Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5152069
P. Denolfo, H. Thomson, M. Harrison, M. Greise
Current submarine radiated noise measurement systems operated by the US Navy in the Southern portion of the Tongue of the Ocean (TOTO), Bahamas, including their deployment vessel, the USNS HAYES, are nearing their end-of-life and require replacement prior to GFY09. The South TOTO Acoustic Facility Program, STAFAC, is a Naval Surface Warfare Center, Carderock Division (NSWCCD) program supported by the Naval Undersea Warfare Center, Newport Division (NUWCDIVNPT), which operates and maintains the Navy's Atlantic Undersea Test and Evaluation Center, (AUTEC) on Andros Island, Bahamas, and the Naval Facilities Engineering Service Center (NFESC). This four year program, beginning in FY05, replaces the existing surface ship deployed submarine radiated noise, high gain measurement systems with a fixed, bottom mounted, shore connected acoustic system installed in the same area. The main system infrastructure was installed in April through May of 2008, and the acoustic sensors were installed in July-August 2008. The Initial Operational Capability (IOC) for STAFAC is October 2008.
{"title":"South TOTO Acoustic Measurement Facility (STAFAC) in-water systems installation autec Andros Island, Bahamas","authors":"P. Denolfo, H. Thomson, M. Harrison, M. Greise","doi":"10.1109/OCEANS.2008.5152069","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5152069","url":null,"abstract":"Current submarine radiated noise measurement systems operated by the US Navy in the Southern portion of the Tongue of the Ocean (TOTO), Bahamas, including their deployment vessel, the USNS HAYES, are nearing their end-of-life and require replacement prior to GFY09. The South TOTO Acoustic Facility Program, STAFAC, is a Naval Surface Warfare Center, Carderock Division (NSWCCD) program supported by the Naval Undersea Warfare Center, Newport Division (NUWCDIVNPT), which operates and maintains the Navy's Atlantic Undersea Test and Evaluation Center, (AUTEC) on Andros Island, Bahamas, and the Naval Facilities Engineering Service Center (NFESC). This four year program, beginning in FY05, replaces the existing surface ship deployed submarine radiated noise, high gain measurement systems with a fixed, bottom mounted, shore connected acoustic system installed in the same area. The main system infrastructure was installed in April through May of 2008, and the acoustic sensors were installed in July-August 2008. The Initial Operational Capability (IOC) for STAFAC is October 2008.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123865755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5151820
H. Assilzadeh, Y. Gao
Oil spill disaster is unexpected accident occurs through failures in operations, transportations, ship accidents, human errors or due to other disasters such as flood and earthquake. Most of oil spills happen in coastal and sea environment that make the emergency response for the accident much difficult and complicate. Intricate operations involve through complexity of sea and coastal conditions, especially in bad weather where the access to the accident site is difficult. Management of such event needs an organized contribution, covering all procedures of disaster operation from monitoring and detection to mitigation and relief. This paper presents methods of SAR image and GIS technology applications for oil spill management in coastal area. The developed framework is based on automatic detecting and mapping of oil spills in SAR image and provision of oil spill location and extent map which includes information about the spill thicknesses and geographic references such as major towns and features along the coastal area. The output from SAR image processing then transferred into oil spill trajectory simulation model to simulate the next destinations of oil spill. Oil spill trajectory predicts the movement, spreading, and coastal impact of oil spill in the marine environment. The output vectors from trajectory simulation used as input data for creating other disaster products including oil spill risk map, affected area map and emergency response map. Each product demonstrates the results from various analyses aspects, include situational analysis, risk analysis, damage analysis, and emergency response analysis using satellite SAR image in GIS and image analysis software. All the models and applications are described and depicted.
{"title":"Oil Spill emergency response mapping for coastal area using SAR imagery and GIS","authors":"H. Assilzadeh, Y. Gao","doi":"10.1109/OCEANS.2008.5151820","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5151820","url":null,"abstract":"Oil spill disaster is unexpected accident occurs through failures in operations, transportations, ship accidents, human errors or due to other disasters such as flood and earthquake. Most of oil spills happen in coastal and sea environment that make the emergency response for the accident much difficult and complicate. Intricate operations involve through complexity of sea and coastal conditions, especially in bad weather where the access to the accident site is difficult. Management of such event needs an organized contribution, covering all procedures of disaster operation from monitoring and detection to mitigation and relief. This paper presents methods of SAR image and GIS technology applications for oil spill management in coastal area. The developed framework is based on automatic detecting and mapping of oil spills in SAR image and provision of oil spill location and extent map which includes information about the spill thicknesses and geographic references such as major towns and features along the coastal area. The output from SAR image processing then transferred into oil spill trajectory simulation model to simulate the next destinations of oil spill. Oil spill trajectory predicts the movement, spreading, and coastal impact of oil spill in the marine environment. The output vectors from trajectory simulation used as input data for creating other disaster products including oil spill risk map, affected area map and emergency response map. Each product demonstrates the results from various analyses aspects, include situational analysis, risk analysis, damage analysis, and emergency response analysis using satellite SAR image in GIS and image analysis software. All the models and applications are described and depicted.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123915306","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5151855
C. Frey, D. Zarzhitsky, W. Spears, D. Spears, C. Karlsson, B. Ramos, J. Hamann, E. Widder
Teams of autonomous cooperating vehicles are well-suited for meeting the challenges associated with mobile marine sensor networks. Swarms built using a physicomimetics approach exhibit predictable behavior - an important benefit for extended duration deployments of autonomous ocean platforms. By using a decentralized control framework, we minimize energy consumption via short-range communication and self-contained on-board data processing, all without a specified leader. We introduce the task of autonomous surface vehicle (ASV) navigation inside a bioluminescent plume to motivate future study of how the agility and scalability of our physics-based solution can benefit a mobile distributed sensor network.
{"title":"A physicomimetics control framework for swarms of Autonomous Surface Vehicles","authors":"C. Frey, D. Zarzhitsky, W. Spears, D. Spears, C. Karlsson, B. Ramos, J. Hamann, E. Widder","doi":"10.1109/OCEANS.2008.5151855","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5151855","url":null,"abstract":"Teams of autonomous cooperating vehicles are well-suited for meeting the challenges associated with mobile marine sensor networks. Swarms built using a physicomimetics approach exhibit predictable behavior - an important benefit for extended duration deployments of autonomous ocean platforms. By using a decentralized control framework, we minimize energy consumption via short-range communication and self-contained on-board data processing, all without a specified leader. We introduce the task of autonomous surface vehicle (ASV) navigation inside a bioluminescent plume to motivate future study of how the agility and scalability of our physics-based solution can benefit a mobile distributed sensor network.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123655082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5151905
A. Woodroffe, A. Round
Over the last three years, the University of Victoria and OceanWorks have designed built and installed the world's first multi node advanced cabled observatory. Located in Saanich Inlet and in the Strait of Georgia on the West Coast of Canada, the Victoria Experimental Network Under the Sea (VENUS) cabled observatory provides power and communications to numerous under water oceanographic instruments and has been continuously delivering near real time data to scientist since February 2006. This paper describes the VENUS Project life from concept to delivery of science data. Details of the architecture, design, capabilities, deployment and commissioning of both observatories will be provided along with lessons learnt. An overview of some of the data management and usage issues is provided.
{"title":"Design and operation of a multi node cabled observatory","authors":"A. Woodroffe, A. Round","doi":"10.1109/OCEANS.2008.5151905","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5151905","url":null,"abstract":"Over the last three years, the University of Victoria and OceanWorks have designed built and installed the world's first multi node advanced cabled observatory. Located in Saanich Inlet and in the Strait of Georgia on the West Coast of Canada, the Victoria Experimental Network Under the Sea (VENUS) cabled observatory provides power and communications to numerous under water oceanographic instruments and has been continuously delivering near real time data to scientist since February 2006. This paper describes the VENUS Project life from concept to delivery of science data. Details of the architecture, design, capabilities, deployment and commissioning of both observatories will be provided along with lessons learnt. An overview of some of the data management and usage issues is provided.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114558045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5151831
C. Rauch, T. Austin, M. Grosenbaugh, F. Jaffré, R. Stokey, J.R. MacDonald
A new modular payload is being developed for a REMUS 600 AUV to facilitate acoustic marking of a target for later inspection by a subsequent AUV. The marker facilitates precision acoustic homing for a follow-on AUV to offset navigation errors that may have accumulated in the DCL (Detect, Classify, Localization) AUV. The markers being developed are small in size allowing 6-10 markers to be housed in a single modular payload for installation on a DCL AUV.
{"title":"AUV deployed marking and homing to targets","authors":"C. Rauch, T. Austin, M. Grosenbaugh, F. Jaffré, R. Stokey, J.R. MacDonald","doi":"10.1109/OCEANS.2008.5151831","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5151831","url":null,"abstract":"A new modular payload is being developed for a REMUS 600 AUV to facilitate acoustic marking of a target for later inspection by a subsequent AUV. The marker facilitates precision acoustic homing for a follow-on AUV to offset navigation errors that may have accumulated in the DCL (Detect, Classify, Localization) AUV. The markers being developed are small in size allowing 6-10 markers to be housed in a single modular payload for installation on a DCL AUV.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121593476","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5152126
S. Barzegar, M. Banae, P. Rahbar, M.A. Niazi
A physical model, built at an undistorted scale of 1:15 tested the original design of the six drum screen and nineteen cooling water pump intake connected to header bay. The capacity of origin water intake including huge pump station and drum screen is 400,000 m3/hr. The study objectives were to evaluate as-designed screen bay and pump bay performance and to propose design modifications to optimize intake flow conditions with respect to head-losses, uniformity of the approach flow, evenness of pump throat velocity distribution, and free and subsurface vortex formation. The model was built and operated in accordance with Froude-number similitude. It allowed accurate representation of complex flow patterns caused by the physical geometry of the approach bay and pump bays. The major factors that can affect the selection of a concept and design development for a water intake are: a) The occurrence of dead water zones, flow separation or reverse flow b) Vortex building and air entrainment in the pump compartments c) Submerged vortices building in the pump compartments d) Low velocity area e) Strong rotational flow f) Strong cross flow appear in front of pump units g) Pre rotation in the pump suction lines Dye injection was used to examine the stratified flow behavior along water. The existing design of the pump bays was found to produce a uniform, symmetrical flow distribution in the approach flow, weak but persistent floor and side-wall-attached submerged vortices, avoiding cross flow and reverse flow in front of the pumps and negligible swirling motion in the pump suction. Modified design includes (i) profiling low velocity area (ii) adding flow deflectors along inner walls (iii) infill area of low velocity (iv) adding suspended baffle in front of drum screens (v) adding diffuser block in front of pumps (vi) provision of floating booms in front of pumps.
{"title":"Experimental physical model study and analysis of wave propagation model and prototype","authors":"S. Barzegar, M. Banae, P. Rahbar, M.A. Niazi","doi":"10.1109/OCEANS.2008.5152126","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5152126","url":null,"abstract":"A physical model, built at an undistorted scale of 1:15 tested the original design of the six drum screen and nineteen cooling water pump intake connected to header bay. The capacity of origin water intake including huge pump station and drum screen is 400,000 m3/hr. The study objectives were to evaluate as-designed screen bay and pump bay performance and to propose design modifications to optimize intake flow conditions with respect to head-losses, uniformity of the approach flow, evenness of pump throat velocity distribution, and free and subsurface vortex formation. The model was built and operated in accordance with Froude-number similitude. It allowed accurate representation of complex flow patterns caused by the physical geometry of the approach bay and pump bays. The major factors that can affect the selection of a concept and design development for a water intake are: a) The occurrence of dead water zones, flow separation or reverse flow b) Vortex building and air entrainment in the pump compartments c) Submerged vortices building in the pump compartments d) Low velocity area e) Strong rotational flow f) Strong cross flow appear in front of pump units g) Pre rotation in the pump suction lines Dye injection was used to examine the stratified flow behavior along water. The existing design of the pump bays was found to produce a uniform, symmetrical flow distribution in the approach flow, weak but persistent floor and side-wall-attached submerged vortices, avoiding cross flow and reverse flow in front of the pumps and negligible swirling motion in the pump suction. Modified design includes (i) profiling low velocity area (ii) adding flow deflectors along inner walls (iii) infill area of low velocity (iv) adding suspended baffle in front of drum screens (v) adding diffuser block in front of pumps (vi) provision of floating booms in front of pumps.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121659580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5152091
A. Matos, N. Cruz
This paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others that can dynamically position themselves. This work covers the design of feedback control laws that assure that the underactuated surface vessel Zarco can keep its position even in the presence of water currents and wind, and without special sensors to estimate such disturbances. Experimental results showing the performance of the designed control laws are also shown.
{"title":"Positioning control of an underactuated surface vessel","authors":"A. Matos, N. Cruz","doi":"10.1109/OCEANS.2008.5152091","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5152091","url":null,"abstract":"This paper focuses on the positioning control of of a small size autonomous surface vessel (ASV) that can be used to carry a multitude of payload systems, including acoustic devices for underwater positioning and for communications with autonomous underwater vehicles. Its main motivation is the development of highly operational systems, by replacing typically moored support infrastructures with others that can dynamically position themselves. This work covers the design of feedback control laws that assure that the underactuated surface vessel Zarco can keep its position even in the presence of water currents and wind, and without special sensors to estimate such disturbances. Experimental results showing the performance of the designed control laws are also shown.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114861549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5152079
P. Phibbs
The NEPTUNE Canada cabled ocean observatory is a Canadian funded undersea utility whose sole purpose is to support research into the ocean depths. With 800 km of subsea cable, and five science sites with 10 kW power and 4 Gb/sec data transmission at each, it will represent the first of a new generation of cabled subsea observatories. In many ways NEPTUNE Canada matches the utilities all of us use every day in that it supplies electricity and "telephone lines" to customers' places of business. Both terrestrial and subsea utilities require major effort by specialised manufacturers and installers to build the infrastructure, and a knowledgeable management and engineering team to create specific requirements, protect the owner's interests during construction and manage the manufacturers and installers. However the management of the development and construction of undersea utilities for science differs significantly from the development and construction of more conventional utilities such as electrical grids and telephone networks. First and foremost, working in the marine environment versus on land changes the risk profile entirely. Whereas a failed piece of equipment in a terrestrial network may require two technicians and a cube van to drive out to a remote site, failures subsea will require months of planning, mobilization of ROVs and ships, as well as significant expenditures of money, effort and customer goodwill. Therefore for an undersea system to be economical and successful through its working life, a significant portion of the funding has to be spent on ensuring long term reliability of the subsea plant prior to installation. Secondly, NEPTUNE Canada is a utility dedicated to scientific use. The design of NEPTUNE Canada is driven jointly by the needs of scientists, funding issues and limits, and assessment of the current capabilities of the technologies. Terrestrial utility design is driven by commercial or regulatory requirements, which can usually be defined and fixed early in the project, so that requirements and specifications can be set prior to contract award. However some of the NEPTUNE Canada requirements have been deliberately kept flexible well into the development cycle, to allow accommodation of the scientists needs as those needs develop. This flexibility adds significantly to the challenge of risk identification and management. Thirdly, at the start of the NEPTUNE Canada project, no technology existed that could meet the scientist's requirements. Whereas terrestrial utilities tend to be a further step along a continuum of development, NEPTUNE Canada stepped boldly into an untried area. Managing this development risk with a capped budget would not have been possible without the support of the NEPTUNE Canada prime contractor, Alcatel Submarine Networks (ASN), a division of Alcatel-Lucent. The experience ASN brought from the submarine cable industry, plus its unmatched research and development engineering capabilities, have enabl
{"title":"Building Marine Infrastructure for Science","authors":"P. Phibbs","doi":"10.1109/OCEANS.2008.5152079","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5152079","url":null,"abstract":"The NEPTUNE Canada cabled ocean observatory is a Canadian funded undersea utility whose sole purpose is to support research into the ocean depths. With 800 km of subsea cable, and five science sites with 10 kW power and 4 Gb/sec data transmission at each, it will represent the first of a new generation of cabled subsea observatories. In many ways NEPTUNE Canada matches the utilities all of us use every day in that it supplies electricity and \"telephone lines\" to customers' places of business. Both terrestrial and subsea utilities require major effort by specialised manufacturers and installers to build the infrastructure, and a knowledgeable management and engineering team to create specific requirements, protect the owner's interests during construction and manage the manufacturers and installers. However the management of the development and construction of undersea utilities for science differs significantly from the development and construction of more conventional utilities such as electrical grids and telephone networks. First and foremost, working in the marine environment versus on land changes the risk profile entirely. Whereas a failed piece of equipment in a terrestrial network may require two technicians and a cube van to drive out to a remote site, failures subsea will require months of planning, mobilization of ROVs and ships, as well as significant expenditures of money, effort and customer goodwill. Therefore for an undersea system to be economical and successful through its working life, a significant portion of the funding has to be spent on ensuring long term reliability of the subsea plant prior to installation. Secondly, NEPTUNE Canada is a utility dedicated to scientific use. The design of NEPTUNE Canada is driven jointly by the needs of scientists, funding issues and limits, and assessment of the current capabilities of the technologies. Terrestrial utility design is driven by commercial or regulatory requirements, which can usually be defined and fixed early in the project, so that requirements and specifications can be set prior to contract award. However some of the NEPTUNE Canada requirements have been deliberately kept flexible well into the development cycle, to allow accommodation of the scientists needs as those needs develop. This flexibility adds significantly to the challenge of risk identification and management. Thirdly, at the start of the NEPTUNE Canada project, no technology existed that could meet the scientist's requirements. Whereas terrestrial utilities tend to be a further step along a continuum of development, NEPTUNE Canada stepped boldly into an untried area. Managing this development risk with a capped budget would not have been possible without the support of the NEPTUNE Canada prime contractor, Alcatel Submarine Networks (ASN), a division of Alcatel-Lucent. The experience ASN brought from the submarine cable industry, plus its unmatched research and development engineering capabilities, have enabl","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124266443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5151887
J. Salvi, Yvan Petillo, Stephen J. Thomas, J. Aulinas
A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system.
{"title":"Visual SLAM for underwater vehicles using video velocity log and natural landmarks","authors":"J. Salvi, Yvan Petillo, Stephen J. Thomas, J. Aulinas","doi":"10.1109/OCEANS.2008.5151887","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5151887","url":null,"abstract":"A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124380983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-09-01DOI: 10.1109/OCEANS.2008.5152120
K. Sharp, R. White
Autonomous underwater vehicles (AUVs) are useful and necessary tools for modern oceanographic data collection. The Naval Oceanographic Office (NAVOCEANO) Ocean Projects Department has been successfully applying AUV technology since 1997. NAVOCEANO's entry into the large AUV realm was initiated with the transfer of a vehicle developed and tested at Draper Labs in 1997, named Lazarus. NAVOCEANO also teamed with Penn State Applied Research Laboratory to design and build the SEAHORSE-Class AUV, with the first of three vehicles delivered in 2001. These vehicles are powered by D-cell alkaline batteries and were mainly used to develop AUV Concept of Operations and logistic requirements. These vehicles are designed to operate under a preprogrammed set of rules and instructions with the goal of carrying out assigned missions without direct operator interaction or supervision. This concept would provide a ldquoforce multiplierrdquo to other NAVOCEANO survey assets. However, in order for AUVs to become operationally effective, several technology gaps needed to be overcome. These gaps included sensors, communications, navigation, power, and launch and retrieval systems. As technologies advanced, the REMUS 6000 AUV overcame these gaps and became an operational tool for the U.S. Navy.
{"title":"More tools in the toolbox: The naval oceanographic office's Remote Environmental Monitoring UnitS (REMUS) 6000 AUV","authors":"K. Sharp, R. White","doi":"10.1109/OCEANS.2008.5152120","DOIUrl":"https://doi.org/10.1109/OCEANS.2008.5152120","url":null,"abstract":"Autonomous underwater vehicles (AUVs) are useful and necessary tools for modern oceanographic data collection. The Naval Oceanographic Office (NAVOCEANO) Ocean Projects Department has been successfully applying AUV technology since 1997. NAVOCEANO's entry into the large AUV realm was initiated with the transfer of a vehicle developed and tested at Draper Labs in 1997, named Lazarus. NAVOCEANO also teamed with Penn State Applied Research Laboratory to design and build the SEAHORSE-Class AUV, with the first of three vehicles delivered in 2001. These vehicles are powered by D-cell alkaline batteries and were mainly used to develop AUV Concept of Operations and logistic requirements. These vehicles are designed to operate under a preprogrammed set of rules and instructions with the goal of carrying out assigned missions without direct operator interaction or supervision. This concept would provide a ldquoforce multiplierrdquo to other NAVOCEANO survey assets. However, in order for AUVs to become operationally effective, several technology gaps needed to be overcome. These gaps included sensors, communications, navigation, power, and launch and retrieval systems. As technologies advanced, the REMUS 6000 AUV overcame these gaps and became an operational tool for the U.S. Navy.","PeriodicalId":113677,"journal":{"name":"OCEANS 2008","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124051329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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