Pub Date : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603867
D. Guériot, C. Sintes
Simulating realistic sonar data is crucial for tuning detection and classification algorithms according to environment and acquisition characteristics. Moreover, robustness of performances estimation and prediction applications can be greatly enhanced as soon as such a simulation tool provides both a modular underwater world representation (multiple sensors, environments and acquisition conditions) and a selection of several computational engines (ray theory, parabolic equation, …). Therefore, we developed such a framework for simulators, allowing both scene design and computational engine choice. Within it, two engines (one for rays, one for tubes) has been successfully implemented and realistic simulations obtained, as shown in the presented simulated sonar images. This paper introduces the simulation of a new imaging sensor (DIDSON acoustic camera) showing the extensibility of the proposed framework while providing realistic and specific front-looking simulated images. Moreover, in order to bypass the scene resolution given by the facet sizes, some georeferenced perturbations are introduced in order to model sub-facet behaviors and produce more realistic responses from the scene with micro and macro textures on the output images.
{"title":"Forward looking sonar data simulation through tube tracing","authors":"D. Guériot, C. Sintes","doi":"10.1109/OCEANSSYD.2010.5603867","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603867","url":null,"abstract":"Simulating realistic sonar data is crucial for tuning detection and classification algorithms according to environment and acquisition characteristics. Moreover, robustness of performances estimation and prediction applications can be greatly enhanced as soon as such a simulation tool provides both a modular underwater world representation (multiple sensors, environments and acquisition conditions) and a selection of several computational engines (ray theory, parabolic equation, …). Therefore, we developed such a framework for simulators, allowing both scene design and computational engine choice. Within it, two engines (one for rays, one for tubes) has been successfully implemented and realistic simulations obtained, as shown in the presented simulated sonar images. This paper introduces the simulation of a new imaging sensor (DIDSON acoustic camera) showing the extensibility of the proposed framework while providing realistic and specific front-looking simulated images. Moreover, in order to bypass the scene resolution given by the facet sizes, some georeferenced perturbations are introduced in order to model sub-facet behaviors and produce more realistic responses from the scene with micro and macro textures on the output images.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"4 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121000003","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603548
Hongmei Zhang, Jianhu Zhao, Kun Yang, Chunhe Tian
Seabed topographic match is a very important work for fulfilling the blend of different-source sounding data and the underwater positioning and navigation. Contour match is a classic method for the seabed topographic match. However, the traditional contour match algorithm will lead to obvious time consuming and mismatch, especially in the longer contour match. Thus, a kind of contour match algorithm based on angle code technique is presented and studied in this paper. Firstly, the principle of this match method is detailed. Then some key problems are studied, and the matching procedure is given out. Besides, the method was used for a simulation experiment of underwater topographic matching navigation, the satisfying results are achieved.
{"title":"Seabed topographic contour match based on angle code technique","authors":"Hongmei Zhang, Jianhu Zhao, Kun Yang, Chunhe Tian","doi":"10.1109/OCEANSSYD.2010.5603548","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603548","url":null,"abstract":"Seabed topographic match is a very important work for fulfilling the blend of different-source sounding data and the underwater positioning and navigation. Contour match is a classic method for the seabed topographic match. However, the traditional contour match algorithm will lead to obvious time consuming and mismatch, especially in the longer contour match. Thus, a kind of contour match algorithm based on angle code technique is presented and studied in this paper. Firstly, the principle of this match method is detailed. Then some key problems are studied, and the matching procedure is given out. Besides, the method was used for a simulation experiment of underwater topographic matching navigation, the satisfying results are achieved.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"243 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121122123","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603883
N. Cruz, A. Matos
The thermocline is a vertical transition layer in the water column with a strong impact on marine biology, since it affects phytoplankton concentration and, hence, primary production. AUVs can play an important role in understanding this relationship, by sampling the relevant data, usually describing yo-yo patterns spanning the whole water column. In this paper we describe a reactive behavior implemented onboard a small sized AUV, to adapt depth in real time in order to maintain the vehicle in the vicinity of the thermocline and therefore increasing efficiency in the sampling process. Preliminary field tests show that the method is simple, robust and effective.
{"title":"Reactive AUV motion for thermocline tracking","authors":"N. Cruz, A. Matos","doi":"10.1109/OCEANSSYD.2010.5603883","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603883","url":null,"abstract":"The thermocline is a vertical transition layer in the water column with a strong impact on marine biology, since it affects phytoplankton concentration and, hence, primary production. AUVs can play an important role in understanding this relationship, by sampling the relevant data, usually describing yo-yo patterns spanning the whole water column. In this paper we describe a reactive behavior implemented onboard a small sized AUV, to adapt depth in real time in order to maintain the vehicle in the vicinity of the thermocline and therefore increasing efficiency in the sampling process. Preliminary field tests show that the method is simple, robust and effective.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122269009","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603858
L. Hamilton
Classification and exploration of large geodata sets consisting of tens to hundreds of thousands of single valued curves, e.g. oceanic wave spectra and grain size distributions, is often made through use of features or proxy parameters extracted from the curves. Feature extraction is typically enabled through curve fitting, and hence implicit or explicit application of a statistical model. Principal Components Analysis (PCA) is commonly applied to the proxies or to the curves as a dimensional reduction measure, and the first few principal components are used as the final classification features. Statistical clustering is then applied to the selected proxies or principal components to produce groups or classes which best describe the properties of the proxy data set, usually in a least squares sense. A far simpler and model free technique is to directly cluster the curves themselves. The curves are essentially treated as geometric entities, and calculation of features or proxies is unnecessary. The methodology for this concept is outlined, and is demonstrated for several geodata sets, ranging in size from a hundred objects to several tens of thousands, and for spatial scales of several tens of metres to the South Pacific ocean basin.
{"title":"Statistical clustering Of curves in the geosciences - the answer to everything?","authors":"L. Hamilton","doi":"10.1109/OCEANSSYD.2010.5603858","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603858","url":null,"abstract":"Classification and exploration of large geodata sets consisting of tens to hundreds of thousands of single valued curves, e.g. oceanic wave spectra and grain size distributions, is often made through use of features or proxy parameters extracted from the curves. Feature extraction is typically enabled through curve fitting, and hence implicit or explicit application of a statistical model. Principal Components Analysis (PCA) is commonly applied to the proxies or to the curves as a dimensional reduction measure, and the first few principal components are used as the final classification features. Statistical clustering is then applied to the selected proxies or principal components to produce groups or classes which best describe the properties of the proxy data set, usually in a least squares sense. A far simpler and model free technique is to directly cluster the curves themselves. The curves are essentially treated as geometric entities, and calculation of features or proxies is unnecessary. The methodology for this concept is outlined, and is demonstrated for several geodata sets, ranging in size from a hundred objects to several tens of thousands, and for spatial scales of several tens of metres to the South Pacific ocean basin.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126898723","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603871
T. Maki, A. Kume, T. Ura, T. Sakamaki, Hideyuki Suzuki
Although the vast amount of information collected by AUVs brings significant benefit to oceanographic research, it is necessary to develop methods to analyze the large volumes of data, in order to avoid accumulation of unused information. Automatic data processing and analysis are key technologies necessary to cope with this problem. We propose a robust, automated method for detection and volume determination of tubeworm colonies using visual and geometric features obtained during underwater robotic surveys, on the condition that the position of the sensors are provided. The tubeworm is a characteristic benthos of hydrothermal vent fields. The proposed method achieves robustness against sensor noise by using both geometric and visual features for identification. First, the tubeworm candidates are obtained as a three-dimensional region between the measured bathymetry of the region and an estimation of the seafloor topology without tubeworms. Next, the tubeworm candidates are verified through frequency analysis of corresponding images. The performance of this method was verified using a data set obtained by the AUV Tri-Dog 1 at Tagiri vent field, Kagoshima bay in Japan.
{"title":"Autonomous detection and volume determination of tubeworm colonies from underwater robotic surveys","authors":"T. Maki, A. Kume, T. Ura, T. Sakamaki, Hideyuki Suzuki","doi":"10.1109/OCEANSSYD.2010.5603871","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603871","url":null,"abstract":"Although the vast amount of information collected by AUVs brings significant benefit to oceanographic research, it is necessary to develop methods to analyze the large volumes of data, in order to avoid accumulation of unused information. Automatic data processing and analysis are key technologies necessary to cope with this problem. We propose a robust, automated method for detection and volume determination of tubeworm colonies using visual and geometric features obtained during underwater robotic surveys, on the condition that the position of the sensors are provided. The tubeworm is a characteristic benthos of hydrothermal vent fields. The proposed method achieves robustness against sensor noise by using both geometric and visual features for identification. First, the tubeworm candidates are obtained as a three-dimensional region between the measured bathymetry of the region and an estimation of the seafloor topology without tubeworms. Next, the tubeworm candidates are verified through frequency analysis of corresponding images. The performance of this method was verified using a data set obtained by the AUV Tri-Dog 1 at Tagiri vent field, Kagoshima bay in Japan.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"55 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125991732","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603593
Ji-Hong Li, Byungho Yoon, Seung-Sub Oh, Jungsan Cho, Jong-Geol Kim, Munjik Lee, Jungwoo Lee
P-SURO is a prototype autonomous underwater vehicle (AUV), which is under development as a test-bed for developing underwater technologies such as underwater vision, underwater navigation, and guidance. This vehicle is a hovering type with four thrusters mounted to steer its 6DOF underwater motion, a color camera is mounted at the vehicle's nose for underwater vision, and an AHRS combined with one depth sensor and three range sonars construct an inertial navigation system. In this paper, we report the details of constructions of the vehicle system, and its three core modules - vision module, navigation module, and control module.
{"title":"Development of an intelligent autonomous underwater vehicle, P-SURO","authors":"Ji-Hong Li, Byungho Yoon, Seung-Sub Oh, Jungsan Cho, Jong-Geol Kim, Munjik Lee, Jungwoo Lee","doi":"10.1109/OCEANSSYD.2010.5603593","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603593","url":null,"abstract":"P-SURO is a prototype autonomous underwater vehicle (AUV), which is under development as a test-bed for developing underwater technologies such as underwater vision, underwater navigation, and guidance. This vehicle is a hovering type with four thrusters mounted to steer its 6DOF underwater motion, a color camera is mounted at the vehicle's nose for underwater vision, and an AHRS combined with one depth sensor and three range sonars construct an inertial navigation system. In this paper, we report the details of constructions of the vehicle system, and its three core modules - vision module, navigation module, and control module.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126523161","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603591
Cheng Fang, S. Anstee
This paper considers offline algorithms for pre-mission path planning to achieve coverage of the seabed of a complex but well-characterised planar area using an autonomous underwater vehicle fitted with side-looking sonar. The vehicle can swim over terrain at constant altitude, but must follow a path constructed from straight line segments. Imagery collected during turns is not used. This paper discusses the preparation of boundaries for the survey area, the introduction of buffer zones for safety of vehicle navigation, the decomposition of the surveyable area into subareas using an approximation to the generalised Voronoi diagram, calculation of paths within sub-areas that allow for incomplete sonar coverage, and connection of sub-area paths with transits to obtain a mission plan.
{"title":"Coverage path planning for harbour seabed surveys using an autonomous underwater vehicle","authors":"Cheng Fang, S. Anstee","doi":"10.1109/OCEANSSYD.2010.5603591","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603591","url":null,"abstract":"This paper considers offline algorithms for pre-mission path planning to achieve coverage of the seabed of a complex but well-characterised planar area using an autonomous underwater vehicle fitted with side-looking sonar. The vehicle can swim over terrain at constant altitude, but must follow a path constructed from straight line segments. Imagery collected during turns is not used. This paper discusses the preparation of boundaries for the survey area, the introduction of buffer zones for safety of vehicle navigation, the decomposition of the surveyable area into subareas using an approximation to the generalised Voronoi diagram, calculation of paths within sub-areas that allow for incomplete sonar coverage, and connection of sub-area paths with transits to obtain a mission plan.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127877502","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603570
J. R. Exelby, H. Vu
The underwater environment is often complex and highly variable in space and time, making it difficult to model the detection performance of anti-submarine warfare (ASW) sonar systems. Furthermore, the environment can result in complex active sonar data displays that are difficult to interpret. The performance of the sonar system can be enhanced by understanding and exploiting knowledge about the underwater environment. This paper illustrates how relevant and timely environmental data from the BLUElink ocean model can be used to improve sonar performance modelling and assist the sonar operator interpret complex sonar data displays.
{"title":"Improving anti-submarine warfare sonar performance modelling using BLUElink forecast environmental data","authors":"J. R. Exelby, H. Vu","doi":"10.1109/OCEANSSYD.2010.5603570","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603570","url":null,"abstract":"The underwater environment is often complex and highly variable in space and time, making it difficult to model the detection performance of anti-submarine warfare (ASW) sonar systems. Furthermore, the environment can result in complex active sonar data displays that are difficult to interpret. The performance of the sonar system can be enhanced by understanding and exploiting knowledge about the underwater environment. This paper illustrates how relevant and timely environmental data from the BLUElink ocean model can be used to improve sonar performance modelling and assist the sonar operator interpret complex sonar data displays.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127903530","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603538
Martin Luck, M. Buscher, H. Lehr, C. Thiede, G. Korner, Jochen Martin, Marion Schlichting, S. Kruger, Hartmut Huth
The present paper deals with new approaches concerning pressure tolerant submerged technology. Different designs of pressure tolerant systems, which are characterized by the absence of pressure hulls, are discussed. Advantages and disadvantages of this novel technology are demonstrated. The overall pressure tolerant test platform DNS Pegel is introduced along with the main vehicle components and subsystems that highlight the pressure tolerant design. The vehicle includes an adjustable payload section. The current work discusses the sophistication of pressure tolerant systems. The goal is autonomous test dive cruises with the vehicle in the Atlantic Ocean.
{"title":"Pressure tolerant systems for deep sea applications","authors":"Martin Luck, M. Buscher, H. Lehr, C. Thiede, G. Korner, Jochen Martin, Marion Schlichting, S. Kruger, Hartmut Huth","doi":"10.1109/OCEANSSYD.2010.5603538","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603538","url":null,"abstract":"The present paper deals with new approaches concerning pressure tolerant submerged technology. Different designs of pressure tolerant systems, which are characterized by the absence of pressure hulls, are discussed. Advantages and disadvantages of this novel technology are demonstrated. The overall pressure tolerant test platform DNS Pegel is introduced along with the main vehicle components and subsystems that highlight the pressure tolerant design. The vehicle includes an adjustable payload section. The current work discusses the sophistication of pressure tolerant systems. The goal is autonomous test dive cruises with the vehicle in the Atlantic Ocean.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127503743","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 : 2010-05-24DOI: 10.1109/OCEANSSYD.2010.5603820
Hongmei Zhang, Jianhu Zhao, Baohua Xu
In order to improve the accuracy of underwater topographic measurement, the method for the precise determination of instantaneous height of transducer is studied. The software, which is used for implementing the blend of GPS height and heave so as to accurately present instantaneous height of transducer, is developed. The software structure design, key techniques and main function modules including quality control, time synchronization, attitude correction, as well as signal extraction and blend are depicted in detail. Moreover, the software is tested and applied in the actual experiments. The results show that the accuracy and performance of the software are high and can satisfy the actual application.
{"title":"Software development for the determination of instantaneous height of transducer based on the blend of GPS height and heave","authors":"Hongmei Zhang, Jianhu Zhao, Baohua Xu","doi":"10.1109/OCEANSSYD.2010.5603820","DOIUrl":"https://doi.org/10.1109/OCEANSSYD.2010.5603820","url":null,"abstract":"In order to improve the accuracy of underwater topographic measurement, the method for the precise determination of instantaneous height of transducer is studied. The software, which is used for implementing the blend of GPS height and heave so as to accurately present instantaneous height of transducer, is developed. The software structure design, key techniques and main function modules including quality control, time synchronization, attitude correction, as well as signal extraction and blend are depicted in detail. Moreover, the software is tested and applied in the actual experiments. The results show that the accuracy and performance of the software are high and can satisfy the actual application.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127433727","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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