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Study on wireless data transmission of an autonomous water vehicle for ocean observation 自主水上航行器海洋观测无线数据传输研究
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5151840
W. Gu, Jianhua Wang, Jianxin Chu, Xixia Huang
In this paper, a wireless data transmission system used in unmanned surface vehicles is presented. To improve reliability, wireless local network based on IP is employed. Through interface protocol, multi-modal data from different observation instruments or equipments are converted into the uniform specification suitable for transmission. Different control methods of data transmission are discussed. Experiment results from a unmanned surface vehicle sailing in the Yangtze River estuary show that the wireless data transmission system is suitable for applicable use.
介绍了一种用于无人水面车辆的无线数据传输系统。为了提高可靠性,采用了基于IP的无线局域网。通过接口协议,将来自不同观测仪器或设备的多模态数据转换成适合传输的统一规范。讨论了不同的数据传输控制方法。长江口无人水面航行器航行试验结果表明,该无线数据传输系统适合实际应用。
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引用次数: 1
OpenCV based computer vision of deep-sea visual exploration system 基于OpenCV的计算机视觉深海视觉探测系统
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5151842
Liu Jing-biao, Cai Wen-yu
Deep-sea visual exploration system plays an important role in the area of deep-sea expedition. Because of the harsh ocean environment, the deep-sea visual exploration system may face many problems such as high press of deep sea, instantaneous impact, deep-sea surge, local high temperature etc. Therefore, most current deep-sea visual exploration systems are not practicable. In this paper, considering the strongpoint of MPEG-4 coding and decoding technology with G.SHDSL modulation and demodulation technology, we designed a deep-sea visual exploration device based on 10000 m coaxial cable and MPEG-4 video server. Moreover, as a step up, computer vision based on OpenCV development kit has been introduced in this deep-sea visual exploration device. As a scientific discipline, computer vision is concerned with the theory for building artificial systems that obtain information from images, on the other hand, computer vision technology studies and describes artificial vision system that is implemented in software and/or hardware. With computer vision technology, deep-sea visual exploration system can obtain better performance and is intelligent enough to deal with some simply instance. As a consequence, the proposed deep-sea visual exploration device has been working on the ship named as ocean-one for many years, and has obtained many wonderful deep-sea video material, as a result, has made important contributions to ocean investigation enterprise of China.
深海视觉探测系统在深海探险领域发挥着重要作用。由于海洋环境恶劣,深海视觉探测系统可能面临深海高压、瞬时冲击、深海浪涌、局部高温等诸多问题。因此,目前大多数深海视觉探测系统都是不可行的。本文针对MPEG-4编解码技术的优点,结合g.s dsl调制解调技术,设计了一种基于10000 m同轴电缆和MPEG-4视频服务器的深海视觉探测设备。此外,在该深海视觉探测装置中,还引入了基于OpenCV的计算机视觉开发工具包。作为一门科学学科,计算机视觉关注的是构建从图像中获取信息的人工系统的理论,另一方面,计算机视觉技术研究和描述了在软件和/或硬件中实现的人工视觉系统。利用计算机视觉技术,深海视觉探测系统可以获得更好的性能,并具有足够的智能来处理一些简单的实例。因此,所设计的深海视觉探测装置在“海洋一号”船上工作多年,获得了许多精彩的深海视频资料,为中国海洋调查事业做出了重要贡献。
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引用次数: 0
Analytical techniques for the calculation of leeway as a basis for search and rescue planning 作为搜索和救援计划基础的计算余地的分析技术
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5152022
J. Morris, V. Osychny, A. Turner
Leeway, defined as the movement of the search object through water caused by the action of wind on the exposed surfaces of the object, is fundamental to search planning. Over the past several years, the U.S. Coast Guard (USCG) Research and Development Center (R&DC) and the Canadian Coast Guard (CCG) have participated in leeway studies of various drift targets such as life rafts, evacuation vessels, sailboats, and other targets of interest. The leeway coefficients computed for each drift target generated from these leeway studies will be used in the new USCG Search and Rescue (SAR) planning software, the Search and Rescue Optimal Planning System (SAROPS), to define potential search areas during SAR operations. In the fall of 2005, the R&DC conducted leeway testing of two specific drift objects on behalf of the U.S. Naval Submarine Medical Research Laboratory: the Mark-10 Submarine Escape and Immersion Equipment (SEIE) life raft, and the Submarine Emergency Position Indicating Radio Beacon (SEPIRB). These studies were performed off the coast of St. John's, Newfoundland, Canada where open ocean conditions can be obtained within several miles from shore. Multiple drift runs were completed for each type of object to evaluate their behavior in response to various wind and sea conditions, producing object drift data under a wide variety of conditions. During the course of the study, each target was tracked by an on-board GPS receiver and data logger to yield high-resolution speed and direction over ground data. Wind velocity and sea conditions were measured by meteorological and wave rider buoys deployed within the study area to characterize environmental forcing conditions. The leeway of one SEIE raft was measured directly by a 1200 kHz acoustic Doppler current profiler (ADCP) gimbal-mounted and in a down-looking orientation, as well as multiple Self Locating Datum Marker Buoys (SLDMBs) that reported their respective positions via satellite at 30-minute intervals. Leeway of the remaining objects was determined indirectly by subtracting the surface current vector of adjacent SLDMBs from the drift object vector motion recorded by its onboard GPS receiver. Because all search objects were in the vicinity of the SLDMB field, a comparison between the direct and indirect leeway motion could be made for the ADCP-equipped SEIE raft. This value was then correlated to recorded wind speed and direction, and subjected to error analysis and statistical validation. This paper focuses on the methodology employed during the field study and provides a detailed description of the post-processing routines used to derive leeway coefficients for the SEIE for U.S. Navy search planning, and for use by the USCG in its SAROPS planning software. Estimates of the surface current for each drift target to support indirect leeway calculations relied on a statistical interpolation technique and consisted of steps described in the paper below. The resulting time series constituted a d
余量,定义为由于风对物体暴露表面的作用而导致的搜索物体在水中的运动,是搜索计划的基础。在过去的几年里,美国海岸警卫队(USCG)研究与发展中心(R&DC)和加拿大海岸警卫队(CCG)参与了各种漂移目标的余地研究,如救生筏、疏散船、帆船和其他感兴趣的目标。从这些研究中产生的每个漂移目标计算的回旋系数将用于新的USCG搜索和救援(SAR)规划软件,搜索和救援优化规划系统(SAROPS),以确定SAR操作期间的潜在搜索区域。2005年秋,R&DC代表美国海军潜艇医学研究实验室对两个特定漂流物体进行了余地测试:Mark-10潜艇逃生和浸入设备(SEIE)救生筏和潜艇紧急位置指示无线电信标(SEPIRB)。这些研究是在加拿大纽芬兰的圣约翰海岸进行的,那里离海岸几英里内就能获得开阔的海洋条件。每种类型的物体都完成了多次漂移,以评估它们在各种风和海洋条件下的行为,从而产生各种条件下的物体漂移数据。在研究过程中,每个目标都由机载GPS接收器和数据记录器跟踪,以获得高于地面的高分辨率速度和方向数据。风速和海况通过部署在研究区内的气象和波浪浮标来测量,以表征环境强迫条件。SEIE木筏的船舷由安装在向下方向的1200 kHz声学多普勒电流剖面仪(ADCP)和多个自定位基准标记浮标(sldmb)直接测量,这些浮标每隔30分钟通过卫星报告各自的位置。通过从机载GPS接收机记录的漂移物体矢量运动中减去相邻sldmb的表面电流矢量,间接确定剩余物体的运动余地。由于所有搜索目标都在SLDMB场附近,因此可以对装备adcp的SEIE筏进行直接和间接的自由度运动比较。然后将该值与记录的风速和风向相关联,并进行误差分析和统计验证。本文重点介绍了现场研究中使用的方法,并详细描述了用于为美国海军搜索计划导出SEIE回旋系数的后处理程序,以及USCG在其SAROPS计划软件中使用的后处理程序。估算每个漂移目标的表面电流以支持间接余地计算依赖于统计插值技术,并由以下论文中描述的步骤组成。得到的时间序列构成了计算顺风和侧风回旋系数的数据库,由相应的风速分量与目标漂移之间的最小二乘线性回归得到。通过将估算值与直接测量的速度进行比较,来评价间接方法的成功。结果表明,当漂移目标停留在由现有sldmb划定的虚多边形内时,这种统计插值技术表现得特别好。在研究中考虑的四个木筏中,有三个以12-15度的角度向风向的右侧漂移。下风风量系数为0.02,未风量系数为0.03。估计回旋速度相对于风速的散点表明,风速越高(>7 m/s),两者之间的关系越密切。
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引用次数: 2
A wedge diffraction based scattering model for acoustic scattering from rough littoral seafloors 基于楔形衍射的沿海粗糙海底声散射模型
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5152131
R. Keiffer, R. Zingarelli
Models for acoustic scattering from rough surfaces based on Biot and Tolstoy's (BT) exact wedge diffraction theory have proven accurate and useful in a number of experimental and numerical studies [1]. Because the BT solution is restricted to impenetrable wedges (acoustically hard or soft boundary conditions), scattering models based on the BT solution have thus far been limited to the rough air/sea interface where the actual boundary conditions are very nearly pressure-release (soft). Recently, important theoretical work [2,3] has extended the exact BT theory to density-contrast but isospeed wedges. This new development makes possible the application of wedge diffraction based scattering models to the roughness at the sea floor where the change in the acoustic impedance at the boundary is dominated by changes in density and only weakly affected by changes in sound speed. However, it is important to confirm that small amounts of sound speed contrast do not perturb the diffraction too much. To contribute to the understanding of how the diffracted wave is affected by sound speed contrast and get some idea as to the practical limitations of wedge-diffraction based scattering models for littoral seafloors, a simple numerical experiment involving a highly accurate Finite-Difference Time-Domain (FDTD) solution to the acoustic wave equation and a wedge-shaped boundary has been explored. This paper presents the results of FDTD experiments designed to quantify any changes in the diffracted field brought about by sound speed contrast. An ad hoc treatment of sound speed contrast is developed based on the requirement that the diffracted wave must smooth out the reflection discontinuity and preserve the continuity of the total field.
基于Biot和Tolstoy (BT)精确楔形衍射理论的粗糙表面声散射模型在许多实验和数值研究中被证明是准确和有用的。由于BT溶液被限制在不可穿透的楔形(声学硬或软边界条件),基于BT溶液的散射模型迄今为止仅限于粗糙的空气/海洋界面,其中实际边界条件非常接近压力释放(软)。最近,重要的理论工作[2,3]将精确BT理论扩展到密度对比但等速楔形。这一新进展使基于楔形衍射的散射模型应用于海底粗糙度的研究成为可能,在海底粗糙度中,边界处声阻抗的变化主要受密度变化的影响,而受声速变化的影响很小。然而,重要的是要确认,少量的声速对比不会干扰衍射太大。为了更好地理解声速对比对绕射波的影响,并对基于楔形衍射的沿海海底散射模型的实际局限性有所了解,我们进行了一个简单的数值实验,其中涉及声波方程的高精度时域有限差分(FDTD)解和楔形边界。本文介绍了FDTD实验的结果,该实验旨在量化声速对比所带来的衍射场的任何变化。根据绕射波必须消除反射不连续和保持总场连续性的要求,提出了声速对比的特殊处理方法。
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引用次数: 1
Shallow water height mapping with interferometric synthetic aperture sonar 干涉式合成孔径声纳浅水高度制图
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5151972
S. Silva, S. Cunha, A. Matos, N. Cruz
Height mapping of shallow water areas is an important task for many commercial and scientific applications like river navigability, infrastructure maintenance or natural resource monitoring. The use of an autonomous boat presents several advantages that ease the use of synthetic aperture images to create three-dimensional topographic maps through interferometric techniques. Sample data obtained during test trials illustrate how synthetic aperture can be used to generate imagery and bathymetry data.
浅水区的高度测绘是许多商业和科学应用的重要任务,如河流通航,基础设施维护或自然资源监测。自动船的使用有几个优势,可以通过干涉测量技术轻松使用合成孔径图像来创建三维地形图。在测试试验中获得的样本数据说明了如何使用合成孔径来生成图像和测深数据。
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引用次数: 8
DSAAV - A distributed software architecture for autonomous vehicles DSAAV——用于自动驾驶汽车的分布式软件架构
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5151848
M. Chitre
Autonomous Underwater Vehicle (AUV) technology has matured over the past few decades but commercial AUVs today remain complex, proprietary and expensive. Modularity in AUVs at a software, electronics and mechanical level allows users to configure AUVs for specific missions by only including the required components. With multiple base AUVs, users may easily configure heterogeneous teams of AUVs for collaborative missions. Modular AUVs are also easier to maintain. We expect that open-architecture AUVs with open software/hardware interfaces, changeable modules and open source components will become widely available in the future. However AUV configuration management and module compatibility are issues that arise with modularity. An initiative at the Acoustic Research Laboratory (ARL) of the National University of Singapore (NUS) has yielded an open- architecture collaborative prototype AUV known as STARFISH. The software components in this AUV are based on the DSAAV architecture. DSAAV has been designed ground up with modular AUVs in mind. In a DSAAV compliant AUV, each module provides a uniform software interface that other AUV modules can access. This interface allows configuration of the module, logging of critical information, discovery of services, access to sensor & actuator services, health monitoring and automated software update functionality. The interface is rich in functionality, yet light weight and portable to ensure that even low power micro-controllers can easily implement it. DSAAV can be implemented on any underlying communication backbone such as Ethernet, UDP/IP, etc. The software components running under DSAAV are independent of the underlying communication backbone and function without change in various AUVs and simulation environments. In this paper, we describe the basic philosophy and concepts behind DSAAV. We also outline the Application Programming Interface (API) for DSAAV compliant systems and describe its key functionality. It is our hope that DSAAV will be adopted and extended by other AUVs in the future.
在过去的几十年里,自主水下航行器(AUV)技术已经成熟,但目前商用AUV仍然复杂、专有和昂贵。auv在软件、电子和机械层面的模块化允许用户通过只包含所需组件来配置auv以执行特定任务。有了多个基础auv,用户可以很容易地为协作任务配置异构auv团队。模块化auv也更容易维护。我们期望具有开放软件/硬件接口、可变模块和开源组件的开放式架构auv将在未来得到广泛应用。然而,AUV配置管理和模块兼容性是模块化带来的问题。新加坡国立大学(NUS)声学研究实验室(ARL)的一项倡议已经产生了一种开放式架构的协作式AUV原型,称为“海星”。该AUV的软件组件基于DSAAV体系结构。DSAAV在设计时就考虑到了模块化auv。在符合DSAAV的AUV中,每个模块提供了一个统一的软件接口,其他AUV模块可以访问。该接口允许配置模块、记录关键信息、发现服务、访问传感器和执行器服务、健康监测和自动软件更新功能。该接口功能丰富,重量轻,便于携带,即使是低功耗的微控制器也能轻松实现。DSAAV可以在任何底层通信骨干(如以太网、UDP/IP等)上实现。运行在DSAAV下的软件组件独立于底层通信骨干和功能,在各种auv和仿真环境中不发生变化。在本文中,我们描述了DSAAV背后的基本理念和概念。我们还概述了DSAAV兼容系统的应用程序编程接口(API),并描述了其关键功能。我们希望DSAAV能够在未来被其他auv采用和扩展。
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引用次数: 17
A 20 KW open ocean current test turbine 一台20千瓦的开阔海流试验涡轮机
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5152104
F. Driscoll, G. Alsenas, P. Beaujean, S. Ravenna, J. Raveling, E. Busold, C. Slezycki
Florida is faced with an energy crisis with respect to capacity, supply, cost, emissions, and stability. The untapped energetic waters of the Florida Current could provide a clean, reliable, base-load local renewable energy source for Florida. To facilitate the successful commercial harvesting of this hydrokinetic resource, Florida Atlantic University's Center for Ocean Energy Technology is designing, fabricating, deploying, and operating an experimental small-scale turbine. This 20 kW Ocean Current Turbine Testbed (OCTT) is an open-blade axial-flow horizontal underwater turbine driven by a 3 m diameter 3-blade rotor. It is intended to operate in the open ocean near the core of the Florida Current, offshore Ft. Lauderdale, for long periods of time. This turbine is not intended to be a scaled prototype of a commercial model, but it is intended to be an experimental system to assess technology, identify gaps, investigate and collect data about potential environmental impacts, and provide a foundation for commercial and policy development.
佛罗里达州在产能、供应、成本、排放和稳定性方面面临着能源危机。佛罗里达洋流尚未开发的充满活力的水域可以为佛罗里达提供清洁、可靠、基本负荷的本地可再生能源。为了促进这种水动力资源的成功商业收获,佛罗里达大西洋大学海洋能源技术中心正在设计、制造、部署和操作一个实验性的小型涡轮机。这个20千瓦的洋流涡轮试验台(OCTT)是一个开叶片轴流水平水下涡轮,由直径3米的3叶片转子驱动。它打算在劳德代尔堡近海佛罗里达海流核心附近的公海上长期作业。这台涡轮机并不是商业模型的原型,而是一个实验系统,用于评估技术,确定差距,调查和收集潜在环境影响的数据,并为商业和政策发展提供基础。
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引用次数: 31
Interpolation methods for vertical linear array element localization 垂直线阵元素定位的插值方法
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5151910
T. K. Chandrayadula, K. Wage
Array element localization is crucial for applications such as ocean acoustic tomography. Loss of navigation data makes it difficult to compensate for array motion when implementing operations such as mode filtering or beamforming. This paper presents a method for estimating missing array navigation data using an empirical orthogonal function (EOF) model. The method can be applied to estimate the location of some vertical array elements based on the location of the other elements. It assumes that second order statistics can be estimated from a set of navigation measurements for the full array. The paper applies the EOF-based method to estimate missing navigation data for the long range ocean acoustic propagation experiment (LOAPEX). The results are evaluated by examining how the errors in mooring motion estimation affect mode processing. In particular the paper analyzes the degradation in array gain and the errors in time of arrival for the low order modes. The error statistics indicate that use of the EOF method has a negligible effect on mode processing.
阵列单元定位对于海洋声层析成像等应用至关重要。导航数据的丢失使得在执行模式滤波或波束形成等操作时难以补偿阵列运动。提出了一种利用经验正交函数(EOF)模型估计阵列导航数据缺失的方法。该方法可用于根据其他元素的位置估计某些垂直阵列元素的位置。它假设二阶统计量可以从整个阵列的一组导航测量中估计出来。本文将基于eofs的方法应用于远程海洋声传播实验(LOAPEX)中缺失导航数据的估计。通过检验系泊运动估计误差对模式处理的影响,对结果进行了评价。重点分析了低阶模态的阵列增益衰减和到达时间误差。误差统计表明,使用EOF方法对模态处理的影响可以忽略不计。
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引用次数: 5
The international Arctic buoy programme (IABP): A cornerstone of the Arctic observing network 国际北极浮标计划(IABP):北极观测网的基石
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5152136
I. Rigor, P. Clemente-Colon, E. Hudson
The Arctic has undergone dramatic changes in weather, climate and environment. It should be noted that many of these changes were first observed and studied using data from the IABP (http://iabp.apl.washington.edu). For example, IABP data were fundamental to Walsh et al. (1996) showing that atmospheric pressure has decreased (Figure 1), Rigor et al. (2000) showing that air temperatures have increased (Figure 2), and to Proshutinsky and Johnson (1997); Steele and Boyd, (1998); Kwok, (2000); and Rigor et al. (2002) showing that the clockwise circulation of sea ice and the ocean has weakened (Figure 1). All these results relied heavily on IABP data.
北极的天气、气候和环境都发生了巨大变化。应该指出的是,这些变化中的许多都是首先使用IABP (http://iabp.apl.washington.edu)的数据观察和研究的。例如,IABP数据对于Walsh等人(1996)表明大气压力下降(图1),Rigor等人(2000)表明气温上升(图2),以及Proshutinsky和Johnson(1997)都是至关重要的;斯蒂尔和博伊德,(1998);郭(2000);Rigor et al.(2002)表明海冰和海洋的顺时针环流已经减弱(图1)。所有这些结果都严重依赖于IABP数据。
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引用次数: 4
Large-area visual mapping of an underwater vent field using the AUV “Tri-Dog 1” 使用“Tri-Dog 1”AUV对水下喷口区域进行大面积视觉测绘
Pub Date : 2008-09-01 DOI: 10.1109/OCEANS.2008.5152049
T. Maki, H. Kondo, T. Ura, T. Sakamaki
In August 2007, the Autonomous Underwater Vehicle (AUV) Tri-Dog 1 succeeded in visually mapping the seafloor of Tagiri underwater vent field, Kagoshima Bay in Japan to create a large photomosaic with an area of around 3,000 square meters. This is one of the largest underwater photomosaic ever reported. The photomosaic revealed distribution of detailed features of the field such as tube-worm colonies, bacteria mats and bubble plumes. This paper describes the autonomous navigation method implemented on the vehicle and then reports the experimental results.
2007年8月,自主水下航行器(AUV) Tri-Dog 1成功地在日本鹿儿岛湾的Tagiri水下喷口区海底进行了视觉测绘,创造了一个面积约为3000平方米的大型马赛克。这是迄今为止报道过的最大的水下马赛克之一。照片显示了该区域的详细分布特征,如管虫群落、细菌垫和气泡羽流。本文介绍了在车辆上实现的自主导航方法,并报告了实验结果。
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引用次数: 6
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