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The Wave Glider: A persistent platform for ocean science 波浪滑翔机:海洋科学的持久平台
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603614
J. Manley, S. Willcox
The Wave Glider is an unmanned maritime vehicle (UMV) unique in its ability to harness ocean wave energy for platform propulsion. This paper provides an overview of the Wave Glider vehicle's design and capabilities, and presents results from the engineering sea trials conducted with several prototype and the current production generations of the vehicle. The vehicle's performance in a variety of ocean conditions is described. The vehicle's robustness and capabilities for extended mission durations are also examined. Scientific applications of the Wave Glider are presented through discussion of preliminary results and planned programs. Finally, we discuss several payload packages that have been or are currently being developed for the vehicle.
波浪滑翔机是一种无人驾驶的海上交通工具(UMV),其独特的能力是利用海浪能量为平台推进。本文概述了Wave Glider飞行器的设计和性能,并介绍了用几代原型机和当前生产的飞行器进行的工程海上试验的结果。描述了车辆在各种海洋条件下的性能。还检查了车辆的稳健性和延长任务持续时间的能力。通过对初步结果和计划方案的讨论,介绍了波浪滑翔机的科学应用。最后,我们讨论了已经或目前正在为飞行器开发的几个有效载荷包。
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引用次数: 144
The use of HF radar surface currents for computing Lagrangian trajectories: Benefits and issues 利用高频雷达表面电流计算拉格朗日轨迹:好处和问题
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603644
A. Mantovanelli, M. Heron, A. Prytz
Surface coastal currents mapped by a pair of high frequency ground-wave radars (HFR) have been used to predict Lagrangian trajectories in the proximity of Heron Island (Capricorn Bunker Group, Great Barrier Reef, Australia), and to compare with the current data measured by an Acoustic Doppler Current Profiler (ADCP) at three mooring stations. Overall the HRF and ADCP absolute current speeds showed a difference less than ±0.15 m s−1 for 68% of the observations. A good agreement between HFR (at a depth of 1.5 m) and ADCP (at a depth of 5.5 m) data were observed for the u-component (cross-shelf) which presented a stronger tidal signal, while a poor comparison was found for the v-component (north-south) more influenced by the south-easterly and northerly winds. The HFR allowed inclusion of not only the temporal, but also the spatial current variability in the tracking computation. This proved to be crucial because the Lagrangian trajectories were very sensitive to the starting position and time in the studied area, where the currents exhibit a large spatial variation imposed by tides, winds, large scale circulation and topography. One challenge in applying HFR data for Lagrangian tracking consists of estimating the missing values and including the effects of small scale fluctuations.
一对高频地波雷达(HFR)绘制的表面海岸流已被用于预测Heron岛(澳大利亚大堡礁摩摩座邦克群)附近的拉格朗日轨迹,并与三个系泊站的声学多普勒电流廓形仪(ADCP)测量的当前数据进行比较。总体而言,在68%的观测中,HRF和ADCP绝对电流速度的差异小于±0.15 m s - 1。HFR (1.5 m深度)和ADCP (5.5 m深度)在u分量(跨陆架)上的一致性较好,呈现出较强的潮汐信号,而在v分量(南北)上的一致性较差,受东南和北风的影响较大。HFR允许在跟踪计算中不仅包含时间,而且包含空间电流变异性。这被证明是至关重要的,因为拉格朗日轨迹对研究区域的起始位置和时间非常敏感,在该区域,洋流受到潮汐、风、大尺度环流和地形的影响,表现出很大的空间变化。将HFR数据应用于拉格朗日跟踪的一个挑战包括估计缺失值和包括小尺度波动的影响。
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引用次数: 10
Mapping marine phytoplankton assemblages from a hyperspectral and Artificial Intelligence perspective 从高光谱和人工智能的角度绘制海洋浮游植物组合
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603683
E. Torrecilla, J. Piera, S. Pons, I. F. Aymerich, A. Vilamala, J. Arcos, E. Plaza
The aim of this contribution is to demonstrate the feasibility of different processing techniques to identify phytoplankton assemblages when applied to oceanographic hyperspectral data sets (i.e. above surface measurements and vertical profiles). In order to address this issue and validate the proposed techniques, a simulated framework has been used based on the oceanic radiative transfer model Hydrolight-Ecolight 5.0. The potential offered by an unsupervised hierarchical cluster analysis technique and two Artificial Intelligence algorithms (i.e. Particle Swarm Optimization and Case-Based Reasoning) have been explored. Our results confirm their suitability to map phytoplankton's distribution from hyperspectral information given a variety of hypothetical oceanic environments.
这一贡献的目的是证明在应用于海洋高光谱数据集(即地表以上测量和垂直剖面)时,识别浮游植物组合的不同处理技术的可行性。为了解决这一问题并验证所提出的技术,基于海洋辐射传输模型Hydrolight-Ecolight 5.0使用了一个模拟框架。本文探讨了无监督分层聚类分析技术和两种人工智能算法(即粒子群优化和基于案例的推理)所提供的潜力。我们的结果证实了它们在各种假设的海洋环境下从高光谱信息绘制浮游植物分布的适用性。
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引用次数: 1
Cooperative positioning using range-only measurements between two AUVs 在两个auv之间使用仅距离测量的合作定位
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603615
G. Rui, M. Chitre
This paper presents a cooperative positioning system between two autonomous underwater vehicles (AUVs). Each AUV is equipped with some navigational sensors. However, AUVs with different tasks have different navigational capabilities. By introducing acoustic communication between AUVs, information from multiple AUVs can be fused to give a more accurate position estimates to AUVs with poorer navigational capabilities. We present results from a field trial where a lawnmower mission is executed by a survey AUV with poor navigational sensors while another AUV with higher positioning accuracy plays the role of a beacon AUV. The beacon AUV's task is to help improve the survey AUV's position accuracy by providing it regular range updates from various locations. An Extended Kalman Filter (EKF) was implemented to fuse the range information updates with the navigational sensor data on the survey AUV. We were able to avoid unbounded error growth in the position estimate of the survey AUV in our experiments through cooperative positioning between two AUVs using range-only measurements.
提出了一种两自主水下航行器(auv)协同定位系统。每个AUV都配备了一些导航传感器。然而,不同任务的auv具有不同的导航能力。通过引入水下机器人之间的声学通信,可以融合多个水下机器人的信息,为导航能力较差的水下机器人提供更准确的位置估计。我们介绍了现场试验的结果,其中由导航传感器较差的调查AUV执行割草机任务,而另一种定位精度较高的AUV则扮演信标AUV的角色。信标AUV的任务是通过提供来自不同位置的定期范围更新来帮助提高测量AUV的定位精度。采用扩展卡尔曼滤波(EKF)将距离信息更新与测量水下航行器上的导航传感器数据融合。在我们的实验中,通过两个AUV之间使用距离测量的合作定位,我们能够避免测量AUV位置估计的无界误差增长。
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引用次数: 74
Laboratory verification on waveform inversion of an internal solitary wave in the South China Sea 南海内孤立波波形反演的实验室验证
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603810
M. Cheng, J. R. Hsu
While shoaling from deepwater in a stratified ocean, an internal solitary wave may undergo waveform inversion on a continental margin. Although many oceanographers have believed the inversion from depression to elevation may commence at the turning point where the upper and low layer equals in depth, this phenomenon has not been fully verified in field observations or numerical schemes. In order to clarify this unique phenomenon, a series of laboratory experiments were conducted on the evolution of an interfacial solitary wave of depression across a slope following by a horizontal plateau similar to a slope-shelf topography. Experimental results indicate that the process of waveform inversion took place after internal run-down, hydraulic jump, vortex motion and run-up on the front slope. Shoaling effect on the horizontal plateau then further dissipated wave energy.
当从分层海洋的深水中浅滩时,内部孤立波可能在大陆边缘经历波形反转。虽然许多海洋学家认为,从低洼到高程的逆温可能开始于上层和低层深度相等的转折点,但这一现象尚未在实地观测或数值方案中得到充分证实。为了阐明这种独特的现象,我们进行了一系列的实验室实验,研究了斜坡上的界面孤立波洼地的演变,然后是类似于坡架地形的水平高原。实验结果表明,前坡上的内落、水力跳跃、涡旋运动和爬升都发生了波形反转过程。水平高原的浅滩效应进一步耗散了波浪能。
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引用次数: 0
Sonar uncertainty and sensitivity analysis techniques 声纳不确定度和灵敏度分析技术
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603543
D. Sweet, C. Gillard
Current sonar performance prediction models provide outputs such as probability of detection. It is desirable to give measures of uncertainty in the output due to uncertainty in all the inputs. This process is uncertainty analysis (UA). It is also desirable to indicate the sensitivity of the output to uncertainty in each of the inputs. This process is sensitivity analysis (SA). In this paper, a set of techniques has been incorporated into a sonar uncertainty and prediction tool (SUST) which carries out the main steps of UA/SA: (1) sampling of inputs, (2) propagation of inputs through a model to yield outputs, (3) UA from outputs and (4) SA from outputs. In the following, two enhancements to a previous UA/SA tool are presented: (a) empirical orthogonal functions, a general method of representing uncertainty in the sound speed profile. and (b) Latin hypercube sampling, a more efficient means of sampling the input space. This paper demonstrates the use of the techniques by performing UA/SA for an environment offshore from Sydney, Australia.
目前的声纳性能预测模型提供诸如探测概率之类的输出。由于所有输入都存在不确定性,因此最好给出输出不确定性的度量。这个过程就是不确定性分析(UA)。还需要指出输出对每个输入的不确定性的敏感性。这个过程就是敏感性分析(SA)。本文将一组技术纳入声纳不确定性和预测工具(SUST),该工具执行UA/SA的主要步骤:(1)输入采样,(2)通过模型传播输入以产生输出,(3)从输出获得UA,(4)从输出获得SA。下面介绍了对以前的UA/SA工具的两个改进:(a)经验正交函数,这是一种表示声速剖面不确定性的一般方法。(b)拉丁超立方体采样,一种更有效的输入空间采样方法。本文通过在澳大利亚悉尼的海上环境中执行UA/SA来演示该技术的使用。
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引用次数: 0
Event-based motion coordination of multiple underwater vehicles under disturbances 干扰下基于事件的多水下航行器运动协调
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603980
P. Teixeira, Dimos V. Dimarogonas, K. Johansson, J. Sousa
The problem of driving a formation from an initial to a target configuration while under the effect of external disturbances is studied. Additional restrictions on agent sensing as well as inter-agent communication must be satisfied. We present a leader-follower solution that relies on a simple uncertainty model to trigger surfacing events. These events are then used to update the control signal, for which two different, provably correct, control strategies are proposed. Finally, we show how the surfacing events can be used to characterize the disturbance set. Numerical examples on relevant scenarios are also provided.
研究了在外界扰动作用下,编队从初始构型驱动到目标构型的问题。必须满足对代理感知和代理间通信的附加限制。我们提出了一个领导者-追随者解决方案,它依赖于一个简单的不确定性模型来触发表面事件。然后使用这些事件来更新控制信号,为此提出了两种不同的、可证明正确的控制策略。最后,我们展示了如何使用表面事件来表征扰动集。给出了相关场景的数值算例。
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引用次数: 25
Fiber laser sensor hydrophone performance 光纤激光传感器水听器性能
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603851
I. Bedwell, D. Jones
Distributed feedback fiber lasers (DFB-FL) offer potential as a new generation of sensing devices that are inherently small diameter, very sensitive and which can be interrogated over long distances over extremely thin lead in cables. They also have the advantage of requiring minimal or no electronics and thus have the potential to be very robust and reliable.
分布式反馈光纤激光器(DFB-FL)作为新一代传感设备具有固有的小直径,非常敏感,并且可以通过极细的电缆进行长距离检测的潜力。它们还具有需要最少或不需要电子设备的优点,因此具有非常强大和可靠的潜力。
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引用次数: 14
DSP implementation of SISO and MIMO OFDM acoustic modems DSP实现SISO和MIMO OFDM声学调制解调器
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603887
Hai Yan, Shengli Zhou, Z. Shi, Jun-hong Cui, L. Wan, Jie Huang, Hao Zhou
Significant progress has been made recently on the use of multicarrier modulation in the form of orthogonal frequency division multiplexing (OFDM) for high data rate underwater acoustic communications. In this paper, we present implementation results of OFDM acoustic modems under both single-input single-output and multi-input multi-output (two transmitters and two receivers) settings. The data rates are 3.2 kb/s and 6.4 kb/s for SISO and MIMO systems, respectively, with QPSK modulation, rate-1/2 channel coding, and signal bandwidth of 6 kHz. Real-time operation has been achieved with impressive margins, using a floating point TMS320C6713 DSP development board. Specifically, with convolutional coding, the processing time for each OFDM block of duration 210 ms is about 38 ms and 77 ms for SISO and MIMO settings, respectively, with the DSP running at 225 MHz. With nonbinary low-density parity-check (LDPC) coding, which gains about 2 dB in error performance relative to convolutional coding, the processing time per block increases to 50 ms and 101 ms for SISO and MIMO settings, respectively. We have also implemented the OFDM acoustic modems using a fixed-point TMS320C6416 DSP development board, where the DSP core runs at 1 GHz. The per-block processing time reduces by two thirds with negligible performance degradation.
近年来,以正交频分复用(OFDM)形式的多载波调制在高数据速率水声通信中的应用取得了重大进展。本文介绍了单输入单输出和多输入多输出(两个发射器和两个接收器)设置下OFDM声学调制解调器的实现结果。SISO和MIMO系统的数据速率分别为3.2 kb/s和6.4 kb/s,采用QPSK调制,速率为1/2信道编码,信号带宽为6 kHz。使用浮点TMS320C6713 DSP开发板,实现了令人印象深刻的实时操作。具体来说,对于卷积编码,在SISO和MIMO设置下,每个持续时间为210 ms的OFDM块的处理时间分别约为38 ms和77 ms, DSP运行在225 MHz。对于非二进制低密度奇偶校验(LDPC)编码,相对于卷积编码,其误差性能提高了约2 dB,对于SISO和MIMO设置,每个块的处理时间分别增加到50 ms和101 ms。我们还使用定点TMS320C6416 DSP开发板实现了OFDM声学调制解调器,其中DSP核心运行在1 GHz。每个块的处理时间减少了三分之二,性能下降可以忽略不计。
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引用次数: 44
Iterative Adaptive Approach for wide-band active sonar array processing 宽带主动声呐阵处理的迭代自适应方法
Pub Date : 2010-05-24 DOI: 10.1109/OCEANSSYD.2010.5603915
Zhaofu Chen, Jian Li, P. Stoica, K. Lo
Sector scan sonars can be used for detection and identification of man-made objects located on the sea floor. Wide-band acoustic signals are employed in this kind of sonar system to enhance range resolution. The conventional delay-and-sum beamformer (CBF) produces sonar images with high sidelobe levels and poor angular resolution. Adaptive beamforming algorithms together with spatial resampling can be applied to mitigate this problem. The algorithm “Spatial Processing: Optimized and Constrained” (SPOC), used in a recent work, is studied herein and shown to be identical to the basic form of the FOCal Underdetermined System Solver (FOCUSS) algorithm. A recently developed algorithm, the Iterative Adaptive Approach (IAA), is proposed for this sonar application and various implementation issues are discussed. Experimental results show that the IAA algorithm produces better sonar images than the CBF and Minimum Variance Distortionless Response (MVDR) algorithms in terms of sidelobe suppression and angular resolution. Compared with SPOC, IAA provides clearer acoustic highlights of the imaged object and a higher density of pixels representing the object.
扇形扫描声纳可用于探测和识别位于海底的人造物体。这种声纳系统采用宽带声信号来提高距离分辨率。传统的延迟和波束形成器(CBF)产生的声纳图像副瓣电平高,角分辨率差。自适应波束形成算法结合空间重采样可以缓解这一问题。本文研究了最近一项工作中使用的“空间处理:优化和约束”(SPOC)算法,并证明该算法与FOCal欠定系统求解器(FOCUSS)算法的基本形式相同。针对这种声纳应用,提出了一种最新开发的算法迭代自适应方法(IAA),并讨论了各种实现问题。实验结果表明,IAA算法在旁瓣抑制和角分辨率方面优于CBF和最小方差无失真响应(MVDR)算法。与SPOC相比,IAA提供了更清晰的成像物体的声学亮点和更高密度的代表物体的像素。
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引用次数: 7
期刊
OCEANS'10 IEEE SYDNEY
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