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MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)最新文献

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Development of a long endurance autonomous underwater vehicle for ocean science exploration 海洋科学探测用长续航自主水下航行器的研制
W. Kirkwood, D. Gashler, H. Thomas, T. O'Reilly, R. McEwen, N. Tervalon, F. Shane, D. Au, M. Sibenac, T. Konvalina, A. Bahlavouni, J. Bellingham
The authors' goal is to greatly increase access to the Arctic Ocean by creating and demonstrating a safe and economical platform capable of basin-scale surveys. Specifically, they are developing an autonomous underwater vehicle (AUV) for Arctic research with unprecedented endurance, and the capability to relay data through the Ice to satellites. They provide a means of monitoring changes taking place in the Arctic Ocean and investigate its impact on global climate changes. The vehicle will also be capable of seafloor surveys throughout the Arctic basin. Such a capability is of national and global interest and importance.
作者的目标是通过创建和展示一个能够进行盆地尺度调查的安全、经济的平台,大大增加进入北冰洋的机会。具体来说,他们正在开发一种用于北极研究的自主水下航行器(AUV),它具有前所未有的续航能力,并且能够通过冰层将数据传递给卫星。它们提供了一种监测北冰洋变化的手段,并调查其对全球气候变化的影响。该船还将能够在整个北极盆地进行海底调查。这种能力关系到国家和全球的利益和重要性。
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引用次数: 18
Communications and power to the seafloor: MBARI's Ocean Observing System mooring concept 通信和动力到海底:MBARI的海洋观测系统系泊概念
M. Chaffey, E. Mellinger, W. Paul
Operating instrumentation for collecting time-series experimental data from remote benthic sites in the world's oceans has long been a challenging problem for oceanographers. A moored buoy system concept is presented that provides bi-directional near real-time communication to remote benthic instrumentation at flexible sites up to 4000 m deep using an electro-optical anchor cable. Designed to be deployed from regional class vessels, the mooring system is to be one of the main platforms for the MBARI Ocean Observatory System (MOOS) currently under development. The system concept supports a broad range of instrumentation and sampling strategies including benthic instrument clusters covering up to 10 km of seafloor, upper water column instrumentation and future AUV docking operations. Described are the functional requirements of the mooring system, the design approach, the results of the design trade-off studies completed and the resulting mooring concept design.
长期以来,操作仪器从世界海洋中遥远的底栖动物地点收集时间序列实验数据一直是海洋学家面临的一个具有挑战性的问题。提出了一种系泊浮标系统的概念,该系统使用光电锚缆为4000米深的灵活地点的远程底栖仪器提供双向近实时通信。该系泊系统设计用于区域级船舶,是目前正在开发的MBARI海洋观测系统(MOOS)的主要平台之一。该系统概念支持广泛的仪器和采样策略,包括覆盖长达10公里海底的底底仪器集群、上层水柱仪器和未来的AUV对接操作。介绍了系泊系统的功能要求、设计方法、完成的设计权衡研究的结果以及由此产生的系泊概念设计。
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引用次数: 29
Synthesizing wide-band sparse arrays by simulated annealing 模拟退火法合成宽带稀疏阵列
A. Trucco
Although a great amount of work has been done to develop and optimize weighting windows for an array working in narrow-band, one can verify that these windows do not provide optimal results when applied under wide-band conditions. In addition, also the methods of array thinning proposed in the literature have been devised mainly under narrow-band conditions. In this paper, after a proper definition of the wide-band beam pattern, a method is proposed that is aimed at determining the values of the weight coefficients to be assigned to the minimum set of elements of a linear array that generates a beam pattern fulfilling some a priori fixed constraints. This method relies on a stochastic scheme based on the simulated annealing algorithm. Some results showing a notable improvement in array performances (in terms of main lobe width, side lobes level, and number of array elements) with respect to unitary weighting, dense array structures are hereby presented.
尽管已经做了大量的工作来开发和优化在窄带下工作的阵列的加权窗口,但可以验证这些窗口在宽带条件下应用时不能提供最佳结果。此外,文献中提出的阵列细化方法也主要是在窄带条件下设计的。本文在对宽频带波束方向图进行适当定义后,提出了一种方法,旨在确定分配给满足某些先验固定约束的产生波束方向图的线性阵列的最小元素集的权重系数值。该方法依赖于基于模拟退火算法的随机方案。本文给出了一些结果,表明相对于统一加权、密集阵列结构,阵列性能(在主瓣宽度、副瓣水平和阵列元素数量方面)有了显著的改善。
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引用次数: 15
Transformation of salt composition of sea water in process of differential-diffusive convection (natural and laboratory researches) 差分扩散对流过程中海水盐成分的变化(自然和实验室研究)
V. Kobylyansky, M. Domanov, L. S. Vilentchik, I. G. Akhmetsafin
Hydrophysical and hydrochemical investigations of the World Ocean allowed to detect both horizontal and vertical heterogeneities of the main salt composition of sea water (Fabricand et al, 1966; Soifer, Bichkov, Ilyichev, 1982; Kobilyansky et al, 1985; Domanov, 1992; Domanov and Vodaynaya, 1987). The interrelation between the processes of differential-diffusive convection in the thin thermolialine structure and observed variability of the main salt composition was shown in Kobilyansky et al. (1985) and Domanov (1992) for the case of generation of heterogeneities of the main salt composition of sea water in interlayers of thin thermohaline structure. For a detailed study of this phenomenon the natural and laboratory investigations of variability of the main salt composition during the processes of differential-diffusive convection were carried out. Heterogeneities of salt composition in a pack of thin thermohaline structure interlayers were studied in the Atlantic Ocean at a station with following coordinates 4/spl deg/17'N. 44/spl deg/03'W. The greatest deviation in ratio Mg/Na was 9.4% and in ratio Ca/Na-9.1%. Laboratory studies in conditions of differential-diffusion convection confirm the change of element ratios. Variations of salt composition obtained experimentally are similar to that observed in natural conditions.
世界海洋的水物理和水化学调查可以探测海水主要盐成分的水平和垂直非均质性(Fabricand等人,1966年;Soifer, Bichkov, Ilyichev, 1982;Kobilyansky等人,1985;Domanov, 1992;Domanov和Vodaynaya, 1987)。Kobilyansky et al.(1985)和Domanov(1992)在薄热盐构造层间海水主盐组成非均质性产生的情况下,展示了薄热盐构造中微分扩散对流过程与观测到的主盐组成变率之间的相互关系。为了详细研究这一现象,对微分扩散对流过程中主要盐成分的变化进行了自然和实验室研究。在座标为4/spl°/17′n的台站研究了大西洋一组薄温盐结构夹层中盐成分的非均质性。44 / spl度/ 03 'w。Mg/Na比值最大偏差为9.4%,Ca/Na-比值最大偏差为9.1%。在微分扩散对流条件下的实验室研究证实了元素比的变化。实验得到的盐组成的变化与在自然条件下观察到的变化相似。
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引用次数: 0
Detection and classification of buried objects with an adaptive acoustic mine-hunting system 基于自适应声猎雷系统的地埋目标探测与分类
D. Sternlicht, D.W. Lernonds, R. Dikeman, M. Ericksen, S. Schock
Cost- and time-effective mine countermeasures have become high priority in today's U.S. Navy. Current systems lack adequate target classification/localization capabilities; and thus development of new and innovative technologies is essential for mine search operations in littoral environments. A unique system design is described that fuses sub-bottom seafloor imagery and signal classification algorithms. Seafloor and subbottom maps are produced by a compact 6 transmitter, 32 element receive array sonar system employing a FM upsweep transmit signal containing energy from 5 to 23 kHz. This system provides 4 to 8 cm spatial resolution, up to 2 m bottom penetration, and is ideally suited for detecting proud and buried mine-like targets. Image processing algorithms automatically detect and localize targets of interest. Targets are extracted and passed to biomimetic signal classification algorithms that map time-frequency patterns into object class declarations. The system and processing stages are presented and an experiment is described in which buried objects consisting of a concrete block, coral head, sand-filled aluminum spheres, sand-filled scuba tanks, 155 mm ordnance, and a mine-shape are successfully differentiated. These results are encouraging, and suggest that a hybrid system employing a conjunct seafloor image and biomimetic signal classification can rapidly and accurately detect and classify buried mine-like objects in the littorals.
成本和时间效益的水雷对抗措施已成为当今美国海军的重中之重。目前的系统缺乏足够的目标分类/定位能力;因此,开发新的创新技术对于在沿海环境中进行搜雷作业至关重要。描述了一种独特的系统设计,融合了海底图像和信号分类算法。海底和海底地图由一个紧凑的6个发射器、32个单元的接收阵列声纳系统生成,该系统采用调频上扫发射信号,能量从5到23 kHz。该系统提供4到8厘米的空间分辨率,高达2米的底部穿透,并且理想地适合于探测骄傲和埋藏的地雷样目标。图像处理算法自动检测和定位感兴趣的目标。目标被提取并传递给仿生信号分类算法,该算法将时频模式映射到对象类声明中。介绍了系统和处理步骤,并描述了一个实验,成功地区分了由混凝土块、珊瑚头、填砂铝球、填砂水肺罐、155毫米弹药和地雷形状组成的地埋物体。这些结果令人鼓舞,并表明采用海底图像和仿生信号分类相结合的混合系统可以快速准确地检测和分类沿海地区埋藏的地雷样物体。
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引用次数: 9
Adaptive DOB control of underwater robotic vehicles 水下机器人的自适应DOB控制
S. Zhao, J. Yuh, H. Choi
This paper describes a new navigation control system for AUVs. Unlike controllers for ROVs, AUVs require smart controllers adapting to changes in the system and environment since the controller cannot be tuned while AUV are in water. The presented controller consists of a nonregressor based adaptive controller and a disturbance observer (DOB). The DOB converts the original nonlinear vehicle dynamics with modelling errors and disturbance into a simple linear nominal model and the adaptive controller compensates for the residual disturbance errors due to any time delay in the DOB filter. The presented control system does not require any parametric information about the vehicle dynamics and provides robustness with respect to disturbance, such as current, modeling errors and hydrodynamic uncertainties. Results of simulation on a UH AUV, ODIN model show effectiveness of the presented control system.
本文介绍了一种新型的水下机器人导航控制系统。与rov的控制器不同,AUV需要智能控制器来适应系统和环境的变化,因为当AUV在水中时控制器无法调整。该控制器由一个基于非回归量的自适应控制器和一个干扰观测器组成。DOB将具有建模误差和干扰的原始非线性车辆动力学转换为简单的线性标称模型,自适应控制器补偿由于DOB滤波器中任何时间延迟引起的残余干扰误差。所提出的控制系统不需要任何关于车辆动力学的参数信息,并且对诸如电流、建模误差和流体动力学不确定性等干扰具有鲁棒性。通过对uuuauv的ODIN模型进行仿真,验证了该控制系统的有效性。
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引用次数: 14
Acoustic improvements for USNS PATHFINDER (T-AGS 60) class oceanographic ships 美国海军探路者号(T-AGS 60)级海洋船的声学改进
T. A. Gates, R. Herman
Discusses ship acoustics and how it evolved in the USNS PATHFINDER (T-AGS 60) class ship acquisition program. During the initial ship delivery process for this program it was determined that the acoustic posture of these ships was inadequate to support the mission requirement of deep-water bottom mapping. A comprehensive investigation was conducted and problem areas were identified. This paper summarizes the findings of that investigation and subsequent ones to fully document the acoustic issues that were present on this new class of ships. Additionally, the modifications and improvements that were made to these hulls are addressed to share with the community the importance of vessel acoustic posture and how it relates to mission performance with respect to acoustics. The types of modifications addressed are: sonar fairing design, paint and hull conditions, propeller cavitation performance, hull appendages, bubble sweepdown and general acoustic requirements. Acoustic measurements and levels are provided as well as specific measures of system performance.
讨论船舶声学及其在美国海军探路者(T-AGS 60)级船舶采船计划中的演变。在这个计划的初始舰艇交付过程中,确定这些舰艇的声学姿态不足以支持深水海底测绘的任务要求。进行了全面的调查,并确定了问题所在。本文总结了该调查和后续调查的结果,以充分记录这种新型船舶上存在的声学问题。此外,对这些船体进行的修改和改进是为了与社区分享船舶声学姿态的重要性,以及它与声学方面的任务性能之间的关系。修改的类型包括:声纳整流罩设计、油漆和船体条件、螺旋桨空化性能、船体附件、气泡清除和一般声学要求。提供了声学测量和电平以及系统性能的具体测量。
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引用次数: 0
Preliminary comparisons of the WGS84(EGM 96) geoid with national vertical datums WGS84(egm96)大地水准面与国家垂直基准的初步比较
F. Fell, M. Tanenbaum
In fiscal year 2001, the National Imagery and Mapping Agency (NIMA) initiated a project (i) to examine selected national vertical datums in order to evaluate their consistency with orthometric heights derived from Global Positioning System (WGS84) ellipsoid heights and EGM96 geoid heights and (ii) to address the potential for converting bathymetric depths from coastal hydrographic charts to WGS84 depths. This paper discusses preliminary findings obtained during the initial phases of the project. Systematic differences between the EGM96 geoid and various national vertical datums were determined and modeled. These models enable heights to be transformed between local vertical datums and WGS84. A concept for addressing hydrographic chart depth conversion based on GPS positioning of the chart datum (e.g., Mean Low Low Water) is also discussed.
在2001财政年度,国家图像和测绘局(NIMA)启动了一个项目(i)检查选定的国家垂直基准,以评估它们与全球定位系统(WGS84)椭球高度和EGM96大地水准面高度得出的正测高度的一致性;(ii)解决将沿海水文海图的等深深度转换为WGS84深度的可能性。本文讨论了在项目初始阶段获得的初步发现。确定了EGM96大地水准面与不同国家垂直基准的系统差异,并建立了模型。这些模型可以在当地垂直基准面和WGS84之间转换高度。本文还讨论了基于GPS定位海图基准面(例如,Mean Low Low Water)的海图深度转换的概念。
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引用次数: 13
A simulation environment for unmanned underwater vehicles development 无人潜航器开发的仿真环境
G. Bruzzone, R. Bono, M. Caccia, G. Veruggio
Logistics problems and high costs necessary to carry out experiments with robots in hazardous environments such as the open sea led to the development of simulation environments (SE) where the physical robot and the operating environment can be substituted by real-time simulators in a way that is completely transparent to the robot's control and sensing modules. SEs are extremely useful tools which allow to rapidly designing, developing, testing and evaluating in lab the working of an underwater vehicle and to minimise the risks to lose expensive equipment during in field testing. In this paper the SE developed by the National Research Council, Institute for Ship Automation of Genoa (CNR-IAN) will be presented.
物流问题和在危险环境(如公海)中进行机器人实验所需的高成本导致了仿真环境(SE)的发展,其中物理机器人和操作环境可以被实时模拟器以一种对机器人的控制和传感模块完全透明的方式取代。SEs是非常有用的工具,可以在实验室中快速设计、开发、测试和评估水下航行器的工作,并在现场测试期间将损失昂贵设备的风险降至最低。本文将介绍由热那亚船舶自动化研究所(CNR-IAN)国家研究委员会开发的SE。
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引用次数: 12
Tsunami height forecast from water-level data 根据水位资料预测海啸高度
Yong Wei, K. Cheung, G. Curtis, C. McCreety
A methodology to forecast tsunami height based on real-time water-level data near the source is presented in this paper. The inverse method, which uses water level data to infer seismic source parameters, is extended to predict the tsunami waveforms away from the source. This study focuses on the Aleutian-Alaska source region and its potential threat to Hawaii. In the algorithm, the source region is divided into 41 sub-faults based on Johnson's (1999) analyses of major tsunamigenic earthquakes from 1938 to 1986. A linear longwave model is used to generate a database of synthetic mareograms at 14 water-level stations near the source and at six locations away from the source. Given tsunami signals at the water-level stations, a least-squares routine provides the expected waveforms near the Hawaiian Islands and a jackknife re-sampling scheme provides the confidence interval bounds of the predictions. The algorithm and the database are verified using actual water-level data of past tsunami events.
本文提出了一种基于震源附近实时水位数据的海啸高度预报方法。将利用水位数据推断震源参数的逆方法推广到预测震源以外的海啸波形。本研究的重点是阿留申-阿拉斯加源区及其对夏威夷的潜在威胁。在算法中,基于Johnson(1999)对1938 - 1986年大海啸地震的分析,将震源区划分为41个次级断层。一个线性长波模型被用来生成一个在源头附近的14个水位站和远离源头的6个地点的合成波形图数据库。给定水位站的海啸信号,最小二乘程序提供了夏威夷群岛附近的预期波形,叠刀重新采样方案提供了预测的置信区间界限。利用以往海啸事件的实际水位数据对算法和数据库进行了验证。
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引用次数: 4
期刊
MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)
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