cm, and the standard deviation is about 3.5 cm. Visual inspection shows that coarse defects of the masonry, such as stone lacks or cavities, can be detected in the MSS point cloud, while smaller details, e.g. damaged joints, are harder to notice.

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.

46 CFR 167.15-30 - Drydock examination, internal structural examination, and underwater survey intervals.

Code of Federal Regulations, 2010 CFR

2010-10-01

... HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-30 Drydock... Charge, Marine Inspection, may require the vessel to be drydocked or otherwise taken out of service to...

Unmanned surface vessel (USV) systems for bridge inspection : [summary].

DOT National Transportation Integrated Search

2016-08-01

Florida Atlantic University researchers studied the : use of unmanned surface vessels (USVs) for bridge : inspection. The general concept is that a bridge : inspection team would use an USV to perform an : initial survey of structures underwater and ...

The Camera-Based Assessment Survey System (C-BASS): A towed camera platform for reef fish abundance surveys and benthic habitat characterization in the Gulf of Mexico

NASA Astrophysics Data System (ADS)

Lembke, Chad; Grasty, Sarah; Silverman, Alex; Broadbent, Heather; Butcher, Steven; Murawski, Steven

2017-12-01

An ongoing challenge for fisheries management is to provide cost-effective and timely estimates of habitat stratified fish densities. Traditional approaches use modified commercial fishing gear (such as trawls and baited hooks) that have biases in species selectivity and may also be inappropriate for deployment in some habitat types. Underwater visual and optical approaches offer the promise of more precise and less biased assessments of relative fish abundance, as well as direct estimates of absolute fish abundance. A number of video-based approaches have been developed and the technology for data acquisition, calibration, and synthesis has been developing rapidly. Beginning in 2012, our group of engineers and researchers at the University of South Florida has been working towards the goal of completing large scale, video-based surveys in the eastern Gulf of Mexico. This paper discusses design considerations and development of a towed camera system for collection of video-based data on commercially and recreationally important reef fishes and benthic habitat on the West Florida Shelf. Factors considered during development included potential habitat types to be assessed, sea-floor bathymetry, vessel support requirements, personnel requirements, and cost-effectiveness of system components. This regional-specific effort has resulted in a towed platform called the Camera-Based Assessment Survey System, or C-BASS, which has proven capable of surveying tens of kilometers of video transects per day and has the ability to cost-effective population estimates of reef fishes and coincident benthic habitat classification.

46 CFR 176.650 - Alternative Hull Examination Program options: Divers or underwater ROV.

Code of Federal Regulations, 2011 CFR

2011-10-01

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

46 CFR 176.650 - Alternative Hull Examination Program options: Divers or underwater ROV.

Code of Federal Regulations, 2014 CFR

2014-10-01

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

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

Code of Federal Regulations, 2011 CFR

2011-10-01

... ultrasonic thickness gaugings at a minimum of 5 points on each plate, evenly spaced; (4) Take hull plating... the Officer in Charge, Marine Inspection (OCMI) prior to conducting the survey. If you choose this...

46 CFR 176.650 - Alternative Hull Examination Program options: Divers or underwater ROV.

Code of Federal Regulations, 2012 CFR

2012-10-01

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

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

Code of Federal Regulations, 2014 CFR

2014-10-01

... ultrasonic thickness gaugings at a minimum of 5 points on each plate, evenly spaced; (4) Take hull plating... the Officer in Charge, Marine Inspection (OCMI) prior to conducting the survey. If you choose this...

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

Code of Federal Regulations, 2012 CFR

2012-10-01

... ultrasonic thickness gaugings at a minimum of 5 points on each plate, evenly spaced; (4) Take hull plating... the Officer in Charge, Marine Inspection (OCMI) prior to conducting the survey. If you choose this...

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

Code of Federal Regulations, 2013 CFR

2013-10-01

... ultrasonic thickness gaugings at a minimum of 5 points on each plate, evenly spaced; (4) Take hull plating... the Officer in Charge, Marine Inspection (OCMI) prior to conducting the survey. If you choose this...

46 CFR 176.650 - Alternative Hull Examination Program options: Divers or underwater ROV.

Code of Federal Regulations, 2013 CFR

2013-10-01

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

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.

Underwater Photogrammetry, Coded Target and Plenoptic Technology: a Set of Tools for Monitoring Red Coral in Mediterranean Sea in the Framework of the "perfect" Project

NASA Astrophysics Data System (ADS)

Drap, P.; Royer, J. P.; Nawaf, M. M.; Saccone, M.; Merad, D.; López-Sanz, À.; Ledoux, J. B.; Garrabou, J.

2017-02-01

PErfECT "Photogrammetry, gEnetic, Ecology for red coral ConservaTion" is a project leaded by the Laboratoire des Sciences de lInformation et des Systmes (LSIS - UMR 7296 CNRS) from the Aix-Marseille University (France) in collaboration with the Spanish National Agency for Scientific Research (CSIC, Spain). The main objective of the project is to develop innovative Tools for the conservation of the Mediterranean red coral, Corallium rubrum. PErfECT was funded by the Total Fundation. The adaptation of digital photogrammetric techniques for use in submarine is rapidly increasing in recent years. In fact, these techniques are particularly well suited for use in underwater environments. PErfECT developed different photogrammetry tools to enhance the red coral population surveys based in: (i) automatic orientation on coded quadrats, (ii) use of NPR (Non Photo realistic Rendering) techniques, (iii) the calculation of distances between colonies within local populations and finally (iv) the use of plenoptic approaches in underwater conditions.

46 CFR 115.600 - Drydock examination, internal structural examination, and underwater survey intervals.

Code of Federal Regulations, 2013 CFR

2013-10-01

... examination in any affected space, including fuel tanks, and may require the vessel to be drydocked or taken out of service to assess the extent of the damage, and to effect permanent repairs. The OCMI may also...

Exploiting Electric and Magnetic Fields for Underwater Characterization

DTIC Science & Technology

2011-03-01

geophysical surveys are primarily limited to passive magnetic systems towed from a surface vessel. These systems utilize fluxgate , Overhauser, or atomic... magnetometer sensors, often deployed in arrays towed from the stern of small to moderate-size vessels. Active source electromagnetic methods have been

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

SERDP and ESTCP Workshop on Technology Needs for the Characterization, Management, and Remediation of Military Munitions in Underwater Environments

DTIC Science & Technology

2007-10-01

5.3.1.1 Study of Surf Zone Environment........................................... 5-6 5.3.2 Research Needs: High Priority...Detection of Smaller Munitions Items Study of Surf Zone Environment Improve Navigation Error Analysis Develop Cooperative Cued Platforms...towbodies, AUVs, ROVs, HOVs, and divers. Surveys in high energy surf zones present unique difficulties. Finally, participants stressed that the survey

Routing Protocols for Underwater Wireless Sensor Networks: Taxonomy, Research Challenges, Routing Strategies and Future Directions.

PubMed

Khan, Anwar; Ali, Ihsan; Ghani, Abdullah; Khan, Nawsher; Alsaqer, Mohammed; Rahman, Atiq Ur; Mahmood, Hasan

2018-05-18

Recent research in underwater wireless sensor networks (UWSNs) has gained the attention of researchers in academia and industry for a number of applications. They include disaster and earthquake prediction, water quality and environment monitoring, leakage and mine detection, military surveillance and underwater navigation. However, the aquatic medium is associated with a number of limitations and challenges: long multipath delay, high interference and noise, harsh environment, low bandwidth and limited battery life of the sensor nodes. These challenges demand research techniques and strategies to be overcome in an efficient and effective fashion. The design of routing protocols for UWSNs is one of the promising solutions to cope with these challenges. This paper presents a survey of the routing protocols for UWSNs. For the ease of description, the addressed routing protocols are classified into two groups: localization-based and localization-free protocols. These groups are further subdivided according to the problems they address or the major parameters they consider during routing. Unlike the existing surveys, this survey considers only the latest and state-of-the-art routing protocols. In addition, every protocol is described in terms of its routing strategy and the problem it addresses and solves. The merit(s) of each protocol is (are) highlighted along with the cost. A description of the protocols in this fashion has a number of advantages for researchers, as compared to the existing surveys. Firstly, the description of the routing strategy of each protocol makes its routing operation easily understandable. Secondly, the demerit(s) of a protocol provides (provide) insight into overcoming its flaw(s) in future investigation. This, in turn, leads to the foundation of new protocols that are more intelligent, robust and efficient with respect to the desired parameters. Thirdly, a protocol can be selected for the appropriate application based on its described merit(s). Finally, open challenges and research directions are presented for future investigation.

Routing Protocols for Underwater Wireless Sensor Networks: Taxonomy, Research Challenges, Routing Strategies and Future Directions

PubMed Central

Ghani, Abdullah; Alsaqer, Mohammed; Rahman, Atiq Ur; Mahmood, Hasan

2018-01-01

Recent research in underwater wireless sensor networks (UWSNs) has gained the attention of researchers in academia and industry for a number of applications. They include disaster and earthquake prediction, water quality and environment monitoring, leakage and mine detection, military surveillance and underwater navigation. However, the aquatic medium is associated with a number of limitations and challenges: long multipath delay, high interference and noise, harsh environment, low bandwidth and limited battery life of the sensor nodes. These challenges demand research techniques and strategies to be overcome in an efficient and effective fashion. The design of routing protocols for UWSNs is one of the promising solutions to cope with these challenges. This paper presents a survey of the routing protocols for UWSNs. For the ease of description, the addressed routing protocols are classified into two groups: localization-based and localization-free protocols. These groups are further subdivided according to the problems they address or the major parameters they consider during routing. Unlike the existing surveys, this survey considers only the latest and state-of-the-art routing protocols. In addition, every protocol is described in terms of its routing strategy and the problem it addresses and solves. The merit(s) of each protocol is (are) highlighted along with the cost. A description of the protocols in this fashion has a number of advantages for researchers, as compared to the existing surveys. Firstly, the description of the routing strategy of each protocol makes its routing operation easily understandable. Secondly, the demerit(s) of a protocol provides (provide) insight into overcoming its flaw(s) in future investigation. This, in turn, leads to the foundation of new protocols that are more intelligent, robust and efficient with respect to the desired parameters. Thirdly, a protocol can be selected for the appropriate application based on its described merit(s). Finally, open challenges and research directions are presented for future investigation. PMID:29783686

Pipeline inspection using an autonomous underwater vehicle

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

Egeskov, P.; Bech, M.; Bowley, R.

1995-12-31

Pipeline inspection can be carried out by means of small Autonomous Underwater Vehicles (AUVs), operating either with a control link to a surface vessel, or totally independently. The AUV offers an attractive alternative to conventional inspection methods where Remotely Operated Vehicles (ROVs) or paravanes are used. A flatfish type AUV ``MARTIN`` (Marine Tool for Inspection) has been developed for this purpose. The paper describes the proposed types of inspection jobs to be carried out by ``MARTIN``. The design and construction of the vessel, its hydrodynamic properties, its propulsion and control systems are discussed. The pipeline tracking and survey systems, asmore » well as the launch and recovery systems are described.« less

Is the Venice Lagoon Noisy? First Passive Listening Monitoring of the Venice Lagoon: Possible Effects on the Typical Fish Community.

PubMed

Bolgan, Marta; Picciulin, Marta; Codarin, Antonio; Fiorin, Riccardo; Zucchetta, Matteo; Malavasi, Stefano

2016-01-01

Three passive listening surveys have been carried out in two of the three Venice lagoon tide inlets and inside the Venice island. The spectral content and the intensity level of the underwater noise as well as the presence or absence of Sciaena umbra and the distribution of its different sound patterns have been investigated in all the recording sites. The passive listening proved to be successful in detecting S. umbra drumming sounds in both Venice lagoon tide inlets. Our results indicate that the spectral content and the level of underwater noise pollution in the Venice lagoon could affect fish acoustic communication.

Shallow Water Bathymetry using the REMUS 100 Autonomous Underwater Vehicle

DTIC Science & Technology

2013-12-01

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

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

Code of Federal Regulations, 2011 CFR

2011-10-01

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

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

Code of Federal Regulations, 2013 CFR

2013-10-01

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

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

Code of Federal Regulations, 2012 CFR

2012-10-01

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

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

Code of Federal Regulations, 2014 CFR

2014-10-01

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

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

PubMed

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

2018-04-16

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

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

PubMed Central

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

2018-01-01

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

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

USGS Publications Warehouse

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

2013-01-01

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

A seascape approach to investigating fish spillover across a marine protected area boundary in Hawai'i

USGS Publications Warehouse

Stamoulis, Kostantinos A.; Friedlander, Alan M.

2013-01-01

Marine protected areas (MPAs) can benefit fisheries through export of pelagic eggs and larvae and the net emigration of adults and juveniles (spillover). Spillover was investigated for a marine protected area on the north shore of Oahu, Hawai‘i utilizing a seascape approach. This study incorporated habitat variables and underwater visual surveys of fishes and benthos measured at two distinct scales (125 m2 and 1000 m2) inside and outside the protected area at varying distance from the boundary. The relationship between fish biomass from fine-scale surveys and key habitat variables was found to account for a large portion of the variability for both resource (targeted) fish species (15%) and non-resource fish (28%). The remaining variation in resource fish biomass was significantly correlated with distance from the MPA boundary showing a decreasing gradient from inside to outside (r2 = 0.46, p = 0.001), indicating fish spillover at a local scale (p = 0.45). The evidence of spillover based on the fine-scale surveys was corroborated by results from broad-scale surveys, which also showed a significant relationship (r2 = 0.19, p < 0.01) between resource fish biomass and distance from the MPA boundary. In addition, observed spatial distribution of fishing effort was consistent with predictions that fishers respond to biomass gradients across protected area boundaries. Fish spillover can help mitigate costs associated with the establishment of marine protected areas in terms of lost fishing area and therefore have a positive effect on the attitudes of fishers toward marine reserves and marine protected areas.

Seabed sediment classification for monitoring underwater nourishments using time series of multi-beam echo-soundings

NASA Astrophysics Data System (ADS)

Gaida, T. C.; Snellen, M.; van Dijk, T. A. G. P.; Simons, D. G.

2017-12-01

Coastal erosion induced by natural processes, such as wind, waves, tidal currents, or human interferences endangers human beings, infrastructure, fauna and flora at the oceans and rivers all over the world. In The Netherlands, in particular the North Sea islands are strongly affected by sediment erosion. To protect and stabilize the coastline, beach and shoreface nourishments are frequently performed. Thereby, sediment reservoirs are created that replace the eroded sediments. Increasing the long-term efficiency of coastal protection requires monitoring of the temporal and spatial development of the coastal nourishments. Multi-beam echo-sounders (MBES) allow for detailed and comprehensive investigations of the seabed composition and structure. To investigate the potential of using MBES for monitoring nourishments in a tidal inlet, four MBES surveys per year are carried out at the Dutch Wadden island Ameland. A pre-nourishment MBES survey was performed in April 2017 and the subsequent post-nourishment survey will take place in September 2017. Both surveys are equipped with a Kongsberg EM 2040C dual-head MBES and are supported with extensive grab sampling. In this study the use of MBES backscatter and bathymetry data are considered as an approach for monitoring coastal nourishments. The aim is to develop a monitoring procedure that allows for comparing MBES data taken during different surveys, i.e., with variations in environmental conditions, MBES characteristics and acquisition procedures. Different unsupervised and supervised acoustic seafloor classification techniques are applied to the processed MBES data to classify the seabed sediments. The analysis of the pre-nourishment MBES data indicates that the backscatter and consequently the classification are highly driven by the abundancy of shell fragments. These results will be used as a baseline to investigate the accumulation of the underwater nourishments. Independent grab samples will be used to select the optimal method for monitoring the development of underwater nourishments. This work will contribute to conventional and also to modern coastal protection strategies, e.g. using nature-based solutions, where natural processes (tides, waves) are used to redistribute coastal nourishments.

Multiple field-based methods to assess the potential impacts of seismic surveys on scallops.

PubMed

Przeslawski, Rachel; Huang, Zhi; Anderson, Jade; Carroll, Andrew G; Edmunds, Matthew; Hurt, Lynton; Williams, Stefan

2018-04-01

Marine seismic surveys are an important tool to map geology beneath the seafloor and manage petroleum resources, but they are also a source of underwater noise pollution. A mass mortality of scallops in the Bass Strait, Australia occurred a few months after a marine seismic survey in 2010, and fishing groups were concerned about the potential relationship between the two events. The current study used three field-based methods to investigate the potential impact of marine seismic surveys on scallops in the region: 1) dredging and 2) deployment of Autonomous Underwater Vehicles (AUVs) were undertaken to examine the potential response of two species of scallops (Pecten fumatus, Mimachlamys asperrima) before, two months after, and ten months after a 2015 marine seismic survey; and 3) MODIS satellite data revealed patterns of sea surface temperatures from 2006-2016. Results from the dredging and AUV components show no evidence of scallop mortality attributable to the seismic survey, although sub-lethal effects cannot be excluded. The remote sensing revealed a pronounced thermal spike in the eastern Bass Strait between February and May 2010, overlapping the scallop beds that suffered extensive mortality and coinciding almost exactly with dates of operation for the 2010 seismic survey. The acquisition of in situ data coupled with consideration of commercial seismic arrays meant that results were ecologically realistic, while the paired field-based components (dredging, AUV imagery) provided a failsafe against challenges associated with working wholly in the field. This study expands our knowledge of the potential environmental impacts of marine seismic survey and will inform future applications for marine seismic surveys, as well as the assessment of such applications by regulatory authorities. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Deep-Sea Coral Image Catalog: Northeast Pacific

NASA Astrophysics Data System (ADS)

Freed, J. C.

2016-02-01

In recent years, deep-sea exploration in the Northeast Pacific ocean has been on the rise using submersibles and remotely operated vehicles (ROVs), acquiring a plethora of underwater videos and photographs. Analysis of deep-sea fauna revealed by this research has been hampered by the lack of catalogs or guides that allow identification of species in the field. Deep-sea corals are of particular conservation concern, but currently, there are few catalogs which describe and provide detailed information on deep-sea corals from the Northeast Pacific and those that exist are focused on small, specific areas. This project, in collaboration with NOAA's Deep-Sea Coral Ecology Laboratory at the Center for Coastal Environmental Health and Biomolecular Research (CCEHBR) and the Southwest Fisheries Science Center (SWFSC), developed pages for a deep-sea coral identification guide that provides photos and information on the visual identification, distributions, and habitats of species found in the Northeast Pacific. Using online databases, photo galleries, and literature, this catalog has been developed to be a living document open to future additions. This project produced 12 entries for the catalog on a variety of different deep-sea corals. The catalog is intended to be used during underwater surveys in the Northeast Pacific, but will also assist in identification of deep-sea coral by-catch by fishing vessels, and for general educational use. These uses will advance NOAA's ability to identify and protect sensitive deep-sea habitats that act as biological hotspots. The catalog is intended to be further developed into an online resource with greater interactive features with links to other resources and featured on NOAA's Deep-Sea Coral Data Portal.

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.

The 3D Visualization of Slope Terrain in Sun Moon Lake.

NASA Astrophysics Data System (ADS)

Deng, F.; Gwo-shyn, S.; Pei-Kun, L.

2015-12-01

By doing topographical surveys in a reservoir, we can calculate siltation volume in the period of two measurements. It becomes basic requirement to provide more precise siltation value especially when the differential GPS positioning method and the multi-beams echo sounders have been prevailed; however, there are two problems making the result become challenging when doing the siltation-survey in reservoir. They are both relative with the difficulty in keeping survey accuracy to the area of side slope around the boundary of reservoir. Firstly, the efficiency or accuracy of horizontal positioning using the DGPS may decrease because of the satellite-blocking effect when the surveying ship nears the bank especially in the canyon type of reservoir. Secondly, measurement can only be acquired in the area covered by water using the echo sounder, such that the measuring data of side slope area above water surface are lack to decrease the accuracy or seriously affect the calculation of reservoir water volume. This research is to hold the terrain accuracy when measuring the reservoir side slope and the Sun Moon Lake Reservoir in central Taiwan is chosen as the experimental location. Sun Moon Lake is the most popular place for tourists in Taiwan and also the most important reservoir of the electricity facilities. Furthermore, it owns the biggest pumped-storage hydroelectricity in Asia. The water in the lake is self-contained, and its water supply has been input through two underground tunnels, such that a deposit fan is formed when the muds were settled down from the silty water of the Cho-Shui Shi. Three kinds of survey are conducted in this experiment. First, a close-range photogrammetry, around the border of the Sun Moon Lake is made, or it takes shoots along the bank using a camera linked with a computer running the software Pix4D. The result can provide the DTM data to the side slope above the water level. Second, the bathymetrical data can be obtained by sweeping the side-slope using the multi-beam sounder below the water surface. Finally, the image of the side-scan sonar is taken and merges with contour lines produced from underwater topographic DTM data. Combining those data, our purpose is by creating different 3D images to have good visualization checking the data of side-slope DTM surveys if they are in well qualified controlled.

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

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

NASA Astrophysics Data System (ADS)

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

2017-07-01

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

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.

46 CFR 176.655 - Hull examination reports.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Hull examination reports. 176.655 Section 176.655... TONS) INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 176.655 Hull examination reports. (a) If you use only divers for the underwater survey portion of the Alternative Hull Examination (AHE...

46 CFR 115.655 - Hull examination reports.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Hull examination reports. 115.655 Section 115.655... CERTIFICATION Hull and Tailshaft Examinations § 115.655 Hull examination reports. (a) If you use only divers for the underwater survey portion of the Alternative Hull Examination (AHE), you must provide the Officer...

46 CFR 189.40-1 - Definitions relating to hull examinations.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 7 2013-10-01 2013-10-01 false Definitions relating to hull examinations. 189.40-1 Section 189.40-1 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH... fuel oil tanks. (c) Underwater survey means the examination, while the vessel is afloat, of all...

46 CFR 189.40-1 - Definitions relating to hull examinations.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 7 2014-10-01 2014-10-01 false Definitions relating to hull examinations. 189.40-1 Section 189.40-1 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH... fuel oil tanks. (c) Underwater survey means the examination, while the vessel is afloat, of all...

46 CFR 189.40-1 - Definitions relating to hull examinations.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Definitions relating to hull examinations. 189.40-1 Section 189.40-1 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH... fuel oil tanks. (c) Underwater survey means the examination, while the vessel is afloat, of all...

Electro-Optical Approach for Airborne Marine Mammal Surveys and Density Estimations

DTIC Science & Technology

2011-10-01

the resolution needed for detecting animals as small as dolphins . Those two factors coupled with an increase in aircraft speed gives an order of...resulted in numerous patents in microwave and optical engineering with several dozen publications. He has led development of air to underwater Laser

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.

A Survey on Intermediation Architectures for Underwater Robotics.

PubMed

Li, Xin; Martínez, José-Fernán; Rodríguez-Molina, Jesús; Martínez, Néstor Lucas

2016-02-04

Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.

A Survey on Intermediation Architectures for Underwater Robotics

PubMed Central

Li, Xin; Martínez, José-Fernán; Rodríguez-Molina, Jesús; Martínez, Néstor Lucas

2016-01-01

Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues. PMID:26861321

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

NASA Astrophysics Data System (ADS)

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

2017-06-01

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

Pollution of the sediments of the coastal zone of the Sambia Peninsula and the Curonian Spit (Southeastern Baltic Sea).

PubMed

Krek, Alexander; Krechik, Viktor; Danchenkov, Aleksandr; Krek, Elena

2018-01-01

The detailed environmental survey of the coastal zone of the Kaliningrad Region northern coast was carried out. The pollutants distribution in the silty clay fraction and calculation of ecological indexes allowed the evaluation of distribution of potentially harmful elements (PHEs). The sources of pollution in the most intensively used areas were identified, and transit and accumulation zones were allocated. A large area of anomalous content of PHEs was revealed on the underwater coastal slope of the Curonian Spit National Park, which is situated far from the sources of pollution. The alongshore bed load transport provides the contamination of the underwater slope whereas the beaches are less exposed to pollution.

Munitions Response Projects Shallow Water Marine UXO Detection Survey - Underwater Survey of Camp Lejeune

DTIC Science & Technology

2011-03-01

following: disturbance of sensitive environments (including wildlife); dredging up potentially contaminated sediments; physical contact with UXO; damaging or...is discussed below. 2.1.1 EM61 System and Sensors The EM61 is a high-resolution time-domain electromagnetic metal detector that is capable of...the position of the tow boat and then try to extrapolate the position of the detector based on cable length and GPS heading. In most cases, the

Trials of flexible pipe in sour service reveal degradation

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

Al-Maslamani, M.J.

Field trials on flexible pipe offshore Qatar have shown that, under sour conditions, the layered, composite material can suffer severe degradation leading to failure. The failure demonstrates the significant effects of stress level, environmental aggressiveness, and localized hard zones in promoting sulfide stress cracking. Permeability of the sour gas through the composite layer of the flexible pipe resulted in varying degrees of sulfide attack and hydrogen embrittlement, depending on the susceptibility of the multilayered material. In the trials, the material was used as a gas-lift line in a sour-oil field in the Arabian Gulf. Flexible pipes have been used successfullymore » for transporting methanol, benzene, and gas condensates in wet sweet environments at temperatures of up to 80 C. Little or no information, however, has been available as to its corrosion resistance in sour-service wells containing 6% CO{sub 2} with 3% H{sub 2}S partial pressures and at moderate temperatures. The paper discusses an underwater survey to evaluate the damage, visual inspection, mechanical tests, metallographic exam, and trial results.« less

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

1992-2002: Perspective on a decade of tsunami field surveys

NASA Astrophysics Data System (ADS)

Okal, E. A.; Synolakis, C. E.; Borrero, J. C.; Members Of Itst, .

2003-12-01

The past decade has seen the systematic deployment of international field survey teams (ITST), following damaging regional tsunamis. Fourteen such surveys have been carried out: Nicaragua (1992), Okushiri (1993), Mindoro (1994), Java (1994), Flores (1994), Kuriles (1994), Mexico (1995), Biak (1996), Chimbote (1996), PNG (1998), Izmit (1999), Fatu Hiva (1999), Vanuatu (1999), Peru (2001) and PNG (2002). In addition, similar techniques have been applied to the survey of important historical tsunamis such as Aleutian (1946) and Amorgos (1956). The primary goal of the field surveys is to obtain a reliable, quantitative dataset of run-up and inundation measurements, which can be used in simulation experiments based on hydrodynamic modeling, in order to unravel the mechanism of generation of the tsunami. One of the most important results obtained from the compilation of such datasets has been the emergence of the aspect ratio of the distribution of run-up in the near field as a most promising discriminant between generation by the seismic dislocation (e.g., Nicaragua; Peru, 2001; PNG 2002) and by an underwater slump (e.g., Aleutian 1946, PNG 1998). Surveying also reveals localized enhancement of run-up, controlled on a smaller scale by occasional underwater landslides (Flores, 1992), splashes against cliffs (Mexico, 1995; Peru, 2001) or interaction with steep coastal valleys (Okushiri, 1993). Field surveys have also provided insight into engineering and societal factors controlling the extent of human and property losses, such as coastal land use, building codes and materials, and public education and awareness. To foster the latter, the teams constantly repeat simple messages on tsunami mitigation during one-on-one interviews with local residents, as well as town meetings. In this respect, the successful self-evacuation at Bay Mairtele, Vanuatu in 1999 is a gratifying example of the value of education.

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.

First hyperspectral survey of the deep seafloor: DISCOL area, Peru Basin

NASA Astrophysics Data System (ADS)

Dumke, Ines; Nornes, Stein M.; Ludvigsen, Martin

2017-04-01

Conventional hyperspectral seafloor surveys using airborne or satellite platforms are typically limited to shallow coastal areas. This limitation is due to the requirement for illumination by sunlight, which does not penetrate into deeper waters. For hyperspectral studies in deeper marine environments, such as the deep sea, a close-range, sunlight-independent survey approach is therefore required. Here, we present the first hyperspectral data from the deep seafloor. The data were acquired in 4200 m water depth in the DISCOL (disturbance-recolonization) area in the Peru Basin (SW Pacific). This area is characterized by seafloor manganese nodules and recolonization by benthic fauna after a seafloor disturbance experiment conducted in 1989, and was revisited in 2015 by the JPI Oceans cruise SO-242. The acquisition setup consisted of a new Underwater Hyperspectral Imager (UHI) mounted on a remotely operated vehicle (ROV), which provided illumination of the seafloor. High spatial and spectral resolution were achieved by an ROV altitude of 1 m and recording of 112 spectral bands between 380 nm and 800 nm (4 nm resolution). Spectral classification was performed to classify manganese nodules and benthic fauna and map their distribution in the study area. The results demonstrate the high potential of underwater hyperspectral imaging in mapping and classifying seafloor deposits and habitats.

Large Scale Structure From Motion for Autonomous Underwater Vehicle Surveys

DTIC Science & Technology

2004-09-01

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

46 CFR 71.50-29 - Hull examination reports.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 3 2010-10-01 2010-10-01 false Hull examination reports. 71.50-29 Section 71.50-29... CERTIFICATION Drydocking § 71.50-29 Hull examination reports. (a) If you use only divers for the underwater survey portion of the Alternative Hull Examination (AHE), you must provide the Officer in Charge, Marine...

Acoustic mapping and classification of benthic habitat using unsupervised learning in artificial reef water

NASA Astrophysics Data System (ADS)

Li, Dong; Tang, Cheng; Xia, Chunlei; Zhang, Hua

2017-02-01

Artificial reefs (ARs) are effective means to maintain fishery resources and to restore ecological environment in coastal waters. ARs have been widely constructed along the Chinese coast. However, understanding of benthic habitats in the vicinity of ARs is limited, hindering effective fisheries and aquacultural management. Multibeam echosounder (MBES) is an advanced acoustic instrument capable of efficiently generating large-scale maps of benthic environments at fine resolutions. The objective of this study is to develop a technical approach to characterize, classify, and map shallow coastal areas with ARs using an MBES. An automated classification method is designed and tested to process bathymetric and backscatter data from MBES and transform the variables into simple, easily visualized maps. To reduce the redundancy in acoustic variables, a principal component analysis (PCA) is used to condense the highly collinear dataset. An acoustic benthic map of bottom sediments is classified using an iterative self-organizing data analysis technique (ISODATA). The approach is tested with MBES surveys in a 1.15 km2 fish farm with a high density of ARs off the Yantai coast in northern China. Using this method, 3 basic benthic habitats (sandy bottom, muddy sediments, and ARs) are distinguished. The results of the classification are validated using sediment samples and underwater surveys. Our study shows that the use of MBES is an effective method for acoustic mapping and classification of ARs.

Reef fish communities are spooked by scuba surveys and may take hours to recover

PubMed Central

Cheal, Alistair J.; Miller, Ian R.

2018-01-01

Ecological monitoring programs typically aim to detect changes in the abundance of species of conservation concern or which reflect system status. Coral reef fish assemblages are functionally important for reef health and these are most commonly monitored using underwater visual surveys (UVS) by divers. In addition to estimating numbers, most programs also collect estimates of fish lengths to allow calculation of biomass, an important determinant of a fish’s functional impact. However, diver surveys may be biased because fishes may either avoid or are attracted to divers and the process of estimating fish length could result in fish counts that differ from those made without length estimations. Here we investigated whether (1) general diver disturbance and (2) the additional task of estimating fish lengths affected estimates of reef fish abundance and species richness during UVS, and for how long. Initial estimates of abundance and species richness were significantly higher than those made on the same section of reef after diver disturbance. However, there was no evidence that estimating fish lengths at the same time as abundance resulted in counts different from those made when estimating abundance alone. Similarly, there was little consistent bias among observers. Estimates of the time for fish taxa that avoided divers after initial contact to return to initial levels of abundance varied from three to 17 h, with one group of exploited fishes showing initial attraction to divers that declined over the study period. Our finding that many reef fishes may disperse for such long periods after initial contact with divers suggests that monitoring programs should take great care to minimise diver disturbance prior to surveys. PMID:29844998

Environmental DNA reflects spatial and temporal jellyfish distribution

PubMed Central

Fukuda, Miho; Katsuhara, Koki R.; Fujiwara, Ayaka; Hidaka, Shunsuke; Yamamoto, Satoshi; Takahashi, Kohji; Masuda, Reiji

2017-01-01

Recent development of environmental DNA (eDNA) analysis allows us to survey underwater macro-organisms easily and cost effectively; however, there have been no reports on eDNA detection or quantification for jellyfish. Here we present the first report on an eDNA analysis of marine jellyfish using Japanese sea nettle (Chrysaora pacifica) as a model species by combining a tank experiment with spatial and temporal distribution surveys. We performed a tank experiment monitoring eDNA concentrations over a range of time intervals after the introduction of jellyfish, and quantified the eDNA concentrations by quantitative real-time PCR. The eDNA concentrations peaked twice, at 1 and 8 h after the beginning of the experiment, and became stable within 48 h. The estimated release rates of the eDNA in jellyfish were higher than the rates previously reported in fishes. A spatial survey was conducted in June 2014 in Maizuru Bay, Kyoto, in which eDNA was collected from surface water and sea floor water samples at 47 sites while jellyfish near surface water were counted on board by eye. The distribution of eDNA in the bay corresponded with the distribution of jellyfish inferred by visual observation, and the eDNA concentration in the bay was ~13 times higher on the sea floor than on the surface. The temporal survey was conducted from March to November 2014, in which jellyfish were counted by eye every morning while eDNA was collected from surface and sea floor water at three sampling points along a pier once a month. The temporal fluctuation pattern of the eDNA concentrations and the numbers of observed individuals were well correlated. We conclude that an eDNA approach is applicable for jellyfish species in the ocean. PMID:28245277

Environmental effects on underwater optical transmission

NASA Astrophysics Data System (ADS)

Chu, Peter C.; Breshears, Brian F.; Cullen, Alexander J.; Hammerer, Ross F.; Martinez, Ramon P.; Phung, Thai Q.; Margolina, Tetyana; Fan, Chenwu

2017-05-01

Optical communication/detection systems have potential to get around some limitations of current acoustic communications and detection systems especially increased fleet and port security in noisy littoral waters. Identification of environmental effects on underwater optical transmission is the key to the success of using optics for underwater communication and detection. This paper is to answer the question "What are the transfer and correlation functions that relate measurements of hydrographic to optical parameters?" Hydrographic and optical data have been collected from the Naval Oceanographic Office survey ships with the High Intake Defined Excitation (HIDEX) photometer and sea gliders with optical back scattering sensor in various Navy interested areas such as the Arabian Gulf, Gulf of Oman, east Asian marginal seas, and Adriatic Sea. The data include temperature, salinity, bioluminescence, chlorophyll-a fluorescence, transmissivity at two different wavelengths (TRed at 670 nm, TBlue at 490 nm), and back scattering coefficient (bRed at 700 nm, bBlue at 470 nm). Transfer and correlation functions between the hydrographic and optical parameters are obtained. Bioluminescence and fluorescence maxima, transmissivity minimum with their corresponding depths, red and blue laser beam peak attenuation coefficients are identified from the optical profiles. Evident correlations are found between the ocean mixed layer depth and the blue and red laser beam peak attenuation coefficients, bioluminescence and fluorescence maxima in the Adriatic Sea, Arabian Gulf, Gulf of Oman, and Philippine Sea. Based on the observational data, an effective algorithm is recommended for solving the radiative transfer equation (RTE) for predicting underwater laser radiance.

Magnetic fields over active tectonic zones in ocean

USGS Publications Warehouse

Kopytenko, Yu. A.; Serebrianaya, P.M.; Nikitina, L.V.; Green, A.W.

2002-01-01

The aim of our work is to estimate the electromagnetic effects that can be detected in the submarine zones with hydrothermal activity. It is known that meso-scale flows appear in the regions over underwater volcanoes or hot rocks. Their origin is connected with heat flux and hot jets released from underwater volcanoes or faults in a sea bottom. Values of mean velocities and turbulent velocities in plumes were estimated. Quasiconstant magnetic fields induced by a hot jet and a vortex over a plume top are about 1-40 nT. Variable magnetic fields are about 0.1-1 nT. These magnetic disturbances in the sea medium create an additional natural electromagnetic background that must be considered when making detailed magnetic surveys. ?? 2002 Elsevier Science Ltd. All rights reserved.

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.

a Comparison Between Active and Passive Techniques for Underwater 3d Applications

NASA Astrophysics Data System (ADS)

Bianco, G.; Gallo, A.; Bruno, F.; Muzzupappa, M.

2011-09-01

In the field of 3D scanning, there is an increasing need for more accurate technologies to acquire 3D models of close range objects. Underwater exploration, for example, is very hard to perform due to the hostile conditions and the bad visibility of the environment. Some application fields, like underwater archaeology, require to recover tridimensional data of objects that cannot be moved from their site or touched in order to avoid possible damages. Photogrammetry is widely used for underwater 3D acquisition, because it requires just one or two digital still or video cameras to acquire a sequence of images taken from different viewpoints. Stereo systems composed by a pair of cameras are often employed on underwater robots (i.e. ROVs, Remotely Operated Vehicles) and used by scuba divers, in order to survey archaeological sites, reconstruct complex 3D structures in aquatic environment, estimate in situ the length of marine organisms, etc. The stereo 3D reconstruction is based on the triangulation of corresponding points on the two views. This requires to find in both images common points and to match them (correspondence problem), determining a plane that contains the 3D point on the object. Another 3D technique, frequently used in air acquisition, solves this point-matching problem by projecting structured lighting patterns to codify the acquired scene. The corresponding points are identified associating a binary code in both images. In this work we have tested and compared two whole-field 3D imaging techniques (active and passive) based on stereo vision, in underwater environment. A 3D system has been designed, composed by a digital projector and two still cameras mounted in waterproof housing, so that it can perform the various acquisitions without changing the configuration of optical devices. The tests were conducted in a water tank in different turbidity conditions, on objects with different surface properties. In order to simulate a typical seafloor, we used various concentrations of clay. The performances of the two techniques are described and discussed. In particular, the point clouds obtained are compared in terms of number of acquired 3D points and geometrical deviation.

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.

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

Re-creating missing population baselines for Pacific reef sharks.

PubMed

Nadon, Marc O; Baum, Julia K; Williams, Ivor D; McPherson, Jana M; Zgliczynski, Brian J; Richards, Benjamin L; Schroeder, Robert E; Brainard, Russell E

2012-06-01

Sharks and other large predators are scarce on most coral reefs, but studies of their historical ecology provide qualitative evidence that predators were once numerous in these ecosystems. Quantifying density of sharks in the absence of humans (baseline) is, however, hindered by a paucity of pertinent time-series data. Recently researchers have used underwater visual surveys, primarily of limited spatial extent or nonstandard design, to infer negative associations between reef shark abundance and human populations. We analyzed data from 1607 towed-diver surveys (>1 ha transects surveyed by observers towed behind a boat) conducted at 46 reefs in the central-western Pacific Ocean, reefs that included some of the world's most pristine coral reefs. Estimates of shark density from towed-diver surveys were substantially lower (<10%) than published estimates from surveys along small transects (<0.02 ha), which is not consistent with inverted biomass pyramids (predator biomass greater than prey biomass) reported by other researchers for pristine reefs. We examined the relation between the density of reef sharks observed in towed-diver surveys and human population in models that accounted for the influence of oceanic primary productivity, sea surface temperature, reef area, and reef physical complexity. We used these models to estimate the density of sharks in the absence of humans. Densities of gray reef sharks (Carcharhinus amblyrhynchos), whitetip reef sharks (Triaenodon obesus), and the group "all reef sharks" increased substantially as human population decreased and as primary productivity and minimum sea surface temperature (or reef area, which was highly correlated with temperature) increased. Simulated baseline densities of reef sharks under the absence of humans were 1.1-2.4/ha for the main Hawaiian Islands, 1.2-2.4/ha for inhabited islands of American Samoa, and 0.9-2.1/ha for inhabited islands in the Mariana Archipelago, which suggests that density of reef sharks has declined to 3-10% of baseline levels in these areas. ©2012 Society for Conservation Biology No claim to original US government works.

A Small-Scale Comparison of Iceland Scallop Size Distributions Obtained from a Camera Based Autonomous Underwater Vehicle and Dredge Survey

PubMed Central

Singh, Warsha; Örnólfsdóttir, Erla B.; Stefansson, Gunnar

2014-01-01

An approach is developed to estimate size of Iceland scallop shells from AUV photos. A small-scale camera based AUV survey of Iceland scallops was conducted at a defined site off West Iceland. Prior to height estimation of the identified shells, the distortions introduced by the vehicle orientation and the camera lens were corrected. The average AUV pitch and roll was and deg that resulted in error in ground distance rendering these effects negligible. A quadratic polynomial model was identified for lens distortion correction. This model successfully predicted a theoretical grid from a frame photographed underwater, representing the inherent lens distortion. The predicted shell heights were scaled for the distance from the bottom at which the photos were taken. This approach was validated by height estimation of scallops of known sizes. An underestimation of approximately cm was seen, which could be attributed to pixel error, where each pixel represented cm. After correcting for this difference the estimated heights ranged from cm. A comparison of the height-distribution from a small-scale dredge survey carried out in the vicinity showed non-overlapping peaks in size distribution, with scallops of a broader size range visible in the AUV survey. Further investigations are necessary to evaluate any underlying bias and to validate how representative these surveys are of the true population. The low resolution images made identification of smaller scallops difficult. Overall, the observations of very few small scallops in both surveys could be attributed to low recruitment levels in the recent years due to the known scallop parasite outbreak in the region. PMID:25303243

A small-scale comparison of Iceland scallop size distributions obtained from a camera based autonomous underwater vehicle and dredge survey.

PubMed

Singh, Warsha; Örnólfsdóttir, Erla B; Stefansson, Gunnar

2014-01-01

An approach is developed to estimate size of Iceland scallop shells from AUV photos. A small-scale camera based AUV survey of Iceland scallops was conducted at a defined site off West Iceland. Prior to height estimation of the identified shells, the distortions introduced by the vehicle orientation and the camera lens were corrected. The average AUV pitch and roll was 1.3 and 2.3 deg that resulted in <2% error in ground distance rendering these effects negligible. A quadratic polynomial model was identified for lens distortion correction. This model successfully predicted a theoretical grid from a frame photographed underwater, representing the inherent lens distortion. The predicted shell heights were scaled for the distance from the bottom at which the photos were taken. This approach was validated by height estimation of scallops of known sizes. An underestimation of approximately 0.5 cm was seen, which could be attributed to pixel error, where each pixel represented 0.24 x 0.27 cm. After correcting for this difference the estimated heights ranged from 3.8-9.3 cm. A comparison of the height-distribution from a small-scale dredge survey carried out in the vicinity showed non-overlapping peaks in size distribution, with scallops of a broader size range visible in the AUV survey. Further investigations are necessary to evaluate any underlying bias and to validate how representative these surveys are of the true population. The low resolution images made identification of smaller scallops difficult. Overall, the observations of very few small scallops in both surveys could be attributed to low recruitment levels in the recent years due to the known scallop parasite outbreak in the region.

Techniques employed for detection of hot particles in the marine environment.

PubMed

Pillsbury, G D

2007-09-01

During the decommissioning of the Maine Yankee nuclear plant, several methods were developed and employed to survey for hot particles in the marine environment surrounding the site. The methods used and the sensitivities achieved in the search for environmentally dispersed particles during the various decommissioning activities performed are described in detail. Surveys were performed on dry soil, exposed marine sediment and submerged marine sediment. Survey techniques ranged from the use of the basic NaI detector coupled to a count rate meter to an intrinsic germanium detector deployed in a submarine housing coupled to a multi-channel analyser. The initial surveys consisted of collecting samples of marine sediment, spreading them out over a 1 m2 surface in a thin layer, and scanning the deposited sediment by hand using a 5 cm by 5 cm NaI detector coupled to a standard count rate meter. This technique was later replaced by walkover scans with the 5 cm by 5 cm NaI detector moved in a serpentine pattern over the sediment surface. By coupling the detector to a 'smart meter', an alarm set point could be used to alert the surveyor to the presence of a particle within the instrument's field of view. A similar technique, with the detector mounted in a watertight housing secured to the end of a pole, was also employed to scan underwater locations. The most sensitive method developed for performing underwater surveys was the use of the intrinsic germanium detector placed in a submarine housing. Detailed descriptions of the methods employed and the results obtained are presented. This work demonstrates that there are several approaches to surveying for discrete particles in the marine environment and the relative merits of each are considered.

I-AUV Docking and Panel Intervention at Sea

PubMed Central

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

2016-01-01

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

I-AUV Docking and Panel Intervention at Sea.

PubMed

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

2016-10-12

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

Fish kill from underwater explosions

USGS Publications Warehouse

Stuart, David J.

1962-01-01

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

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

NASA Astrophysics Data System (ADS)

Armstrong, Roy A.; Singh, Hanumant

2006-09-01

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

A new tool for the rapid remote detection of leaks from subsea pipelines during remotely operated vehicle inspections

NASA Astrophysics Data System (ADS)

McStay, D.; McIlroy, J.; Forte, A.; Lunney, F.; Greenway, T.; Thabeth, K.; Dean, G.

2005-06-01

A new 2000 m depth rated subsea sensor that can effectively, rapidly and remotely detect leaks of fluorescein dye, leak detection chemicals and hydraulic fluids from underwater structures is reported. The system utilizes ultra-bright LED technology to project a structured beam of light, at a wavelength suitable to excite the fluorescence of the target material, into the water column. The resultant fluorescence is collected and digital signal processing used to extract the intensity. The system is capable of detecting ppm concentrations of fluorescein at a range of 2.5 m in water in real time. The ability to stand-off from subsea structures, while rapidly detecting the chemicals makes the system highly suited to subsea leak inspections with remotely operated vehicles or autonomous underwater vehicles, as it allows the vehicles to be flown quickly and safely over the structure to be inspected. This increases both the speed and effectiveness of the inspection. The remote detection capability is also highly effective for probing complex underwater structures. The system has been successfully used in real subsea survey applications and has been found to be effective, user friendly and to dramatically reduce inspection times and hence costs.

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.

Assessing Caribbean Shallow and Mesophotic Reef Fish Communities Using Baited-Remote Underwater Video (BRUV) and Diver-Operated Video (DOV) Survey Techniques.

PubMed

Andradi-Brown, Dominic A; Macaya-Solis, Consuelo; Exton, Dan A; Gress, Erika; Wright, Georgina; Rogers, Alex D

2016-01-01

Fish surveys form the backbone of reef monitoring and management initiatives throughout the tropics, and understanding patterns in biases between techniques is crucial if outputs are to address key objectives optimally. Often biases are not consistent across natural environmental gradients such as depth, leading to uncertainty in interpretation of results. Recently there has been much interest in mesophotic reefs (reefs from 30-150 m depth) as refuge habitats from fishing pressure, leading to many comparisons of reef fish communities over depth gradients. Here we compare fish communities using stereo-video footage recorded via baited remote underwater video (BRUV) and diver-operated video (DOV) systems on shallow and mesophotic reefs in the Mesoamerican Barrier Reef, Caribbean. We show inconsistent responses across families, species and trophic groups between methods across the depth gradient. Fish species and family richness were higher using BRUV at both depth ranges, suggesting that BRUV is more appropriate for recording all components of the fish community. Fish length distributions were not different between methods on shallow reefs, yet BRUV recorded more small fish on mesophotic reefs. However, DOV consistently recorded greater relative fish community biomass of herbivores, suggesting that studies focusing on herbivores should consider using DOV. Our results highlight the importance of considering what component of reef fish community researchers and managers are most interested in surveying when deciding which survey technique to use across natural gradients such as depth.

Assessing Caribbean Shallow and Mesophotic Reef Fish Communities Using Baited-Remote Underwater Video (BRUV) and Diver-Operated Video (DOV) Survey Techniques

PubMed Central

Macaya-Solis, Consuelo; Exton, Dan A.; Gress, Erika; Wright, Georgina; Rogers, Alex D.

2016-01-01

Fish surveys form the backbone of reef monitoring and management initiatives throughout the tropics, and understanding patterns in biases between techniques is crucial if outputs are to address key objectives optimally. Often biases are not consistent across natural environmental gradients such as depth, leading to uncertainty in interpretation of results. Recently there has been much interest in mesophotic reefs (reefs from 30–150 m depth) as refuge habitats from fishing pressure, leading to many comparisons of reef fish communities over depth gradients. Here we compare fish communities using stereo-video footage recorded via baited remote underwater video (BRUV) and diver-operated video (DOV) systems on shallow and mesophotic reefs in the Mesoamerican Barrier Reef, Caribbean. We show inconsistent responses across families, species and trophic groups between methods across the depth gradient. Fish species and family richness were higher using BRUV at both depth ranges, suggesting that BRUV is more appropriate for recording all components of the fish community. Fish length distributions were not different between methods on shallow reefs, yet BRUV recorded more small fish on mesophotic reefs. However, DOV consistently recorded greater relative fish community biomass of herbivores, suggesting that studies focusing on herbivores should consider using DOV. Our results highlight the importance of considering what component of reef fish community researchers and managers are most interested in surveying when deciding which survey technique to use across natural gradients such as depth. PMID:27959907

46 CFR 71.50-5 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2010 CFR

2010-10-01

...) The name and qualifications of any third party examiner. (c) If your vessel is 15 years old or older, the cognizant District Commander for the area in which the exam is being completed, may approve an... deterioration. (d) After this drydock examination required in paragraph (c)(3) of this section, the OCMI submits...

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,

Three-dimensional ocean sensor networks: A survey

NASA Astrophysics Data System (ADS)

Wang, Yu; Liu, Yingjian; Guo, Zhongwen

2012-12-01

The past decade has seen a growing interest in ocean sensor networks because of their wide applications in marine research, oceanography, ocean monitoring, offshore exploration, and defense or homeland security. Ocean sensor networks are generally formed with various ocean sensors, autonomous underwater vehicles, surface stations, and research vessels. To make ocean sensor network applications viable, efficient communication among all devices and components is crucial. Due to the unique characteristics of underwater acoustic channels and the complex deployment environment in three dimensional (3D) ocean spaces, new efficient and reliable communication and networking protocols are needed in design of ocean sensor networks. In this paper, we aim to provide an overview of the most recent advances in network design principles for 3D ocean sensor networks, with focuses on deployment, localization, topology design, and position-based routing in 3D ocean spaces.

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.

46 CFR 176.615 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2010 CFR

2010-10-01

... 15 years of age; (2) A steel or aluminum hulled vessel; (3) Fitted with an effective hull protection system; and (4) Described in § 176.600(b) or (c) of this part. (b) For vessels less than 15 years of age... protection system; and (7) The name and qualifications of any third party examiner. (c) If your vessel is 15...

46 CFR 115.615 - Underwater Survey in Lieu of Drydocking (UWILD).

Code of Federal Regulations, 2010 CFR

2010-10-01

... a drydock examination at alternating intervals if your vessel is— (1) Less than 15 years of age; (2...) Described in § 115.600(b) or (c) of this part. (b) For vessels less than 15 years of age, you must submit an... and qualifications of any third party examiner. (c) If your vessel is 15 years old or older, the...

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

Matching Deep Tow Camera study and Sea Floor geochemical characterization of gas migration at the Tainan Ridge, South China Sea

NASA Astrophysics Data System (ADS)

Fan, L. F.; Lien, K. L.; Hsieh, I. C.; Lin, S.

2017-12-01

Methane seep in deep sea environment could lead to build up of chemosynthesis communities, and a number of geological and biological anomalies as compare to the surrounding area. In order to examine the linkage between seep anomalies and those at the vicinity background area, and to detail mapping those spatial variations, we used a deep towed camera system (TowCam) to survey seafloor on the Tainan Ridge, Northeastern South China Sea (SCS). The underwater sea floor pictures could provide better spatial variations to demonstrate impact of methane seep on the sea floor. Water column variations of salinity, temperature, dissolved oxygen were applied to delineate fine scale variations at the study area. In addition, sediment cores were collected for chemical analyses to confirm the existence of local spatial variations. Our results show large spatial variations existed as a result of differences in methane flux. In fact, methane is the driving force for the observed biogeochemical variations in the water column, on the sea floor, and in the sediment. Of the area we have surveyed, there are approximately 7% of total towcam survey data showing abnormal water properties. Corresponding to the water column anomalies, underwater sea floor pictures taken from those places showed that chemosynthetic clams and muscles could be identified, together with authigenic carbonate buildups, and bacterial mats. Moreover, sediment cores with chemical anomalies also matched those in the water column and on the sea floor. These anomalies, however, represent only a small portion of the area surveyed and could not be identified with typical (random) coring method. Methane seep, therefore, require tedious and multiple types of surveys to better understand the scale and magnitude of seep and biogeochemical anomalies those were driven by gas migrations.

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.

Humpback whale-generated ambient noise levels provide insight into singers' spatial densities.

PubMed

Seger, Kerri D; Thode, Aaron M; Urbán-R, Jorge; Martínez-Loustalot, Pamela; Jiménez-López, M Esther; López-Arzate, Diana

2016-09-01

Baleen whale vocal activity can be the dominant underwater ambient noise source for certain locations and seasons. Previous wind-driven ambient-noise formulations have been adjusted to model ambient noise levels generated by random distributions of singing humpback whales in ocean waveguides and have been combined to a single model. This theoretical model predicts that changes in ambient noise levels with respect to fractional changes in singer population (defined as the noise "sensitivity") are relatively unaffected by the source level distributions and song spectra of individual humpback whales (Megaptera novaeangliae). However, the noise "sensitivity" does depend on frequency and on how the singers' spatial density changes with population size. The theoretical model was tested by comparing visual line transect surveys with bottom-mounted passive acoustic data collected during the 2013 and 2014 humpback whale breeding seasons off Los Cabos, Mexico. A generalized linear model (GLM) estimated the noise "sensitivity" across multiple frequency bands. Comparing the GLM estimates with the theoretical predictions suggests that humpback whales tend to maintain relatively constant spacing between one another while singing, but that individual singers either slightly increase their source levels or song duration, or cluster more tightly as the singing population increases.

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.

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

Near-real-time acoustic monitoring of beaked whales and other cetaceans using a Seaglider™.

PubMed

Klinck, Holger; Mellinger, David K; Klinck, Karolin; Bogue, Neil M; Luby, James C; Jump, William A; Shilling, Geoffrey B; Litchendorf, Trina; Wood, Angela S; Schorr, Gregory S; Baird, Robin W

2012-01-01

In most areas, estimating the presence and distribution of cryptic marine mammal species, such as beaked whales, is extremely difficult using traditional observational techniques such as ship-based visual line transect surveys. Because acoustic methods permit detection of animals underwater, at night, and in poor weather conditions, passive acoustic observation has been used increasingly often over the last decade to study marine mammal distribution, abundance, and movements, as well as for mitigation of potentially harmful anthropogenic effects. However, there is demand for new, cost-effective tools that allow scientists to monitor areas of interest autonomously with high temporal and spatial resolution in near-real time. Here we describe an autonomous underwater vehicle--a glider--equipped with an acoustic sensor and onboard data processing capabilities to passively scan an area for marine mammals in near-real time. The glider was tested extensively off the west coast of the Island of Hawai'i, USA. The instrument covered approximately 390 km during three weeks at sea and collected a total of 194 h of acoustic data. Detections of beaked whales were successfully reported to shore in near-real time. Manual analysis of the recorded data revealed a high number of vocalizations of delphinids and sperm whales. Furthermore, the glider collected vocalizations of unknown origin very similar to those made by known species of beaked whales. The instrument developed here can be used to cost-effectively screen areas of interest for marine mammals for several months at a time. The near-real-time detection and reporting capabilities of the glider can help to protect marine mammals during potentially harmful anthropogenic activities such as seismic exploration for sub-sea fossil fuels or naval sonar exercises. Furthermore, the glider is capable of under-ice operation, allowing investigation of otherwise inaccessible polar environments that are critical habitats for many endangered marine mammal species.

Near-Real-Time Acoustic Monitoring of Beaked Whales and Other Cetaceans Using a Seaglider™

PubMed Central

Klinck, Holger; Mellinger, David K.; Klinck, Karolin; Bogue, Neil M.; Luby, James C.; Jump, William A.; Shilling, Geoffrey B.; Litchendorf, Trina; Wood, Angela S.; Schorr, Gregory S.; Baird, Robin W.

2012-01-01

In most areas, estimating the presence and distribution of cryptic marine mammal species, such as beaked whales, is extremely difficult using traditional observational techniques such as ship-based visual line transect surveys. Because acoustic methods permit detection of animals underwater, at night, and in poor weather conditions, passive acoustic observation has been used increasingly often over the last decade to study marine mammal distribution, abundance, and movements, as well as for mitigation of potentially harmful anthropogenic effects. However, there is demand for new, cost-effective tools that allow scientists to monitor areas of interest autonomously with high temporal and spatial resolution in near-real time. Here we describe an autonomous underwater vehicle – a glider – equipped with an acoustic sensor and onboard data processing capabilities to passively scan an area for marine mammals in near-real time. The glider was tested extensively off the west coast of the Island of Hawai'i, USA. The instrument covered approximately 390 km during three weeks at sea and collected a total of 194 h of acoustic data. Detections of beaked whales were successfully reported to shore in near-real time. Manual analysis of the recorded data revealed a high number of vocalizations of delphinids and sperm whales. Furthermore, the glider collected vocalizations of unknown origin very similar to those made by known species of beaked whales. The instrument developed here can be used to cost-effectively screen areas of interest for marine mammals for several months at a time. The near-real-time detection and reporting capabilities of the glider can help to protect marine mammals during potentially harmful anthropogenic activities such as seismic exploration for sub-sea fossil fuels or naval sonar exercises. Furthermore, the glider is capable of under-ice operation, allowing investigation of otherwise inaccessible polar environments that are critical habitats for many endangered marine mammal species. PMID:22629309

High-Resolution Seafloor Mapping at A Deep-Sea Methane Seep Field with an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Skarke, A. D.

2017-12-01

A growing body of research indicates that points of seafloor gas emission, known as cold-seeps, are a common feature along many continental margins. Results from recent exploration efforts show that benthic environments at cold-seeps are characterized by extensive authigenic carbonate crusts and complex chemosynthetic communities. The seafloor morphology and geophysical properties of these locations are heterogeneous and relatively complex due to the three-dimensional structure created by carbonate buildups and dense bivalve beds. Seeps are often found clustered and the spatial extent of associated seafloor crusts and beds can reach multiple square kilometers. Here, the results of a 1.25 km2 autonomous underwater vehicle (AUV) survey of a deep-sea methane seep field with 13 vents, at a nominal depth of 1400 m, located near Veatch Canyon on the US Atlantic margin are presented. Multibeam sonar, sidescan sonar, and a sub bottom profiler on the AUV were used to make high-resolution observations of seafloor bathymetry (resolution 1m2) as well as water column, seafloor, and subsurface acoustic backscatter intensity. Additionally, a downward oriented camera was used to collect seafloor imagery coincident with acoustic observations at select locations. Acoustic results indicated the location of discrete gas plumes as well as a continuous area of elevated seafloor roughness and backscatter intensity consistent with the presence of large scale authigenic rock outcrops and extensive mussel beds, which were visually confirmed with camera imagery. Additionally, a linear area of particularly elevated seafloor roughness and acoustic backscatter intensity that lies sub-parallel to an adjacent ridge was interpreted to be controlled by underlying geologic processes such as soft sediment faulting. Automated analysis of camera imagery and coincident acoustic backscatter and bathymetry data as well as derivative metrics (e.g. slope and rugosity) was used to segment and classify bed type (carbonate rock, sediment, mussel bed), yielding insight into geologic and ecological processes within the seep field study area.

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.

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

NASA Astrophysics Data System (ADS)

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

2004-12-01

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

Comparison of expert and nonexpert swimmers' opinions about the value, potency, and activity of four standard swimming strokes and underwater undulatory swimming.

PubMed

Collard, L; Oboeuf, A

2009-04-01

Underwater undulatory swimming (UUS) is often perceived to be a nonessential aspect of aquatic propulsion. Given their solid theoretical and practical training in swimming, physical education students should be capable of judging the true value of the "fifth stroke," since it appears to be the most efficient technique in high level, competitive swimming. To compare opinions and connotations associated with the stroke and the four official strokes (butterfly, backstroke, breaststroke, and crawl), 198 students (32 of whom were expert swimmers; M age = 20.6 yr., SD = 1.2), were surveyed using the semantic differential of Osgood, Suci, and Tannenbaum. Although answers of expert and nonexpert swimmers differed significantly (p < .01, except for the breaststroke), participants considered overall that undulatory stroke was less attractive, less powerful, and less rapid than the four surface strokes (d = 2.88 for the expert swimmers). Putting one arm in front of the other and repeating the sequence still remains the most solidly held representation of "the right way" to swim. However, the high observed standard deviations for the underwater undulatory stimulus (SD > or = 1.1 with SD max = 3 for the expert swimmers) attests to the view being less strongly held by swimming specialists.

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.

DUMAND Summer Workshop, University of California, La Jolla, Calif., July 24-September 2, 1978, Proceedings. Volume 3 - Oceanographic and ocean engineering studies. [Deep Underwater Muon and Neutrino Detector

NASA Technical Reports Server (NTRS)

Wilkins, G.

1979-01-01

The DUMAND (Deep Underwater Muon and Neutrino Detector) array, a hexagon 800 m on a side, 673 m high, and consisting of 22,698 sensor modules, is designed to detect neutrinos in the TeV range, hadronic cascades, muons and Cerenkov radiation. Its engineering, signal processing, and logistic aspects are considered, as are its optical detection (photomultiplier tubes) system and electronics. Geological and bottom current surveys were made at two proposed sites for the array (the Maui and Keahole Point basins of Hawaii), and a study of the steady-state response of a sensor string to current drag forces is reported. Biological interference with the DUMAND array, including mechanical entanglement by large animals, bioluminescence, and especially biofouling are considered, as well as the deployment, implantment and maintenance of the array.

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

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

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

Taxonomic, spatial and temporal patterns of bleaching in anemones inhabited by anemonefishes.

PubMed

Hobbs, Jean-Paul A; Frisch, Ashley J; Ford, Benjamin M; Thums, Michele; Saenz-Agudelo, Pablo; Furby, Kathryn A; Berumen, Michael L

2013-01-01

Rising sea temperatures are causing significant destruction to coral reef ecosystems due to coral mortality from thermally-induced bleaching (loss of symbiotic algae and/or their photosynthetic pigments). Although bleaching has been intensively studied in corals, little is known about the causes and consequences of bleaching in other tropical symbiotic organisms. This study used underwater visual surveys to investigate bleaching in the 10 species of anemones that host anemonefishes. Bleaching was confirmed in seven anemone species (with anecdotal reports of bleaching in the other three species) at 10 of 19 survey locations spanning the Indo-Pacific and Red Sea, indicating that anemone bleaching is taxonomically and geographically widespread. In total, bleaching was observed in 490 of the 13,896 surveyed anemones (3.5%); however, this percentage was much higher (19-100%) during five major bleaching events that were associated with periods of elevated water temperatures and coral bleaching. There was considerable spatial variation in anemone bleaching during most of these events, suggesting that certain sites and deeper waters might act as refuges. Susceptibility to bleaching varied between species, and in some species, bleaching caused reductions in size and abundance. Anemones are long-lived with low natural mortality, which makes them particularly vulnerable to predicted increases in severity and frequency of bleaching events. Population viability will be severely compromised if anemones and their symbionts cannot acclimate or adapt to rising sea temperatures. Anemone bleaching also has negative effects to other species, particularly those that have an obligate relationship with anemones. These effects include reductions in abundance and reproductive output of anemonefishes. Therefore, the future of these iconic and commercially valuable coral reef fishes is inextricably linked to the ability of host anemones to cope with rising sea temperatures associated with climate change.

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.

Advanced Geophysical Classification with the Marine Towed Array

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

A climatology of the California Current System from a network of underwater gliders

NASA Astrophysics Data System (ADS)

Rudnick, Daniel L.; Zaba, Katherine D.; Todd, Robert E.; Davis, Russ E.

2017-05-01

Autonomous underwater gliders offer the possibility of sustained observation of the coastal ocean. Since 2006 Spray underwater gliders in the California Underwater Glider Network (CUGN) have surveyed along California Cooperative Oceanic Fisheries Investigations (CalCOFI) lines 66.7, 80.0, and 90.0, constituting the world's longest sustained glider network, to our knowledge. In this network, gliders dive between the surface and 500 m, completing a cycle in 3 h and covering 3 km in that time. Sections extend 350-500 km offshore and take 2-3 weeks to occupy. Measured variables include pressure, temperature, salinity, and depth-average velocity. The CUGN has amassed over 10,000 glider-days, covering over 210,000 km with over 95,000 dives. These data are used to produce a climatology whose products are for each variable a mean field, an annual cycle, and the anomaly from the annual cycle. The analysis includes a weighted least-squares fit to derive the mean and annual cycle, and an objective map to produce the anomaly. The final results are variables on rectangular grids in depth, distance offshore, and time. The mean fields are finely resolved sections across the main flows in the California Current System, including the poleward California Undercurrent and the equatorward California Current. The annual cycle shows a phase change from the surface to the thermocline, reflecting the effects of air/sea fluxes at the surface and upwelling in the thermocline. The interannual anomalies are examined with an emphasis on climate events of the last ten years including the 2009-2010 El Niño, the 2010-2011 La Niña, the warm anomaly of 2014-2015, and the 2015-2016 El Niño.

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

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

Estimating the Total Heat Flux from the ASHES Hydrothermal Vent Field Using the Sentry Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Crone, T. J.; Kinsey, J. C.; Mittelstaedt, E. L.

2017-12-01

Hydrothermal venting at mid-ocean ridges influences ocean chemistry, the thermal and chemical structure of the oceanic crust, and the evolution of unique and diverse autolithotrophically-supported ecosystems. Axially-hosted hydrothermal systems are responsible for 20-25% of the total heat flux out of Earth's interior, and likely play a large role in local as well as global biogeochemical cycles. Despite the importance of these systems, only a few studies have attempted to constrain the volume and heat flux of an entire hydrothermal vent field. In July of 2014 we used the Sentry autonomous underwater vehicle (AUV) to survey the water column over the ASHES hydrothermal vent field which is located within the caldera of Axial Seamount, an active submarine volcano located on the Juan de Fuca Ridge. To estimate the total heat and mass flux from this vent field, we equipped Sentry with a Nortek acoustic Doppler velocimeter (ADV), an inertial measurement unit (IMU), two acoustic Doppler current profilers (ADCPs), and two SBE3 temperature probes, allowing us to obtain precise measurements of fluid temperature and water velocity. The survey was designed using a control volume approach in which Sentry was pre-programmed to survey a 150-m-square centered over the vent field flying a grid pattern with 5-m track line spacing followed by a survey of the perimeter. This pattern was repeated multiple times during several 10-h dives at different altitudes, including 10, 20, 40, and 60 m above the seafloor, and during one 40-h survey at an altitude of 10 m. During the 40-h survey, the pattern was repeated nine times allowing us to obtain observations over several tidal cycles. Water velocity data obtained with Sentry were corrected for platform motion and then combined with the temperature measurements to estimate heat flux. The analysis of these data will likely provide the most accurate and highest resolution heat and mass flux estimates at a seafloor hydrothermal field to date.

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.

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.

A vision fusion treatment system based on ATtiny26L

NASA Astrophysics Data System (ADS)

Zhang, Xiaoqing; Zhang, Chunxi; Wang, Jiqiang

2006-11-01

Vision fusion treatment is an important and effective project to strabismus children. The vision fusion treatment system based on the principle for eyeballs to follow the moving visual survey pole is put forward first. In this system the original position of visual survey pole is about 35 centimeters far from patient's face before its moving to the middle position between the two eyeballs. The eyeballs of patient will follow the movement of the visual survey pole. When they can't follow, one or two eyeballs will turn to other position other than the visual survey pole. This displacement is recorded every time. A popular single chip microcomputer ATtiny26L is used in this system, which has a PWM output signal to control visual survey pole to move with continuously variable speed. The movement of visual survey pole accords to the modulating law of eyeballs to follow visual survey pole.

UXO Detector for Underwater Surveys Using Low-Frequency Sonar

DTIC Science & Technology

2015-06-01

Oude Waalsdorperweg 63 The Hague The Netherlands 9. SPONSORING / MONITORING AGENCY NAME(S) AND ADDRESS(ES...remaining number of false alarms will be further reduced. The application of these two rules to the data shown in Figure 6-3, leads to removal of...Box 96864, 2509 JG The Hague , The Netherlands, +31 88 866 0902, alan.hunter@tno.nl Abstract: Detection of unexploded ordnance is challenging in the

Munitions Detection Using Unmanned Underwater Vehicles Equipped with Advanced Sensors

DTIC Science & Technology

2012-06-29

buried target. The RTG is a small passive magnetic sensor using fluxgate magnetometers measuring 3- orthogonal magnetic-field vector components at 3...surveys. Figure 6 shows the RTG magnetic sensor in both an open (showing the fluxgate magnetometers ) and enclosed state (mode for integration onto...7.6 Real-time Tracking Gradiometer (RTG) System The RTG is a small passive magnetic sensor using fluxgate magnetometers measuring 3- orthogonal

Technical Survey and Evaluation of Underwater Sensors and Remotely Operated Vehicles

DTIC Science & Technology

1993-05-01

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

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

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…

To See or Not to See: Investigating Detectability of Ganges River Dolphins Using a Combined Visual-Acoustic Survey

PubMed Central

Richman, Nadia I.; Gibbons, James M.; Turvey, Samuel T.; Akamatsu, Tomonari; Ahmed, Benazir; Mahabub, Emile; Smith, Brian D.; Jones, Julia P. G.

2014-01-01

Detection of animals during visual surveys is rarely perfect or constant, and failure to account for imperfect detectability affects the accuracy of abundance estimates. Freshwater cetaceans are among the most threatened group of mammals, and visual surveys are a commonly employed method for estimating population size despite concerns over imperfect and unquantified detectability. We used a combined visual-acoustic survey to estimate detectability of Ganges River dolphins (Platanista gangetica gangetica) in four waterways of southern Bangladesh. The combined visual-acoustic survey resulted in consistently higher detectability than a single observer-team visual survey, thereby improving power to detect trends. Visual detectability was particularly low for dolphins close to meanders where these habitat features temporarily block the view of the preceding river surface. This systematic bias in detectability during visual-only surveys may lead researchers to underestimate the importance of heavily meandering river reaches. Although the benefits of acoustic surveys are increasingly recognised for marine cetaceans, they have not been widely used for monitoring abundance of freshwater cetaceans due to perceived costs and technical skill requirements. We show that acoustic surveys are in fact a relatively cost-effective approach for surveying freshwater cetaceans, once it is acknowledged that methods that do not account for imperfect detectability are of limited value for monitoring. PMID:24805782

To see or not to see: investigating detectability of Ganges River dolphins using a combined visual-acoustic survey.

PubMed

Richman, Nadia I; Gibbons, James M; Turvey, Samuel T; Akamatsu, Tomonari; Ahmed, Benazir; Mahabub, Emile; Smith, Brian D; Jones, Julia P G

2014-01-01

Detection of animals during visual surveys is rarely perfect or constant, and failure to account for imperfect detectability affects the accuracy of abundance estimates. Freshwater cetaceans are among the most threatened group of mammals, and visual surveys are a commonly employed method for estimating population size despite concerns over imperfect and unquantified detectability. We used a combined visual-acoustic survey to estimate detectability of Ganges River dolphins (Platanista gangetica gangetica) in four waterways of southern Bangladesh. The combined visual-acoustic survey resulted in consistently higher detectability than a single observer-team visual survey, thereby improving power to detect trends. Visual detectability was particularly low for dolphins close to meanders where these habitat features temporarily block the view of the preceding river surface. This systematic bias in detectability during visual-only surveys may lead researchers to underestimate the importance of heavily meandering river reaches. Although the benefits of acoustic surveys are increasingly recognised for marine cetaceans, they have not been widely used for monitoring abundance of freshwater cetaceans due to perceived costs and technical skill requirements. We show that acoustic surveys are in fact a relatively cost-effective approach for surveying freshwater cetaceans, once it is acknowledged that methods that do not account for imperfect detectability are of limited value for monitoring.

Local Ecological Knowledge and Scientific Data Reveal Overexploitation by Multigear Artisanal Fisheries in the Southwestern Atlantic

PubMed Central

Bender, Mariana G.; Machado, Gustavo R.; Silva, Paulo José de Azevedo; Floeter, Sergio R.; Monteiro-Netto, Cassiano; Luiz, Osmar J.; Ferreira, Carlos E. L.

2014-01-01

In the last decades, a number of studies based on historical records revealed the diversity loss in the oceans and human-induced changes to marine ecosystems. These studies have improved our understanding of the human impacts in the oceans. They also drew attention to the shifting baseline syndrome and the importance of assessing appropriate sources of data in order to build the most reliable environmental baseline. Here we amassed information from artisanal fishermen's local ecological knowledge, fisheries landing data and underwater visual census to assess the decline of fish species in Southeastern Brazil. Interviews with 214 fishermen from line, beach seine and spearfishing revealed a sharp decline in abundance of the bluefish Pomatomus saltatrix, the groupers Epinephelus marginatus, Mycteroperca acutirostris, M. bonaci and M. microlepis, and large parrotfishes in the past six decades. Fisheries landing data from a 16-year period support the decline of bluefish as pointed by fishermen's local knowledge, while underwater visual census campaigns show reductions in groupers' abundance and a sharp population decline of the Brazilian endemic parrotfish Scarus trispinosus. Despite the marked decline of these fisheries, younger and less experienced fishermen recognized fewer species as overexploited and fishing sites as depleted than older and more experienced fishermen, indicating the occurrence of the shifting baseline syndrome. Here we show both the decline of multigear fisheries catches – combining anecdotal and scientific data – as well as changes in environmental perceptions over generations of fishermen. Managing ocean resources requires looking into the past, and into traditional knowledge, bringing historical baselines to the present and improving public awareness. PMID:25333661

Local ecological knowledge and scientific data reveal overexploitation by multigear artisanal fisheries in the southwestern Atlantic.

PubMed

Bender, Mariana G; Machado, Gustavo R; Silva, Paulo José de Azevedo; Floeter, Sergio R; Monteiro-Netto, Cassiano; Luiz, Osmar J; Ferreira, Carlos E L

2014-01-01

In the last decades, a number of studies based on historical records revealed the diversity loss in the oceans and human-induced changes to marine ecosystems. These studies have improved our understanding of the human impacts in the oceans. They also drew attention to the shifting baseline syndrome and the importance of assessing appropriate sources of data in order to build the most reliable environmental baseline. Here we amassed information from artisanal fishermen's local ecological knowledge, fisheries landing data and underwater visual census to assess the decline of fish species in Southeastern Brazil. Interviews with 214 fishermen from line, beach seine and spearfishing revealed a sharp decline in abundance of the bluefish Pomatomus saltatrix, the groupers Epinephelus marginatus, Mycteroperca acutirostris, M. bonaci and M. microlepis, and large parrotfishes in the past six decades. Fisheries landing data from a 16-year period support the decline of bluefish as pointed by fishermen's local knowledge, while underwater visual census campaigns show reductions in groupers' abundance and a sharp population decline of the Brazilian endemic parrotfish Scarus trispinosus. Despite the marked decline of these fisheries, younger and less experienced fishermen recognized fewer species as overexploited and fishing sites as depleted than older and more experienced fishermen, indicating the occurrence of the shifting baseline syndrome. Here we show both the decline of multigear fisheries catches - combining anecdotal and scientific data - as well as changes in environmental perceptions over generations of fishermen. Managing ocean resources requires looking into the past, and into traditional knowledge, bringing historical baselines to the present and improving public awareness.

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.

Upper and lower mesophotic coral reef fish communities evaluated by underwater visual censuses in two Caribbean locations

NASA Astrophysics Data System (ADS)

Pinheiro, H. T.; Goodbody-Gringley, G.; Jessup, M. E.; Shepherd, B.; Chequer, A. D.; Rocha, L. A.

2016-03-01

Despite more than 60 yr of coral reef research using scuba diving, mesophotic coral ecosystems (MCEs) between 30 and 150 m depth remain largely unknown. This study represents the first underwater visual census of reef fish communities in the Greater Caribbean on MCEs at depths up to 80 m in Bermuda and 130 m in Curaçao. Sampling was performed using mixed-gas closed-circuit rebreathers. Quantitative data on reef fish communities were obtained for four habitats: coral reefs (45-80 m), rhodolith beds (45-80 m), ledges (85-130 m) and walls (85-130 m). A total of 38 species were recorded in Bermuda and 66 in Curaçao. Mesophotic reef fish communities varied significantly between the two localities. MCEs in Bermuda had lower richness and abundance, but higher biomass than those in Curaçao. Richness, abundance and biomass increased with depth in Bermuda, but decreased in Curaçao. A high turnover of species was found among depth strata and between Bermuda and other Caribbean upper MCEs (45-80 m), indicating that depth was an important driver of community structure at all localities. However, local and evolutionary factors (habitat and endemism) are likely the main factors shaping communities in isolated locations such as Bermuda. High fishing pressure is evident in both localities, as total biomass of apex predators was generally low, and thus may be driving a "refugia" scenario in Bermuda, as the abundance and biomass of macro-carnivores increased with depth and distance from the coast.

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.

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.

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.

Comparison of visual survey and seining methods for estimating abundance of an endangered, benthic stream fish

USGS Publications Warehouse

Jordan, F.; Jelks, H.L.; Bortone, S.A.; Dorazio, R.M.

2008-01-01

We compared visual survey and seining methods for estimating abundance of endangered Okaloosa darters, Etheostoma okaloosae, in 12 replicate stream reaches during August 2001. For each 20-m stream reach, two divers systematically located and marked the position of darters and then a second crew of three to five people came through with a small-mesh seine and exhaustively sampled the same area. Visual surveys required little extra time to complete. Visual counts (24.2 ?? 12.0; mean ?? one SD) considerably exceeded seine captures (7.4 ?? 4.8), and counts from the two methods were uncorrelated. Visual surveys, but not seines, detected the presence of Okaloosa darters at one site with low population densities. In 2003, we performed a depletion removal study in 10 replicate stream reaches to assess the accuracy of the visual survey method. Visual surveys detected 59% of Okaloosa darters present, and visual counts and removal estimates were positively correlated. Taken together, our comparisons indicate that visual surveys more accurately and precisely estimate abundance of Okaloosa darters than seining and more reliably detect presence at low population densities. We recommend evaluation of visual survey methods when designing programs to monitor abundance of benthic fishes in clear streams, especially for threatened and endangered species that may be sensitive to handling and habitat disturbance. ?? 2007 Springer Science+Business Media, Inc.

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

Survey of computer vision technology for UVA navigation

NASA Astrophysics Data System (ADS)

Xie, Bo; Fan, Xiang; Li, Sijian

2017-11-01

Navigation based on computer version technology, which has the characteristics of strong independence, high precision and is not susceptible to electrical interference, has attracted more and more attention in the filed of UAV navigation research. Early navigation project based on computer version technology mainly applied to autonomous ground robot. In recent years, the visual navigation system is widely applied to unmanned machine, deep space detector and underwater robot. That further stimulate the research of integrated navigation algorithm based on computer version technology. In China, with many types of UAV development and two lunar exploration, the three phase of the project started, there has been significant progress in the study of visual navigation. The paper expounds the development of navigation based on computer version technology in the filed of UAV navigation research and draw a conclusion that visual navigation is mainly applied to three aspects as follows.(1) Acquisition of UAV navigation parameters. The parameters, including UAV attitude, position and velocity information could be got according to the relationship between the images from sensors and carrier's attitude, the relationship between instant matching images and the reference images and the relationship between carrier's velocity and characteristics of sequential images.(2) Autonomous obstacle avoidance. There are many ways to achieve obstacle avoidance in UAV navigation. The methods based on computer version technology ,including feature matching, template matching, image frames and so on, are mainly introduced. (3) The target tracking, positioning. Using the obtained images, UAV position is calculated by using optical flow method, MeanShift algorithm, CamShift algorithm, Kalman filtering and particle filter algotithm. The paper expounds three kinds of mainstream visual system. (1) High speed visual system. It uses parallel structure, with which image detection and processing are carried out at high speed. The system is applied to rapid response system. (2) The visual system of distributed network. There are several discrete image data acquisition sensor in different locations, which transmit image data to the node processor to increase the sampling rate. (3) The visual system combined with observer. The system combines image sensors with the external observers to make up for lack of visual equipment. To some degree, these systems overcome lacks of the early visual system, including low frequency, low processing efficiency and strong noise. In the end, the difficulties of navigation based on computer version technology in practical application are briefly discussed. (1) Due to the huge workload of image operation , the real-time performance of the system is poor. (2) Due to the large environmental impact , the anti-interference ability of the system is poor.(3) Due to the ability to work in a particular environment, the system has poor adaptability.

Underwater and Dive Station Work-Site Noise Surveys

DTIC Science & Technology

2008-03-14

A) octave band noise measurements, dB (A) correction factors, dB ( A ) levels , MK-21 diving helmet attenuation correction factors, overall in-helmet...band noise measurements, dB (A) correction factors, dB ( A ) levels , MK-21 diving helmet attenuation correction factors, overall in-helmet dB (A...noise measurements, dB (A) correction factors, dB ( A ) levels , MK-21 diving helmet attenuation correction factors, overall in-helmet dB (A) level, and

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

DTIC Science & Technology

1987-03-01

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

Expectations and Outcomes of Reserve Network Performance following Re-zoning of the Great Barrier Reef Marine Park.

PubMed

Emslie, Michael J; Logan, Murray; Williamson, David H; Ayling, Anthony M; MacNeil, M Aaron; Ceccarelli, Daniela; Cheal, Alistair J; Evans, Richard D; Johns, Kerryn A; Jonker, Michelle J; Miller, Ian R; Osborne, Kate; Russ, Garry R; Sweatman, Hugh P A

2015-04-20

Networks of no-take marine reserves (NTMRs) are widely advocated for preserving exploited fish stocks and for conserving biodiversity. We used underwater visual surveys of coral reef fish and benthic communities to quantify the short- to medium-term (5 to 30 years) ecological effects of the establishment of NTMRs within the Great Barrier Reef Marine Park (GBRMP). The density, mean length, and biomass of principal fishery species, coral trout (Plectropomus spp., Variola spp.), were consistently greater in NTMRs than on fished reefs over both the short and medium term. However, there were no clear or consistent differences in the structure of fish or benthic assemblages, non-target fish density, fish species richness, or coral cover between NTMR and fished reefs. There was no indication that the displacement and concentration of fishing effort reduced coral trout populations on fished reefs. A severe tropical cyclone impacted many survey reefs during the study, causing similar declines in coral cover and fish density on both NTMR and fished reefs. However, coral trout biomass declined only on fished reefs after the cyclone. The GBRMP is performing as expected in terms of the protection of fished stocks and biodiversity for a developed country in which fishing is not excessive and targets a narrow range of species. NTMRs cannot protect coral reefs directly from acute regional-scale disturbance but, after a strong tropical cyclone, impacted NTMR reefs supported higher biomass of key fishery-targeted species and so should provide valuable sources of larvae to enhance population recovery and long-term persistence. Copyright © 2015 Elsevier Ltd. All rights reserved.

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

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.

Ocean outfall plume characterization using an Autonomous Underwater Vehicle.

PubMed

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

2013-01-01

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

Mobility Systems For Robotic Vehicles

NASA Astrophysics Data System (ADS)

Chun, Wendell

1987-02-01

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

The Research of Correlation of Water Surface Spectral and Sediment Parameters

NASA Astrophysics Data System (ADS)

Li, J.; Gong, G.; Fang, W.; Sun, W.

2018-04-01

In the method of survey underwater topography using remote sensing, and the water surface spectral reflectance R, which remote sensing inversion results were closely related to affects by the water and underwater sediment and other aspects, especially in shallow nearshore coastal waters, different sediment types significantly affected the reflectance changes. Therefore, it was of great significance of improving retrieval accuracy to explore the relation of sediment and water surface spectral reflectance. In this study, in order to explore relationship, we used intertidal sediment sand samples in Sheyang estuary, and in the laboratory measured and calculated the chroma indicators, and the water surface spectral reflectance. We found that water surface spectral reflectance had a high correlation with the chroma indicators; research result stated that the color of the sediment had an very important impact on the water surface spectral, especially in Red-Green chroma a*. Also, the research determined the sensitive spectrum bands of the Red-Green chroma a*, which were 636-617 nm, 716-747 nm and 770-792 nm.

Chemical Sensing of Unexploded Ordnance with the Mobile Underwater Survey System (MUDSS)

NASA Technical Reports Server (NTRS)

Darrach, M. R.; Chutjian, A.

1995-01-01

The ability to sense explosives residues in the marine environment is a critical tool for identification and classification of underwater unexploded ordnance (UXO). Trace explosives signatures of TNT and DNT have been extracted from multiple sediment samples adjacent to unexploded undersea ordnance at Halifax Harbor, Canada. The ordnance was hurled into the harbor during a massive explosion fifty years earlier, in 1945 after World War II had ended. Laboratory sediment extractions were made using the solid-phase microextraction (SPME) method in seawater, and detection using the Reversal Electron Attachment Detection (READ) technique and, in the case of DNT, a commercial gas-chromatography/mass spectrometer (GC/MS). Results show that, after more than 50 years in the environment, ordnance which appeared to be physically intact gave good explosives signatures at the parts-per-billion level, whereas ordnance which had been cracked open during the explosion gave no signatures at the 10 parts-per-trillion sensitivity level. These measurements appear to provide the first reported data of explosives signatures from undersea UXOs.

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

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

Large-scale bleaching of corals on the Great Barrier Reef.

PubMed

Hughes, T P; Kerry, J T; Simpson, T

2018-02-01

In 2015-2016, record temperatures triggered a pan-tropical episode of coral bleaching. In the southern hemisphere summer of March-April 2016, we used aerial surveys to measure the level of bleaching on 1,156 individual reefs throughout the 2,300 km length of the Great Barrier Reef, the world's largest coral reef system. The accuracy of the aerial scores was ground-truthed with detailed underwater surveys of bleaching at 260 sites (104 reefs), allowing us to compare aerial and underwater bleaching data with satellite-derived temperatures and with associated model predictions of bleaching. The severity of bleaching on individual reefs in 2016 was tightly correlated with the level of local heat exposure: the southernmost region of the Great Barrier Reef escaped with only minor bleaching because summer temperatures there were close to average. Gradients in nutrients and turbidity from inshore to offshore across the Great Barrier Reef had minimal effect on the severity of bleaching. Similarly, bleaching was equally severe on reefs that are open or closed to fishing, once the level of satellite-derived heat exposure was accounted for. The level of post-bleaching mortality, measured underwater after 7-8 months, was tightly correlated with the aerial scores measured at the peak of bleaching. Similarly, reefs with a high aerial bleaching score also experienced major shifts in species composition due to extensive mortality of heat-sensitive species. Reefs with low bleaching scores did not change in composition, and some showed minor increases in coral cover. Two earlier mass bleaching events occurred on the Great Barrier Reef in 1998 and 2002, that were less severe than 2016. In 2016, <9% of scored reefs had no bleaching, compared to 42% in 2002 and 44% in 1998. Conversely, the proportion of reefs that were severely bleached (>60% of corals affected) was four times higher in 2016. The geographic footprint of each of the three events is distinctive, and matches satellite-derived sea surface temperature patterns. Our aerial surveys indicate that past exposure to bleaching in 1998 and 2002 did not lessen the severity of bleaching in 2016. This data set of aerial bleaching scores provides a historical baseline for comparison with future bleaching events. No copyright restrictions apply to the use of this data set other than citing this publication. © 2017 by the Ecological Society of America.

Combining remote sensing with an inverse Bruun Rule for the analysis and management of almost equilibrium beaches

NASA Astrophysics Data System (ADS)

Eelsalu, Maris; Soomere, Tarmo; Männikus, Rain

2016-04-01

The management of beaches that suffer from sediment deficit and construction of nearshore infrastructure in locations with intense sediment transit require adequate predictions of the future of the relevant sedimentary systems. To a large extent, this task can be accomplished by using jointly the information about sediment texture and long-term changes in the dry beach volume and the location of the waterline. It is straightforward to evaluate relative changes in the dry beach volume from a succession of airborne laser scanning (ALS) surveys. We use in addition terrestrial laser scanning (TLS) technique to reduce ALS surveys performed with different devices and from different height to the same absolute height. This is accomplished using a TLS survey of a large horizontal surface of constant elevation within ALS snapshots. The most complicated, time-consuming and expensive task in beach management and planning of nearshore infrastructure is to get an adequate picture of the intensity and direction of underwater sediment transport processes. We demonstrate how a simple application of so-called inverse Bruun Rule makes it possible to evaluate the underwater volumetric changes for almost equilibrium beaches. The approach requires three data sets: wave statistics, sediment texture and changes in the average position of the waterline. The main properties of the wave climate, closure depths, magnitude and direction of wave-driven alongshore transport near the test areas are established using a triple nested high-resolution version of the wave model WAM that is forced for 34 years by high-quality marine winds. The relocation of the waterline is extracted from the ALS scanning of elevation isolines of 0.4-0.7 m on the subaerial beach. The technique has been applied to two basically different sections of Tallinn Bay, the Baltic Sea. Pirita Beach is gradually losing sand and requires beach refill while a moderate reclamation action is planned in the vicinity of gradually widening beach in the bayhead of this bay (Russalka beach). Sand volume in the latter area exhibits extensive interannual variations. The changes in the subaerial and underwater part are synchronised whereas the magnitude of changes in the underwater part is by a factor of 2-2.5 larger than similar changes in the subaerial part (that gains about 2000 m3/yr sand in 2008-2014). The discussed technique combined with classic estimates of the wave-driven sediment transport direction demonstrates that the Russalka beach is a convergence area of littoral flow. The existing pattern of sediment motions is such that even a minor shift in the coastline may lead to considerable increase in the transport of sand to neighbouring coastal sections. This conjecture is consistent with the general perception in coastal science that even seemingly small activities may have unexpectedly large potential for remote impacts. Such impacts are well known on high-energy open sea coasts but often considered as minor in relatively sheltered locations.

Micro Unmanned Surface Vehicle for Shallow Littoral Data Sampling

NASA Astrophysics Data System (ADS)

Murphy, R. R.; Wilde, G.

2016-02-01

This paper describes the creation of an autonomous air boat that can be carried by one person, called a micro unmanned surface vehicle (USV), for sensor sampling in shallow littoral areas such as inlets and creeks. A USV offers advantages over other types of unmanned marine vehicles. Unlike an autonomous underwater vehicle, the Challenge 1.0 air boat can operate in shallow water of less than 15 cm depth and maintain network connectivity for control and data sampling. A USV does not require a tether, like a remotely operated marine vehicle (ROV), which would limit the distance and mobility. However, a USV operating in shallow littoral areas poses several challenges. Navigation is a challenge since rivers and bays may have semi-submerged obstacles and there may be no depth maps; the approach taken in the Challenge 1.0 project is to let the operator specify a safe area of the water by visual inspection and then the USV autonomously creates a path to optimally sample the collision free area. Navigation is also a challenge because of platform dynamics-the USV we describe is a non-holonomic vehicle; this paper explores spiral paths rather than boustrophedon paths. Another challenge is the quality of sensing. Water-based sensing is noisy and thus a reading at a single point may not reflect the overall value. In practice, areas are sampled rather than a single point, but the noise in the point values within the sampled area produce a survey with widely varying numbers and are difficult for humans to interpret. This paper implements an inverse distance weighting interpolation algorithm to produce a visual "heatmap" that reliably portrays the smoothed data.

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.

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

A Parallel Hypothesis Method of Autonomous Underwater Vehicle Navigation

DTIC Science & Technology

2009-06-01

that is a hybrid of instantaneous and filtered localization methods. As discussed in Smith’s text on mathematical modeling and digital simulation ...rich in acoustic multipaths. The method was extended, in simulation , to other shallow water environments which could also be expected to be rich in...and the observed water depth profile is shown in Figure 6-17. The ABE164 survey dive ended early because ABE became entangled in a piece of 1/4

TNT Degradation by Natural Microbial Assemblages at Frontal Boundaries Between Water Masses in Coastal Ecosystems (ER-2124 Interim Report)

DTIC Science & Technology

2014-06-26

general features that can be used to bound these variables for a given ecosystem type ( biome ). Navy underwater coastal UXO sites can be categorized for...potentially mitigate the ecological risk associated with exposure of marine biota to these compounds. In addition, as part of these surveys, the most rapid RDX...biogeochemical parameters and aromatic contaminant biodegradation amongst various ecosystem ( biome ) types may allow the determination of attenuation

Underwater Cultural Resources Survey for Contraction Dikes at Red Eye Crossing, Mississippi River, Baton Rouge to the Gulf of Mexico, Louisiana

DTIC Science & Technology

1993-06-01

ojtala Edwin A. Lyon Te hnical Representative Authorized Representative of the Contracting Officer ______________________________Accesion For R. H... Edwin A. Lyon ably served as COR. Mr. James Woltala, Technical Representative, served as liaison and provided much needed Information relating to the...the Indian tribes encountered along the journey that the group was "the first Europeans who have descended or ascended the River Colbert [Mississippi

Popular beach disappears underwater in huge coastal landslide - Sleeping Bear Dunes, Michigan

USGS Publications Warehouse

Jaffe, Bruce; Kayen, Robert; Gibbons, Helen; Hendley, James W.; Stauffer, Peter H.

1998-01-01

In February 1995, a 1,600-foot stretch of popular beach at Sleeping Bear Dunes National Lakeshore suddenly slid into the waters of northeastern Lake Michigan. The National Park Service (NPS) immediately requested the assistance of the U.S. Geological Survey (USGS) in evaluating the hazard at the lakeshore. To protect the public, USGS and NPS scientists are conducting studies that will help predict when the landslide-prone area will move again.

What is left? Macrophyte meadows and Atlantic herring (Clupea harengus) spawning sites in the Greifswalder Bodden, Baltic Sea

NASA Astrophysics Data System (ADS)

Kanstinger, Philipp; Beher, Jutta; Grenzdörffer, Görres; Hammer, Cornelius; Huebert, Klaus B.; Stepputis, Daniel; Peck, Myron A.

2018-02-01

Coastal zones are productive areas of marine ecosystems which are also hotspots of anthropogenic activities causing habitat degradation. In the southwest Baltic Sea, eutrophication is thought to have caused the massive reduction in submerged macrophytes observed in recent decades. Here, we surveyed the submarine vegetation and examined locations of spawning of herring (Clupea harengus) in the Greifswalder Bodden, one of the most important reproductive habitats of the Western Baltic Spring Spawner herring stock (WBSS). This stock deposits eggs onto submerged vegetation and changes in macrophyte coverage are expected to influence the availability of reproductive habitat. Aerial, underwater video tows and SCUBA surveys conducted in spring 2009 revealed that only ∼7% of the lagoon was vegetated. Herring eggs were observed on 12 of 32 SCUBA transects, at depths between 0.2 and 5 m and were attached to a variety of spermatophyte and algae species but not to stones or mussels. A classification tree model indicated that spawning sites were strongly associated with the vegetation cover within a 100- and 500-m radius, implying that herring schools preferentially spawn on dense and large underwater meadows. Only ∼5% of the lagoon now falls into this vegetation category. Despite 20 years of efforts to reduce eutrophication, no increase in macroalgae and spermatophyte vegetation towards the historical level of 90% coverage in the area is apparent.

Development of An Autonomous Underwater Glider for Observing Physical Ocean Parameters in Indonesian Seas

NASA Astrophysics Data System (ADS)

Ajie Linarka, Utoyo; Riyanto Trilaksono, Bambang; Sagala, M. Faisal; Hidayat, Egi; Sopaheluwakan, Ardhasena; Rizal, Jose; Heriyanto, Eko; Amsal Harapan, Ferdika; Eka Syahputra Makmur, Erwin

2017-04-01

Conducting a sustained monitoring and surveying of physical ocean parameters for research or operational purposes using moorings and ships would require high cost. Development of an inexpensive instrument capable to perform such tasks not only could reduce cost and risks but also increase cruising range and depth. For that reason, a prototype of underwater glider was developed, named "GaneshBlue". GaneshBlue works based on gliding principles which utilizes pitch angle and buoyancy control for moving. For one gliding movement, GaneshBlue passed through 5 phases of surface, descent, transition, ascent and back to surface. The glider is equipped with basic navigation system and remote control, programmable survey planning, temperature and salinity sampling instruments, lithium batteries for power supply, and information processing software. A field test at the shallow water showed that GaneshBule has successfully demonstrated gliding and surfacing movements with surge motion speed reaching 20 cm s-1and 20 m in depths. During the field test the glider was also equipped with three instruments, i.e. Inertial Measurement Unit (IMU) to estimate glider's speed and orientation; MiniCT to acquire temperature and conductivity data; and Altisounder to determine its distance to sea surface and to seabed. In general, all the instruments performed well but filter algorithm needs to be implemented on data collection procedure to remove data outliers.

Combined geophysical methods for mapping infiltration pathways at the Aurora Water Aquifer recharge and recovery site

NASA Astrophysics Data System (ADS)

Jasper, Cameron A.

Although aquifer recharge and recovery systems are a sustainable, decentralized, low cost, and low energy approach for the reclamation, treatment, and storage of post- treatment wastewater, they can suffer from poor infiltration rates and the development of a near-surface clogging layer within infiltration ponds. One such aquifer recharge and recovery system, the Aurora Water site in Colorado, U.S.A, functions at about 25% of its predicted capacity to recharge floodplain deposits by flooding infiltration ponds with post-treatment wastewater extracted from river bank aquifers along the South Platte River. The underwater self-potential method was developed to survey self-potential signals at the ground surface in a flooded infiltration pond for mapping infiltration pathways. A method for using heat as a groundwater tracer within the infiltration pond used an array of in situ high-resolution temperature sensing probes. Both relatively positive and negative underwater self-potential anomalies are consistent with observed recovery well pumping rates and specific discharge estimates from temperature data. Results from electrical resistivity tomography and electromagnetics surveys provide consistent electrical conductivity distributions associated with sediment textures. A lab method was developed for resistivity tests of near-surface sediment samples. Forward numerical modeling synthesizes the geophysical information to best match observed self- potential anomalies and provide permeability distributions, which is important for effective aquifer recharge and recovery system design, and optimization strategy development.

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.

Miniaturised Space Payloads for Outdoor Environmental Applications

NASA Astrophysics Data System (ADS)

de Souza, P. A.

2012-12-01

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

Integrated synoptic surveys of the hydrodynamics and water-quality distributions in two Lake Michigan rivermouth mixing zones using an autonomous underwater vehicle and a manned boat

USGS Publications Warehouse

Jackson, P. Ryan; Reneau, Paul C.

2014-01-01

The U.S. Geological Survey (USGS), in cooperation with the National Monitoring Network for U.S. Coastal Waters and Tributaries, launched a pilot project in 2010 to determine the value of integrated synoptic surveys of rivermouths using autonomous underwater vehicle technology in response to a call for rivermouth research, which includes study domains that envelop both the fluvial and lacustrine boundaries of the rivermouth mixing zone. The pilot project was implemented at two Lake Michigan rivermouths with largely different scales, hydrodynamics, and settings, but employing primarily the same survey techniques and methods. The Milwaukee River Estuary Area of Concern (AOC) survey included measurements in the lower 2 to 3 miles of the Milwaukee, Menomonee, and Kinnickinnic Rivers and inner and outer Milwaukee Harbor. This estuary is situated in downtown Milwaukee, Wisconsin, and is the most populated basin that flows directly into Lake Michigan. In contrast, the Manitowoc rivermouth has a relatively small harbor separating the rivermouth from Lake Michigan, and the Manitowoc River Watershed is primarily agricultural. Both the Milwaukee and Manitowoc rivermouths are unregulated and allow free exchange of water with Lake Michigan. This pilot study of the Milwaukee River Estuary and Manitowoc rivermouth using an autonomous underwater vehicle (AUV) paired with a manned survey boat resulted in high spatial and temporal resolution datasets of basic water-quality parameter distributions and hydrodynamics. The AUV performed well in these environments and was found primarily well-suited for harbor and nearshore surveys of three-dimensional water-quality distributions. Both case studies revealed that the use of a manned boat equipped with an acoustic Doppler current profiler (ADCP) and multiparameter sonde (and an optional flow-through water-quality sampling system) was the best option for riverine surveys. To ensure that the most accurate and highest resolution velocity data were collected concurrently with the AUV surveys, the pilot study used a manned boat equipped with an ADCP. Combining the AUV and manned boat datasets resulted in datasets that are essentially continuous from the fluvial through the lacustrine zones of a rivermouth. Whereas the pilot studies were completed during low flows on the tributaries, completion of surveys at higher flows using the same techniques is possible, but the use of the AUV would be limited to areas with relatively low velocities (less than 2 feet per second) such as the harbors and nearshore zones of Lake Michigan. Overall, this pilot study aimed at evaluation of AUV technology for integrated synoptic surveys of rivermouth mixing zones was successful, and the techniques and methods employed in this pilot study should be transferrable to other sites with similar success. The use of the AUV provided significant time savings compared to traditional sampling techniques. For example, the survey of outer Milwaukee Harbor using the AUV required less than 7 hours for approximately 600 profiles compared to the 150 hours it would have taken using traditional methods in a manned boat (a 95 percent reduction in man-hours). The integrated datasets resulting from the AUV and manned survey boat are of high value and present a picture of the mixing and hydrodynamics of these highly dynamic, highly variable rivermouth mixing zones from the relatively well-mixed fluvial environment through the rivermouth to the stratified lacustrine receiving body of Lake Michigan. Such datasets not only allow researchers to understand more about the physical processes occurring in these rivermouths, but they provide high spatial resolution data required for interpretation of relations between disparate point samples and calibration and validation of numerical models.

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.

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.

Joint inversion for transponder localization and sound-speed profile temporal variation in high-precision acoustic surveys.

PubMed

Li, Zhao; Dosso, Stan E; Sun, Dajun

2016-07-01

This letter develops a Bayesian inversion for localizing underwater acoustic transponders using a surface ship which compensates for sound-speed profile (SSP) temporal variation during the survey. The method is based on dividing observed acoustic travel-time data into time segments and including depth-independent SSP variations for each segment as additional unknown parameters to approximate the SSP temporal variation. SSP variations are estimated jointly with transponder locations, rather than calculated separately as in existing two-step inversions. Simulation and sea-trial results show this localization/SSP joint inversion performs better than two-step inversion in terms of localization accuracy, agreement with measured SSP variations, and computational efficiency.

Survey of Visual Ground Aids at O'Hare International Airport.

DOT National Transportation Integrated Search

1975-01-01

During the period June - July 1974 a survey of Visual Ground Aids was conducted at O'Hare International Airport in Chicago, Illinois. The purpose of this survey was to identify equipment currently installed to aid in providing visual guidance to pilo...

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.

Last Flight from Saigon. USAF Southeast Asia Monograph Series, Volume IV, Monograph 6

DTIC Science & Technology

2005-01-01

second requirement was a beach survey by an Underwater Demolition Team to make certain that an over-the- beach loading could safely be accomplished...of the first hit on top of the gym handball court sending myself and the remaining workers and evacuees diving for what little cover was available...river toward the beach and waiting ships. . . The shuttle continued, but soon our A-7s were low on fuel and it was time to go home.. . I looked back

Benthic habitats and offshore geological resources of Kaloko-Honokōhau National Historical Park, Hawai‘i

USGS Publications Warehouse

Gibbs, Ann E.; Cochran, Susan A.; Logan, Joshua B.; Grossman, Eric E.

2007-01-01

 A benthic-habitat classification map was created for the park using existing color aerial photography, Scanning Hydrographic Operational Airborne Lidar Survey (SHOALS) bathymetric data, georeferenced underwater video, and still photography. Individual habitat polygons were classified using five basic attributes: (1) major structure or substrate, (2) dominant structure, (3) major biologic cover on the substrate, (4) percentage of major biological cover, and (5) geographic zone. Additional information regarding geology, morphology, and coral species were also noted.

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

Compensating for geographic variation in detection probability with water depth improves abundance estimates of coastal marine megafauna.

PubMed

Hagihara, Rie; Jones, Rhondda E; Sobtzick, Susan; Cleguer, Christophe; Garrigue, Claire; Marsh, Helene

2018-01-01

The probability of an aquatic animal being available for detection is typically <1. Accounting for covariates that reduce the probability of detection is important for obtaining robust estimates of the population abundance and determining its status and trends. The dugong (Dugong dugon) is a bottom-feeding marine mammal and a seagrass community specialist. We hypothesized that the probability of a dugong being available for detection is dependent on water depth and that dugongs spend more time underwater in deep-water seagrass habitats than in shallow-water seagrass habitats. We tested this hypothesis by quantifying the depth use of 28 wild dugongs fitted with GPS satellite transmitters and time-depth recorders (TDRs) at three sites with distinct seagrass depth distributions: 1) open waters supporting extensive seagrass meadows to 40 m deep (Torres Strait, 6 dugongs, 2015); 2) a protected bay (average water depth 6.8 m) with extensive shallow seagrass beds (Moreton Bay, 13 dugongs, 2011 and 2012); and 3) a mixture of lagoon, coral and seagrass habitats to 60 m deep (New Caledonia, 9 dugongs, 2013). The fitted instruments were used to measure the times the dugongs spent in the experimentally determined detection zones under various environmental conditions. The estimated probability of detection was applied to aerial survey data previously collected at each location. In general, dugongs were least available for detection in Torres Strait, and the population estimates increased 6-7 fold using depth-specific availability correction factors compared with earlier estimates that assumed homogeneous detection probability across water depth and location. Detection probabilities were higher in Moreton Bay and New Caledonia than Torres Strait because the water transparency in these two locations was much greater than in Torres Strait and the effect of correcting for depth-specific detection probability much less. The methodology has application to visual survey of coastal megafauna including surveys using Unmanned Aerial Vehicles.

Taxonomic, Spatial and Temporal Patterns of Bleaching in Anemones Inhabited by Anemonefishes

PubMed Central

Hobbs, Jean-Paul A.; Frisch, Ashley J.; Ford, Benjamin M.; Thums, Michele; Saenz-Agudelo, Pablo; Furby, Kathryn A.; Berumen, Michael L.

2013-01-01

Background Rising sea temperatures are causing significant destruction to coral reef ecosystems due to coral mortality from thermally-induced bleaching (loss of symbiotic algae and/or their photosynthetic pigments). Although bleaching has been intensively studied in corals, little is known about the causes and consequences of bleaching in other tropical symbiotic organisms. Methodology/Principal Findings This study used underwater visual surveys to investigate bleaching in the 10 species of anemones that host anemonefishes. Bleaching was confirmed in seven anemone species (with anecdotal reports of bleaching in the other three species) at 10 of 19 survey locations spanning the Indo-Pacific and Red Sea, indicating that anemone bleaching is taxonomically and geographically widespread. In total, bleaching was observed in 490 of the 13,896 surveyed anemones (3.5%); however, this percentage was much higher (19–100%) during five major bleaching events that were associated with periods of elevated water temperatures and coral bleaching. There was considerable spatial variation in anemone bleaching during most of these events, suggesting that certain sites and deeper waters might act as refuges. Susceptibility to bleaching varied between species, and in some species, bleaching caused reductions in size and abundance. Conclusions/Significance Anemones are long-lived with low natural mortality, which makes them particularly vulnerable to predicted increases in severity and frequency of bleaching events. Population viability will be severely compromised if anemones and their symbionts cannot acclimate or adapt to rising sea temperatures. Anemone bleaching also has negative effects to other species, particularly those that have an obligate relationship with anemones. These effects include reductions in abundance and reproductive output of anemonefishes. Therefore, the future of these iconic and commercially valuable coral reef fishes is inextricably linked to the ability of host anemones to cope with rising sea temperatures associated with climate change. PMID:23951056

Consequences of a government-controlled agricultural price increase on fishing and the coral reef ecosystem in the republic of kiribati.

PubMed

Reddy, Sheila M W; Groves, Theodore; Nagavarapu, Sriniketh

2014-01-01

Economic development policies may have important economic and ecological consequences beyond the sector they target. Understanding these consequences is important to improving these policies and finding opportunities to align economic development with natural resource conservation. These issues are of particular interest to governments and non-governmental organizations that have new mandates to pursue multiple benefits. In this case study, we examined the direct and indirect economic and ecological effects of an increase in the government-controlled price for the primary agricultural product in the Republic of Kiribati, Central Pacific. We conducted household surveys and underwater visual surveys of the coral reef to examine how the government increase in the price of copra directly affected copra labor and indirectly affected fishing and the coral reef ecosystem. The islands of Kiribati are coral reef atolls and the majority of households participate in copra agriculture and fishing on the coral reefs. Our household survey data suggest that the 30% increase in the price of copra resulted in a 32% increase in copra labor and a 38% increase in fishing labor. Households with the largest amount of land in coconut production increased copra labor the most and households with the smallest amount of land in coconut production increased fishing the most. Our ecological data suggests that increased fishing labor may result in a 20% decrease in fish stocks and 4% decrease in coral reef-builders. We provide empirical evidence to suggest that the government increase in the copra price in Kiribati had unexpected and indirect economic and ecological consequences. In this case, the economic development policy was not in alignment with conservation. These results emphasize the importance of accounting for differences in household capital and taking a systems approach to policy design and evaluation, as advocated by sustainable livelihood and ecosystem-based management frameworks.

Consequences of a Government-Controlled Agricultural Price Increase on Fishing and the Coral Reef Ecosystem in the Republic of Kiribati

PubMed Central

Reddy, Sheila M. W.; Groves, Theodore; Nagavarapu, Sriniketh

2014-01-01

Background Economic development policies may have important economic and ecological consequences beyond the sector they target. Understanding these consequences is important to improving these policies and finding opportunities to align economic development with natural resource conservation. These issues are of particular interest to governments and non-governmental organizations that have new mandates to pursue multiple benefits. In this case study, we examined the direct and indirect economic and ecological effects of an increase in the government-controlled price for the primary agricultural product in the Republic of Kiribati, Central Pacific. Methods/Principal Findings We conducted household surveys and underwater visual surveys of the coral reef to examine how the government increase in the price of copra directly affected copra labor and indirectly affected fishing and the coral reef ecosystem. The islands of Kiribati are coral reef atolls and the majority of households participate in copra agriculture and fishing on the coral reefs. Our household survey data suggest that the 30% increase in the price of copra resulted in a 32% increase in copra labor and a 38% increase in fishing labor. Households with the largest amount of land in coconut production increased copra labor the most and households with the smallest amount of land in coconut production increased fishing the most. Our ecological data suggests that increased fishing labor may result in a 20% decrease in fish stocks and 4% decrease in coral reef-builders. Conclusions/Significance We provide empirical evidence to suggest that the government increase in the copra price in Kiribati had unexpected and indirect economic and ecological consequences. In this case, the economic development policy was not in alignment with conservation. These results emphasize the importance of accounting for differences in household capital and taking a systems approach to policy design and evaluation, as advocated by sustainable livelihood and ecosystem-based management frameworks. PMID:24820734

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

Modelling the habitat suitability of cetaceans: Example of the sperm whale in the northwestern Mediterranean Sea

NASA Astrophysics Data System (ADS)

Praca, Emilie; Gannier, Alexandre; Das, Krishna; Laran, Sophie

2009-04-01

Cetaceans are mobile and spend long periods underwater. Because of this, modelling their habitat could be subject to a serious problem of false absence. Furthermore, extensive surveys at sea are time and money consuming, and presence-absence data are difficult to apply. This study compares the ability of two presence-absence and two presence-only habitat modelling methods and uses the example of the sperm whale ( Physeter macrocephalus) in the northwestern Mediterranean Sea. The data consist of summer visual and acoustical detections of sperm whales, compiled between 1998 and 2005. Habitat maps were computed using topographical and hydrological eco-geographical variables. Four methods were compared: principal component analysis (PCA), ecological niche factor analysis (ENFA), generalized linear model (GLM) and multivariate adaptive regression splines (MARS). The evaluation of the models was achieved by calculating the receiver operating characteristic (ROC) of the models and their respective area under the curve (AUC). Presence-absence methods (GLM, AUC=0.70, and MARS, AUC=0.79) presented better AUC than presence-only methods (PCA, AUC=0.58, and ENFA, AUC=0.66), but this difference was not statistically significant, except between the MARS and the PCA models. The four models showed an influence of both topographical and hydrological factors, but the resulting habitat suitability maps differed. The core habitat on the continental slope was well highlighted by the four models, while GLM and MARS maps also showed a suitable habitat in the offshore waters. Presence-absence methods are therefore recommended for modelling the habitat suitability of cetaceans, as they seem more accurate to highlight complex habitat. However, the use of presence-only techniques, in particular ENFA, could be very useful for a first model of the habitat range or when important surveys at sea are not possible.

The Shark Assemblage at French Frigate Shoals Atoll, Hawai‘i: Species Composition, Abundance and Habitat Use

PubMed Central

Dale, Jonathan J.; Stankus, Austin M.; Burns, Michael S.; Meyer, Carl G.

2011-01-01

Empirical data on the abundance and habitat preferences of coral reef top predators are needed to evaluate their ecological impacts and guide management decisions. We used longline surveys to quantify the shark assemblage at French Frigate Shoals (FFS) atoll from May to August 2009. Fishing effort consisted of 189 longline sets totaling 6,862 hook hours of soak time. A total of 221 sharks from 7 species were captured, among which Galapagos (Carcharhinus galapagensis, 36.2%), gray reef (Carcharhinus amblyrhynchos, 25.8%) and tiger (Galeocerdo cuvier, 20.4%) sharks were numerically dominant. A lack of blacktip reef sharks (Carcharhinus melanopterus) distinguished the FFS shark assemblage from those at many other atolls in the Indo-Pacific. Compared to prior underwater visual survey estimates, longline methods more accurately represented species abundance and composition for the majority of shark species. Sharks were significantly less abundant in the shallow lagoon than adjacent habitats. Recaptures of Galapagos sharks provided the first empirical estimate of population size for any Galapagos shark population. The overall recapture rate was 5.4%. Multiple closed population models were evaluated, with Chao Mh ranking best in model performance and yielding a population estimate of 668 sharks with 95% confidence intervals ranging from 289–1720. Low shark abundance in the shallow lagoon habitats suggests removal of a small number of sharks from the immediate vicinity of lagoonal islets may reduce short-term predation on endangered monk seal (Monachus schauinslandi) pups, but considerable fishing effort would be required to catch even a small number of sharks. Additional data on long-term movements and habitat use of sharks at FFS are required to better assess the likely ecological impacts of shark culling. PMID:21347321

The shark assemblage at French Frigate Shoals atoll, Hawai'i: species composition, abundance and habitat use.

PubMed

Dale, Jonathan J; Stankus, Austin M; Burns, Michael S; Meyer, Carl G

2011-02-10

Empirical data on the abundance and habitat preferences of coral reef top predators are needed to evaluate their ecological impacts and guide management decisions. We used longline surveys to quantify the shark assemblage at French Frigate Shoals (FFS) atoll from May to August 2009. Fishing effort consisted of 189 longline sets totaling 6,862 hook hours of soak time. A total of 221 sharks from 7 species were captured, among which Galapagos (Carcharhinus galapagensis, 36.2%), gray reef (Carcharhinus amblyrhynchos, 25.8%) and tiger (Galeocerdo cuvier, 20.4%) sharks were numerically dominant. A lack of blacktip reef sharks (Carcharhinus melanopterus) distinguished the FFS shark assemblage from those at many other atolls in the Indo-Pacific. Compared to prior underwater visual survey estimates, longline methods more accurately represented species abundance and composition for the majority of shark species. Sharks were significantly less abundant in the shallow lagoon than adjacent habitats. Recaptures of Galapagos sharks provided the first empirical estimate of population size for any Galapagos shark population. The overall recapture rate was 5.4%. Multiple closed population models were evaluated, with Chao M(h) ranking best in model performance and yielding a population estimate of 668 sharks with 95% confidence intervals ranging from 289-1720. Low shark abundance in the shallow lagoon habitats suggests removal of a small number of sharks from the immediate vicinity of lagoonal islets may reduce short-term predation on endangered monk seal (Monachus schauinslandi) pups, but considerable fishing effort would be required to catch even a small number of sharks. Additional data on long-term movements and habitat use of sharks at FFS are required to better assess the likely ecological impacts of shark culling.

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

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.

High-Resolution Multibeam Sonar Survey and Interactive 3-D Exploration of the D-Day Wrecks off Normandy

NASA Astrophysics Data System (ADS)

Mayer, L. A.; Calder, B.; Schmidt, J. S.

2003-12-01

Historically, archaeological investigations use sidescan sonar and marine magnetometers as initial search tools. Targets are then examined through direct observation by divers, video, or photographs. Magnetometers can demonstrate the presence, absence, and relative susceptibility of ferrous objects but provide little indication of the nature of the target. Sidescan sonar can present a clear image of the overall nature of a target and its surrounding environment, but the sidescan image is often distorted and contains little information about the true 3-D shape of the object. Optical techniques allow precise identification of objects but suffer from very limited range, even in the best of situations. Modern high-resolution multibeam sonar offers an opportunity to cover a relatively large area from a safe distance above the target, while resolving the true three-dimensional (3-D) shape of the object with centimeter-level resolution. The combination of 3-D mapping and interactive 3-D visualization techniques provides a powerful new means to explore underwater artifacts. A clear demonstration of the applicability of high-resolution multibeam sonar to wreck and artifact investigations occurred when the Naval Historical Center (NHC), the Center for Coastal and Ocean Mapping (CCOM) at the University of New Hampshire, and Reson Inc., collaborated to explore the state of preservation and impact on the surrounding environment of a series of wrecks located off the coast of Normandy, France, adjacent to the American landing sectors The survey augmented previously collected magnetometer and high-resolution sidescan sonar data using a Reson 8125 high-resolution focused multibeam sonar with 240, 0.5° (at nadir) beams distributed over a 120° swath. The team investigated 21 areas in water depths ranging from about three -to 30 meters (m); some areas contained individual targets such as landing craft, barges, a destroyer, troop carrier, etc., while others contained multiple smaller targets such as tanks and trucks. Of particular interest were the well-preserved caissons and blockships of the artificial Mulberry Harbor deployed off Omaha Beach. The near-field beam-forming capability of the Reson 8125 combined with 3-D visualization techniques provided an unprecedented level of detail including the ability to recognize individual components of the wrecks (ramps, gun turrets, hatches, etc.), the state of preservation of the wrecks, and the impact of the wrecks on the surrounding seafloor. Visualization of these data on the GeoWall allows us to share the exploration of these important historical artifacts with both experts and the general public.

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).

KSC-02pd1535

NASA Image and Video Library

2002-10-15

KENNEDY SPACE CENTER, FLA. -- Sonar mapping equipment lies on the deck of the Liberty Star, one of NASA's solid rocket booster retrieval ships. The equipment will be attached to the ship's hull for an eight-day expedition surveying deep-water coral reefs on the Oculina Banks off eastern Florida. NASA joins the National Oceanic and Atmospheric Administration (NOAA) and other ocean scientists for the sophisticated mapping system that will provide the first high-resolution, three-dimensional map of the Oculina Banks. The survey results are expected to guide another expedition in Spring 2003, using NASA's ship, when the reef fish spawn. Also used will be NASA's underwater robot and an acoustic hydrophone system for listening to fish and vessel noise. Dive sites will be chosen based on the new charts.

The impact of glacier meltwater on the underwater noise field in a glacial bay

NASA Astrophysics Data System (ADS)

Glowacki, Oskar; Moskalik, Mateusz; Deane, Grant B.

2016-12-01

Ambient noise oceanography is proving to be an efficient and effective tool for the study of ice-ocean interactions in the bays of marine-terminating glaciers. However, obtaining quantitative estimates of ice melting or calving processes from ambient noise requires an understanding of how sound propagation through the bay attenuates and filters the noise spectrum. Measurements of the vertical structure in sound speed in the vicinity of the Hans Glacier in Hornsund Fjord, Spitsbergen, made with O(130) CTD casts between May and November 2015, reveal high-gradient, upward-refracting sound speed profiles created by cold, fresh meltwater during summer months. Simultaneous recordings of underwater ambient noise made at depths of 1, 10, and 20 m in combination with propagation model calculations using the model Bellhop illustrate the dominant role these surface ducts play in shaping the underwater soundscape. The surface ducts lead to a higher intensity and greater variability of acoustic energy in the near-surface layer covered by glacially modified waters relative to deeper waters, indicating deeper zones as most appropriate for interseasonal acoustic monitoring of the glacial melt. Surface waveguides in Hornsund are relatively shallow and trap sound above O(1 kHz). Deeper waveguides observed elsewhere will also trap low-frequency sounds, such as those generated by calving events for example. Finally, the ambient noise field in Hornsund is shown to be strongly dependent on the distribution of ice throughout the bay, stressing the importance of performing complementary environmental measurements when interpreting the results of acoustic surveys.

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

NASA Astrophysics Data System (ADS)

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

2017-12-01

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

UAS close range remote sensing for mapping coastal environments

NASA Astrophysics Data System (ADS)

Papakonstantinou, Apostolos; Topouzelis, Kostantinos; Doukari, Michaela

2017-09-01

Coastline change and marine litter concentration in shoreline zones are two different emerging problems indicating the vulnerability as well as the quality of a coastal environment. Both problems present spatiotemporal changes due to weather and anthropogenic factors. Traditionally spatiotemporal changes in coastal environments are monitored using high-resolution satellite images and manned surveys. The last years, Unmanned Aerial Systems (UAS) are used as additional tool for monitoring environmental phenomena in sensitive coastal areas. In this study, two different case studies for mapping emerging coastal phenomena i.e. coastline changes and marine litter in Lesvos island, are presented. Both phenomena have increasing interest among scientists monitoring sensitive coastal areas. This paper outlines the integration of UAS for data acquisition and Structure from Motion (SfM) pipeline for the visualization of selected coastal areas in the Aegean Sea. The followed UAS-SfM methodology produces very detailed orthophoto maps. This high resolution spatial information is used for mapping and detecting primarily, marine litter on coastal and underwater zones and secondly, coastline changes and coastal erosion. More specific the produced orthophoto maps analyzed through GIS and with the use of the appropriate cartographic techniques the objective environmental parameters were mapped. Results showed that UAS-SfM pipeline produces geoinformation with high accuracy and spatial resolution that helps scientists to map with confidence environmental changes that take place in shoreline zones.

Human, Oceanographic and Habitat Drivers of Central and Western Pacific Coral Reef Fish Assemblages

PubMed Central

Williams, Ivor D.; Baum, Julia K.; Heenan, Adel; Hanson, Katharine M.; Nadon, Marc O.; Brainard, Russell E.

2015-01-01

Coral reefs around US- and US-affiliated Pacific islands and atolls span wide oceanographic gradients and levels of human impact. Here we examine the relative influence of these factors on coral reef fish biomass, using data from a consistent large-scale ecosystem monitoring program conducted by scientific divers over the course of >2,000 hours of underwater observation at 1,934 sites, across ~40 islands and atolls. Consistent with previous smaller-scale studies, our results show sharp declines in reef fish biomass at relatively low human population density, followed by more gradual declines as human population density increased further. Adjusting for other factors, the highest levels of oceanic productivity among our study locations were associated with more than double the biomass of reef fishes (including ~4 times the biomass of planktivores and piscivores) compared to islands with lowest oceanic productivity. Our results emphasize that coral reef areas do not all have equal ability to sustain large reef fish stocks, and that what is natural varies significantly amongst locations. Comparisons of biomass estimates derived from visual surveys with predicted biomass in the absence of humans indicated that total reef fish biomass was depleted by 61% to 69% at populated islands in the Mariana Archipelago; by 20% to 78% in the Main Hawaiian islands; and by 21% to 56% in American Samoa. PMID:25831196

Pattern and intensity of human impact on coral reefs depend on depth along the reef profile and on the descriptor adopted

NASA Astrophysics Data System (ADS)

Nepote, Ettore; Bianchi, Carlo Nike; Chiantore, Mariachiara; Morri, Carla; Montefalcone, Monica

2016-09-01

Coral reefs are threatened by multiple global and local disturbances. The Maldives, already heavily hit by the 1998 mass bleaching event, are currently affected also by growing tourism and coastal development that may add to global impacts. Most of the studies investigating effects of local disturbances on coral reefs assessed the response of communities along a horizontal distance from the impact source. This study investigated the status of a Maldivian coral reef around an island where an international touristic airport has been recently (2009-2011) built, at different depths along the reef profile (5-20 m depth) and considering the change in the percentage of cover of five different non-taxonomic descriptors assessed through underwater visual surveys: hard corals, soft corals, other invertebrates, macroalgae and abiotic attributes. Eight reefs in areas not affected by any coastal development were used as controls and showed a reduction of hard coral cover and an increase of abiotic attributes (i.e. sand, rock, coral rubble) at the impacted reef. However, hard coral cover, the most widely used descriptor of coral reef health, was not sufficient on its own to detect subtle indirect effects that occurred down the reef profile. Selecting an array of descriptors and considering different depths, where corals may find a refuge from climate impacts, could guide the efforts of minimising local human pressures on coral reefs.

Human Injury Criteria for Underwater Blasts

PubMed Central

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

2015-01-01

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

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

DTIC Science & Technology

2012-08-01

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

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

NASA Technical Reports Server (NTRS)

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

1979-01-01

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

Underwater Photo-Elicitation: A New Experiential Marine Education Technique

ERIC Educational Resources Information Center

Andrews, Steve; Stocker, Laura; Oechel, Walter

2018-01-01

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

OD-ing on Reality: An Interview with Alex Flinn

ERIC Educational Resources Information Center

Lesesne, Teri S.

2005-01-01

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

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

DTIC Science & Technology

2011-02-01

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

Underwater Munitions Expert System to Predict Mobility and Burial

DTIC Science & Technology

2017-11-14

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

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...