Pub Date : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964328
H. Teh, K. John, A. Hashim
Floating breakwaters are commonly used for wave protection of onshore and offshore facilities in the last decade. The majority of the floating breakwaters developed in the past are solid-type structures that have fixed drafts and may be highly reflective to the incoming waves. In this study, the H-type floating breakwater is proposed to serve as a wave attenuator instead of a wave reflector. The buoyancy of the breakwater is controlled by the placement of sandbags in the chamber embedded within the main body of the structure. The study aims to investigate the hydraulic properties of the H-type floating breakwater in random waves via a physical modeling. The hydraulic characteristics of the breakwater are quantified by the reflection and transmission coefficients as well as the energy dissipation coefficient. The experimental results have shown that the H-type floating breakwater is hydraulically efficient and provides high wave attenuation capability when subjected to short-period waves.
{"title":"Hydraulic investigation of the H-type floating breakwater","authors":"H. Teh, K. John, A. Hashim","doi":"10.1109/OCEANS-TAIPEI.2014.6964328","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964328","url":null,"abstract":"Floating breakwaters are commonly used for wave protection of onshore and offshore facilities in the last decade. The majority of the floating breakwaters developed in the past are solid-type structures that have fixed drafts and may be highly reflective to the incoming waves. In this study, the H-type floating breakwater is proposed to serve as a wave attenuator instead of a wave reflector. The buoyancy of the breakwater is controlled by the placement of sandbags in the chamber embedded within the main body of the structure. The study aims to investigate the hydraulic properties of the H-type floating breakwater in random waves via a physical modeling. The hydraulic characteristics of the breakwater are quantified by the reflection and transmission coefficients as well as the energy dissipation coefficient. The experimental results have shown that the H-type floating breakwater is hydraulically efficient and provides high wave attenuation capability when subjected to short-period waves.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114462148","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964429
M. O. Khyam, M. J. Alam, M. Pickering
Estimation of bottom profile is one of the important geo-acoustic reversal problems in underwater acoustics that gives an idea about depth and structure of the sub-bottom layers of the ocean. Estimation of time of arrival (TOA) of bottom and sub-bottom reflections are the key to these estimations. To estimate TOAs from different bottom layers, an active sonar transmits a signal and receive its bottom reflections. In the literature, chirp, a frequency modulated signal is described as the best candidate for the transmitted signal. In this paper, it is shown that an orthogonal frequency modulated (OFDM) signal can also be used as a strong candidate for transmitted signal in active sonar. The proposed OFDM based TOA estimation technique is expected to give superior results in terms of complexity, parallelism, noise reduction and memory requirement compared to the existing chirp based technique.
{"title":"OFDM based low-complexity time of arrival estimation in active sonar","authors":"M. O. Khyam, M. J. Alam, M. Pickering","doi":"10.1109/OCEANS-TAIPEI.2014.6964429","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964429","url":null,"abstract":"Estimation of bottom profile is one of the important geo-acoustic reversal problems in underwater acoustics that gives an idea about depth and structure of the sub-bottom layers of the ocean. Estimation of time of arrival (TOA) of bottom and sub-bottom reflections are the key to these estimations. To estimate TOAs from different bottom layers, an active sonar transmits a signal and receive its bottom reflections. In the literature, chirp, a frequency modulated signal is described as the best candidate for the transmitted signal. In this paper, it is shown that an orthogonal frequency modulated (OFDM) signal can also be used as a strong candidate for transmitted signal in active sonar. The proposed OFDM based TOA estimation technique is expected to give superior results in terms of complexity, parallelism, noise reduction and memory requirement compared to the existing chirp based technique.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124573284","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964281
Zhuoyi Yang, Hailong Shen, S. Yumin, Liao Yulei
Underwater vehicles are weight-sensitive structure for its balance requirement of buoyancy and gravity in water. Composite material which has an excellent specific strength and stiffness is stable against the chemical reaction. Besides, composite structure has excellent sound absorption properties. This paper studies the optimal calculation process that decreases the structure weight of an autonomous underwater vehicle which has a novel integral structure made of carbon fiber under the prescriptive working conditions. Based on the statistical techniques, a strategy of response surface model for AUV structure design is proposed. Genetic algorithm was used for the optimization using response surface model instead of the finite element analysis, and the number of carbon fiber layer in the different locations of the integrative structure is calculated finally.
{"title":"Structure design of an autonomous underwater vehicle made of composite material","authors":"Zhuoyi Yang, Hailong Shen, S. Yumin, Liao Yulei","doi":"10.1109/OCEANS-TAIPEI.2014.6964281","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964281","url":null,"abstract":"Underwater vehicles are weight-sensitive structure for its balance requirement of buoyancy and gravity in water. Composite material which has an excellent specific strength and stiffness is stable against the chemical reaction. Besides, composite structure has excellent sound absorption properties. This paper studies the optimal calculation process that decreases the structure weight of an autonomous underwater vehicle which has a novel integral structure made of carbon fiber under the prescriptive working conditions. Based on the statistical techniques, a strategy of response surface model for AUV structure design is proposed. Genetic algorithm was used for the optimization using response surface model instead of the finite element analysis, and the number of carbon fiber layer in the different locations of the integrative structure is calculated finally.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127018868","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964482
H. Roarty, Michael Smith, C. Evans, E. Handel, J. Kohut, S. Glenn
The proliferation of HF radar networks around the globe has made them a vital component of the ocean observing endeavor. There are approximately thirty-four nations with oceanographic HF radar networks, eight of which have over 10 radar stations in their network. Providing high quality measurements for sustained periods of time is of the utmost importance. The global HF radar network has been established to meet this goal. The network was established in 2012 with the goal of increasing the number of coastal radars, develop emerging applications of the data and to deliver a set of easy to use standard products. The network was established under the Group on Earth Observations (GEO) work plan for 2012-2015. The work plan endorses a task to plan a Global HF Radar Network for data sharing and data delivery and to promote the proliferation of HF radar surface current velocity measurements. The goal of this paper is to propose quality standards for this global network. In this paper we will take inventory of the existing quality assurance and quality control measures that have been proposed at the radial level and offer measures to manage the systems on a network level. We have developed a best practices checklist for validating and operating a HF radar stations in the Mid Atlantic - a checklist that can be transferred to other regions nationally and internationally. Some of these techniques include the comparison of radials from measured and ideal beam patterns. We have also performed beam pattern sensitivity tests, first order line settings tests, angular segmentation tests and different time averaging schemes on the radial data. We share the results of those tests here so that they may be replicated by other operators to strengthen the methodology. We propose best practices for the operation of a High Frequency radar network. The techniques outlined in this paper have shown an increased accuracy of the measured radial currents and a better understanding of the data processing stream associated with the particular HF radar system. The other networks around the globe can adopt the methods and best practices outlined in this paper. The other networks can also provide input to these methods and best practices which will result in an improved surface current measurement.
{"title":"Quality control for a network of SeaSonde HF radars","authors":"H. Roarty, Michael Smith, C. Evans, E. Handel, J. Kohut, S. Glenn","doi":"10.1109/OCEANS-TAIPEI.2014.6964482","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964482","url":null,"abstract":"The proliferation of HF radar networks around the globe has made them a vital component of the ocean observing endeavor. There are approximately thirty-four nations with oceanographic HF radar networks, eight of which have over 10 radar stations in their network. Providing high quality measurements for sustained periods of time is of the utmost importance. The global HF radar network has been established to meet this goal. The network was established in 2012 with the goal of increasing the number of coastal radars, develop emerging applications of the data and to deliver a set of easy to use standard products. The network was established under the Group on Earth Observations (GEO) work plan for 2012-2015. The work plan endorses a task to plan a Global HF Radar Network for data sharing and data delivery and to promote the proliferation of HF radar surface current velocity measurements. The goal of this paper is to propose quality standards for this global network. In this paper we will take inventory of the existing quality assurance and quality control measures that have been proposed at the radial level and offer measures to manage the systems on a network level. We have developed a best practices checklist for validating and operating a HF radar stations in the Mid Atlantic - a checklist that can be transferred to other regions nationally and internationally. Some of these techniques include the comparison of radials from measured and ideal beam patterns. We have also performed beam pattern sensitivity tests, first order line settings tests, angular segmentation tests and different time averaging schemes on the radial data. We share the results of those tests here so that they may be replicated by other operators to strengthen the methodology. We propose best practices for the operation of a High Frequency radar network. The techniques outlined in this paper have shown an increased accuracy of the measured radial currents and a better understanding of the data processing stream associated with the particular HF radar system. The other networks around the globe can adopt the methods and best practices outlined in this paper. The other networks can also provide input to these methods and best practices which will result in an improved surface current measurement.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130628364","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964488
Yixuan Xia, Yi Tao, Xiaomei Xu, F. Tong
The multipath effect is the primary interference factor among the underwater communication systems. Underwater acoustic channels are characterized as time-variant dispersive channels. Multipath propagation results in spreading of the transmitted signal in time, which leads to serious Signal amplitude attenuation and inter symbol interference (ISI). Here we describes a signal processing approach identified as “power cepstrum technique,” which has been found is efficient in recognizing wavelet arrival times and amplitudes, even in the present of noise. Thereby, a special signal, which has a short duration as well as a high power, is designed to detect the multipath effect of the channel.
{"title":"The use of power cepstrum for multipath signal detection in underwater acoustic channel","authors":"Yixuan Xia, Yi Tao, Xiaomei Xu, F. Tong","doi":"10.1109/OCEANS-TAIPEI.2014.6964488","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964488","url":null,"abstract":"The multipath effect is the primary interference factor among the underwater communication systems. Underwater acoustic channels are characterized as time-variant dispersive channels. Multipath propagation results in spreading of the transmitted signal in time, which leads to serious Signal amplitude attenuation and inter symbol interference (ISI). Here we describes a signal processing approach identified as “power cepstrum technique,” which has been found is efficient in recognizing wavelet arrival times and amplitudes, even in the present of noise. Thereby, a special signal, which has a short duration as well as a high power, is designed to detect the multipath effect of the channel.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123955342","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964471
C. Tsui, David Schipf, Keng-Ren Lin, Jonathan Leang, F. Hsieh, Wei-Chih Wang
Underwater depth measurements and point cloud images can be used for robotic navigation and haptic feedback. Structured Light and Time of Flight (ToF) depth camera systems were tested to demonstrate depth measurements and point cloud imaging underwater. A commercial ToF depth camera was modified to include a movable external light source. Images from depth measurements and constructed point cloud images from underwater tests are shown. A comparison of depth images captured while objects were positioned ~0.10-1.80 m from the camera is presented. Calibration of ToF cameras augmented with movable external light sources for underwater use is discussed.
{"title":"Using a Time of Flight method for underwater 3-dimensional depth measurements and point cloud imaging","authors":"C. Tsui, David Schipf, Keng-Ren Lin, Jonathan Leang, F. Hsieh, Wei-Chih Wang","doi":"10.1109/OCEANS-TAIPEI.2014.6964471","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964471","url":null,"abstract":"Underwater depth measurements and point cloud images can be used for robotic navigation and haptic feedback. Structured Light and Time of Flight (ToF) depth camera systems were tested to demonstrate depth measurements and point cloud imaging underwater. A commercial ToF depth camera was modified to include a movable external light source. Images from depth measurements and constructed point cloud images from underwater tests are shown. A comparison of depth images captured while objects were positioned ~0.10-1.80 m from the camera is presented. Calibration of ToF cameras augmented with movable external light sources for underwater use is discussed.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124014273","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964444
K. Amudha, K. Reshma, N. R. Ramesh, C. R. Deepak, G. Ramadass, M. Atmanand
Deep seabed polymetallic nodule mining machines have to operate in extremely soft ocean floor having soils of shear strength in the order of 1-3 kPa. The extent of sinkage and pullout force or breakout force required to lift the mining machine from the seafloor bottom needs to be evaluated for the successful operation and retrieval of the mining machine. In most of the cases the breakout force exceeds the submerged weight of object. Most of the empirical equations for estimating breakout forces are based on the bearing capacity phenomena. In the present study experimental investigations have been carried for obtaining undrained or immediate breakout forces on flat plates, plates with involute grousers and single track unit of Undercarriage unit. The magnitude of forces so obtained from the experiments has been compared to those calculated from the empirical equations. Studies on the extent of sinkage in soft sediments is critical for quantification of resistances encountered by the mining machine which influences the maneuverability of the mining machine. Experimental investigations have been carried out on flat plates, flat plates with grousers and single track of undercarriage unit as a part of sinkage studies. Sinkage has also been studied by Finite Element Methods using MohrCoulomb material model neglecting angle of internal friction angle as soils were fully cohesive and solving through explicit methods.
{"title":"Estimation of sinkage and breakout forces for tracked vehicle for soft soils","authors":"K. Amudha, K. Reshma, N. R. Ramesh, C. R. Deepak, G. Ramadass, M. Atmanand","doi":"10.1109/OCEANS-TAIPEI.2014.6964444","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964444","url":null,"abstract":"Deep seabed polymetallic nodule mining machines have to operate in extremely soft ocean floor having soils of shear strength in the order of 1-3 kPa. The extent of sinkage and pullout force or breakout force required to lift the mining machine from the seafloor bottom needs to be evaluated for the successful operation and retrieval of the mining machine. In most of the cases the breakout force exceeds the submerged weight of object. Most of the empirical equations for estimating breakout forces are based on the bearing capacity phenomena. In the present study experimental investigations have been carried for obtaining undrained or immediate breakout forces on flat plates, plates with involute grousers and single track unit of Undercarriage unit. The magnitude of forces so obtained from the experiments has been compared to those calculated from the empirical equations. Studies on the extent of sinkage in soft sediments is critical for quantification of resistances encountered by the mining machine which influences the maneuverability of the mining machine. Experimental investigations have been carried out on flat plates, flat plates with grousers and single track of undercarriage unit as a part of sinkage studies. Sinkage has also been studied by Finite Element Methods using MohrCoulomb material model neglecting angle of internal friction angle as soils were fully cohesive and solving through explicit methods.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114712108","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964473
T. W. Kim
Work class Remotely Operated Vehicle (ROV) is widely used for underwater tasks at oil rigs. Each task needs different configuration of devices in the ROV to meet its task goal. In order to adopt variable configurations of the ROV system, Schilling Robotics ROV simulator is upgraded to be auto-configurable with language developing tools, flex and bison. The new simulator contains whole hardware information in the simulator and adjusts connection between control module and device module in accordance with hardware configuration of a real ROV system. Auto-configuration is implemented by a “parser” to set up device information and interface method, and a “switch” to reroute connections in the simulator. With this concept, all variances of ROV simulator can be consolidated to one general simulator, so that upgrade and modification of simulator are easy to achieve.
{"title":"Auto-configurable ROV simulator","authors":"T. W. Kim","doi":"10.1109/OCEANS-TAIPEI.2014.6964473","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964473","url":null,"abstract":"Work class Remotely Operated Vehicle (ROV) is widely used for underwater tasks at oil rigs. Each task needs different configuration of devices in the ROV to meet its task goal. In order to adopt variable configurations of the ROV system, Schilling Robotics ROV simulator is upgraded to be auto-configurable with language developing tools, flex and bison. The new simulator contains whole hardware information in the simulator and adjusts connection between control module and device module in accordance with hardware configuration of a real ROV system. Auto-configuration is implemented by a “parser” to set up device information and interface method, and a “switch” to reroute connections in the simulator. With this concept, all variances of ROV simulator can be consolidated to one general simulator, so that upgrade and modification of simulator are easy to achieve.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125785140","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964579
Prashant Kumar, Vijay Mukati, Preetam Kumar
This paper investigates the performance of spread orthogonal frequency division multiplexing (SOFDM) with space frequency block coding (SFBC) technique for underwater acoustic communication through simulation and semi realistic experimentation. Performance of Walsh-Hadamard code spread OFDM (WHSOFDM) and carrier interferometry code spread (CISOFDM) has been evaluated for underwater acoustic communication along with transmit diversity technique. The spreading technique helps overcome frequency-selectivity and provides reduced peak-to-average power ratio (PAPR) whereas the transmit diversity technique improves the data rate and reliability. CISOFDM with SFBC offers a SNR gain of 2.4 dB for a bit-error-rate (BER) of 1×10-6 over WHSOFDM with SFBC. The present work also demonstrates the design of a low cost experimental setup (testbed) to perform a large number of experiments related to underwater communication and prototype algorithm testing. A simple two-transmit-one receive SFBC-CISOFDM scheme is used to transmit images through the underwater channel to validate the simulation.
{"title":"Performance evaluation of SFBC-SOFDM for underwater acoustic channels","authors":"Prashant Kumar, Vijay Mukati, Preetam Kumar","doi":"10.1109/OCEANS-TAIPEI.2014.6964579","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964579","url":null,"abstract":"This paper investigates the performance of spread orthogonal frequency division multiplexing (SOFDM) with space frequency block coding (SFBC) technique for underwater acoustic communication through simulation and semi realistic experimentation. Performance of Walsh-Hadamard code spread OFDM (WHSOFDM) and carrier interferometry code spread (CISOFDM) has been evaluated for underwater acoustic communication along with transmit diversity technique. The spreading technique helps overcome frequency-selectivity and provides reduced peak-to-average power ratio (PAPR) whereas the transmit diversity technique improves the data rate and reliability. CISOFDM with SFBC offers a SNR gain of 2.4 dB for a bit-error-rate (BER) of 1×10-6 over WHSOFDM with SFBC. The present work also demonstrates the design of a low cost experimental setup (testbed) to perform a large number of experiments related to underwater communication and prototype algorithm testing. A simple two-transmit-one receive SFBC-CISOFDM scheme is used to transmit images through the underwater channel to validate the simulation.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115909022","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 : 2014-04-07DOI: 10.1109/OCEANS-TAIPEI.2014.6964338
F. Eren, May-Win L. Thein, S. Pe’eri, Y. Rzhanov, B. Celikkol, R. Swift
This paper proposes pose detection and control algorithms in order to control the relative pose between two Unmanned Underwater Vehicles (UUVs) using optical feedback. The leader UUV is configured to have a light source at its crest which acts as a guiding beacon for the follower UUV which has a detector array at its bow. Pose detection algorithms are developed based on a classifier, such as the Spectral Angle Mapper (SAM), and chosen image parameters. An archive look-up table is constructed for varying combinations of 5-degree-of-freedom (DOF) motion (i.e., translation along all three coordinate axes as well as pitch and yaw rotations). Leader and follower vehicles are simulated for a case in which the leader is directed to specific waypoints in horizontal plane and the follower is required to maintain a fixed distance from the leader UUV. Proportional-Derivative (PD) control (without loss of generality) is applied to maintain stability of the UUVs to show proof of concept. Preliminary results indicate that the follower UUV is able to maintain its fixed distance relative to the leader UUV to within a reasonable accuracy.
{"title":"Pose detection and control of multiple Unmanned Underwater Vehicles (UUVs) using optical feedback","authors":"F. Eren, May-Win L. Thein, S. Pe’eri, Y. Rzhanov, B. Celikkol, R. Swift","doi":"10.1109/OCEANS-TAIPEI.2014.6964338","DOIUrl":"https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964338","url":null,"abstract":"This paper proposes pose detection and control algorithms in order to control the relative pose between two Unmanned Underwater Vehicles (UUVs) using optical feedback. The leader UUV is configured to have a light source at its crest which acts as a guiding beacon for the follower UUV which has a detector array at its bow. Pose detection algorithms are developed based on a classifier, such as the Spectral Angle Mapper (SAM), and chosen image parameters. An archive look-up table is constructed for varying combinations of 5-degree-of-freedom (DOF) motion (i.e., translation along all three coordinate axes as well as pitch and yaw rotations). Leader and follower vehicles are simulated for a case in which the leader is directed to specific waypoints in horizontal plane and the follower is required to maintain a fixed distance from the leader UUV. Proportional-Derivative (PD) control (without loss of generality) is applied to maintain stability of the UUVs to show proof of concept. Preliminary results indicate that the follower UUV is able to maintain its fixed distance relative to the leader UUV to within a reasonable accuracy.","PeriodicalId":114739,"journal":{"name":"OCEANS 2014 - TAIPEI","volume":"43 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131434370","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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