Pub Date : 2014-09-01DOI: 10.1109/OCEANS.2014.7003034
B. Xu, J. Ji
Accurate sea floor maps are needed for many applications, such as geological studies, coastal safety, navigation, and climate changes, but have only been produced recently by utilizing digital multibeam technology, remotely operated vehicles, or diving in a submersible device. However, because of the cost of these operations, those maps are rare for areas that are not shallow and near the shore. The goal of this research is to investigate the feasibility of using marine seismic survey data for accurate sea floor mapping. Seismic survey data has been widely collected around the world by oil and gas companies for oil and gas exploration. The data used in this research is the multichannel marine seismic survey EW0008 in the western Atlantic Ocean obtained from the Earth Institute Marine Geoscience Data System at Columbia University. The Seismic Unix processing package from the Center of Wave Phenomena at Colorado School of Mines is used to process the EW0008 survey. By using the common midpoint gather to analyze the velocity of sound traveling between the ocean surface and floor, based on the hyperbolic move out assumption, we can precisely determine the velocity of sound to an accuracy of 1m/sec at 37.5m increment along the sail line, and determine the sea floor reflection time at 1ms time resolution. Therefore, the accuracy of sea floor mapping is approximately 0.1 percent of the water depth in this survey area.The research results show that the multichannel marine seismic survey data can be used for accurate sea floor mapping, achieving large scale sea floor coverage with an accuracy of approximately 0.1 percent. This project illustrated a creative use of the marine seismic survey data beyond its intended purposes and improved sea floor mapping accuracy and coverage significantly. It is a start of greater efforts to map Earth's sea floor.
{"title":"Accurate sea floor mapping: From multichannel seismic hydrophone","authors":"B. Xu, J. Ji","doi":"10.1109/OCEANS.2014.7003034","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003034","url":null,"abstract":"Accurate sea floor maps are needed for many applications, such as geological studies, coastal safety, navigation, and climate changes, but have only been produced recently by utilizing digital multibeam technology, remotely operated vehicles, or diving in a submersible device. However, because of the cost of these operations, those maps are rare for areas that are not shallow and near the shore. The goal of this research is to investigate the feasibility of using marine seismic survey data for accurate sea floor mapping. Seismic survey data has been widely collected around the world by oil and gas companies for oil and gas exploration. The data used in this research is the multichannel marine seismic survey EW0008 in the western Atlantic Ocean obtained from the Earth Institute Marine Geoscience Data System at Columbia University. The Seismic Unix processing package from the Center of Wave Phenomena at Colorado School of Mines is used to process the EW0008 survey. By using the common midpoint gather to analyze the velocity of sound traveling between the ocean surface and floor, based on the hyperbolic move out assumption, we can precisely determine the velocity of sound to an accuracy of 1m/sec at 37.5m increment along the sail line, and determine the sea floor reflection time at 1ms time resolution. Therefore, the accuracy of sea floor mapping is approximately 0.1 percent of the water depth in this survey area.The research results show that the multichannel marine seismic survey data can be used for accurate sea floor mapping, achieving large scale sea floor coverage with an accuracy of approximately 0.1 percent. This project illustrated a creative use of the marine seismic survey data beyond its intended purposes and improved sea floor mapping accuracy and coverage significantly. It is a start of greater efforts to map Earth's sea floor.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123574885","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003209
Negin Khabiri, F. Azarsina, M. Azad
Existence of oil and gas reservoirs in the Caspian Sea which is deep waters, unlike the Persian Gulf, signifies the requirement of using deep water platforms for drilling and extracting hydrocarbon reservoirs. Design of offshore structures, requires the structural analysis and site investigation. Also needs understanding of complex offshore environment. In this research, by considering the environmental conditions of Caspian Sea with acceptable approximations, practical approach for choosing proper deep-water platform is presented. This includes description of hydrographic data of the Caspian Sea, geotechnical data of the intended locations, significant and maximum wave height with one, 25, 50 and 100 years return period, and dominant wave directions, current speed and direction, and wind conditions. Finally, a semi-submersible platform is proposed as the proper structure.
{"title":"Searching for the proper deep-water structure for oil and gas developments in the Caspian Sea","authors":"Negin Khabiri, F. Azarsina, M. Azad","doi":"10.1109/OCEANS.2014.7003209","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003209","url":null,"abstract":"Existence of oil and gas reservoirs in the Caspian Sea which is deep waters, unlike the Persian Gulf, signifies the requirement of using deep water platforms for drilling and extracting hydrocarbon reservoirs. Design of offshore structures, requires the structural analysis and site investigation. Also needs understanding of complex offshore environment. In this research, by considering the environmental conditions of Caspian Sea with acceptable approximations, practical approach for choosing proper deep-water platform is presented. This includes description of hydrographic data of the Caspian Sea, geotechnical data of the intended locations, significant and maximum wave height with one, 25, 50 and 100 years return period, and dominant wave directions, current speed and direction, and wind conditions. Finally, a semi-submersible platform is proposed as the proper structure.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125279418","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003073
I. Tuphanov, Andrey M. Sakharov
One of essential factors in mission planning for an AUV group is mission running time. This paper addresses decentralized techniques, which can be used in order to minimize mission running time under uncertainty such as a change in the list of group members. The major contribution of this paper is decentralization of a previously developed mathematical model (a “version model”), intended for centralized approach. A modified auction scheme is compared to a pairwise exchange scheme, allowing both initial task distribution and plan modification.
{"title":"A decentralized planning algorithm considering tack spatial configuration for a group of AUVs","authors":"I. Tuphanov, Andrey M. Sakharov","doi":"10.1109/OCEANS.2014.7003073","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003073","url":null,"abstract":"One of essential factors in mission planning for an AUV group is mission running time. This paper addresses decentralized techniques, which can be used in order to minimize mission running time under uncertainty such as a change in the list of group members. The major contribution of this paper is decentralization of a previously developed mathematical model (a “version model”), intended for centralized approach. A modified auction scheme is compared to a pairwise exchange scheme, allowing both initial task distribution and plan modification.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"202 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115023667","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003248
J. Kojima, H. Sugimatsu, T. Ura, R. Bahl, S. Behera, K. Nagahashi
To investigate the clicking frequency and the body motion of the Ganges river dolphin, the authors started to develop a micro data logger that can be attached to the dolphin body and record not only the dolphin's clicks but also the 3D body motion over a 24 hour period. A prototype that consists of a developed hydrophone unit and other general-purpose devices was developed in 2014. The system was mounted on an AUV and its performance was initially tested during the AUV sea trials that were carried out in March 2014. As a result of the sea trials, the motion recorded by the data logger was corresponding to the motion recorded by the AUV well. Sound signals generated from the thrusters of the AUV and the acoustic equipment of the AUV was also recorded. It means that this proto-type data logger has enough performance to record dolphin's motion and clicks sounds. In addition, this data logger is also a useful tool for the evaluation of the noise level of underwater systems such as AUVs or underwater acoustic systems under actual operating conditions.
{"title":"Development of a prototype underwater acoustic and motion recorder for the Ganges river dolphin","authors":"J. Kojima, H. Sugimatsu, T. Ura, R. Bahl, S. Behera, K. Nagahashi","doi":"10.1109/OCEANS.2014.7003248","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003248","url":null,"abstract":"To investigate the clicking frequency and the body motion of the Ganges river dolphin, the authors started to develop a micro data logger that can be attached to the dolphin body and record not only the dolphin's clicks but also the 3D body motion over a 24 hour period. A prototype that consists of a developed hydrophone unit and other general-purpose devices was developed in 2014. The system was mounted on an AUV and its performance was initially tested during the AUV sea trials that were carried out in March 2014. As a result of the sea trials, the motion recorded by the data logger was corresponding to the motion recorded by the AUV well. Sound signals generated from the thrusters of the AUV and the acoustic equipment of the AUV was also recorded. It means that this proto-type data logger has enough performance to record dolphin's motion and clicks sounds. In addition, this data logger is also a useful tool for the evaluation of the noise level of underwater systems such as AUVs or underwater acoustic systems under actual operating conditions.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116407333","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003150
Zhi Li, R. Bachmayer
In this paper, the procedures for modelling and identification of a displacement style catamaran differentially driven Autonomous Surface Craft (ASC) are introduced. A three degrees of freedom mathematical model that includes the surge, sway and yaw motion of the vehicle is used. The surge motion tests were performed at the towing tank of Memorial University. In this indoor experiment, the full scale ASC model was used and it was equipped with the Hagisonic StarGazer™ indoor localization system for measurement of the position and velocity. Following this, the zig-zag tests were performed in the sea trials. All the experimental data were collected using the existed ASC control and communication system and available onboard sensors. The identified ASC model is evaluated and compared with the collected measurement data.
{"title":"Modelling and identification of a robust autonomous surface craft for deployment in Harsh ocean environment","authors":"Zhi Li, R. Bachmayer","doi":"10.1109/OCEANS.2014.7003150","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003150","url":null,"abstract":"In this paper, the procedures for modelling and identification of a displacement style catamaran differentially driven Autonomous Surface Craft (ASC) are introduced. A three degrees of freedom mathematical model that includes the surge, sway and yaw motion of the vehicle is used. The surge motion tests were performed at the towing tank of Memorial University. In this indoor experiment, the full scale ASC model was used and it was equipped with the Hagisonic StarGazer™ indoor localization system for measurement of the position and velocity. Following this, the zig-zag tests were performed in the sea trials. All the experimental data were collected using the existed ASC control and communication system and available onboard sensors. The identified ASC model is evaluated and compared with the collected measurement data.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122462644","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7002987
Andrew Cook, V. Mašek, G. Holden, Adam Press, R. Boyd
Memorial University of Newfoundland has completed a project entitled the Ocean Network Seafloor Instrumentation (later renamed Seaformatics Project), which began in 2007 and was funded by the Atlantic Canada Opportunities Agency (ACOA) - Atlantic Innovation Fund (AIF) and a number of other organizations. The concept behind Seaformatics was to develop technologies to enable the long-term deployment of an array of seafloor-mounted ocean sensors. The prototype node - called a Seaformatics Pod - has been successfully tested in Memorial University's Marine Institute flume tank and was field tested in Conception Bay in 2012. The project team proposed to perform a long term trial in Placentia Bay in partnership with Husky Energy. The project will provide much-needed data on the reliability of the Seaformatics Pod platform and prove that the Seaformatics Pod is capable of delivering ocean sensor data for other applications of interest to industry users. For Memorial University, success will result in a Seaformatics Pod prototype that is market-ready, which will in turn better enable the University to commercialize the technology for the global marketplace. This paper describes the 2nd generation pod prototype in detail, gives an overview of the demonstration projects goals and presents the preliminary results of the field program.
{"title":"The Seaformatics technology demonstration project","authors":"Andrew Cook, V. Mašek, G. Holden, Adam Press, R. Boyd","doi":"10.1109/OCEANS.2014.7002987","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7002987","url":null,"abstract":"Memorial University of Newfoundland has completed a project entitled the Ocean Network Seafloor Instrumentation (later renamed Seaformatics Project), which began in 2007 and was funded by the Atlantic Canada Opportunities Agency (ACOA) - Atlantic Innovation Fund (AIF) and a number of other organizations. The concept behind Seaformatics was to develop technologies to enable the long-term deployment of an array of seafloor-mounted ocean sensors. The prototype node - called a Seaformatics Pod - has been successfully tested in Memorial University's Marine Institute flume tank and was field tested in Conception Bay in 2012. The project team proposed to perform a long term trial in Placentia Bay in partnership with Husky Energy. The project will provide much-needed data on the reliability of the Seaformatics Pod platform and prove that the Seaformatics Pod is capable of delivering ocean sensor data for other applications of interest to industry users. For Memorial University, success will result in a Seaformatics Pod prototype that is market-ready, which will in turn better enable the University to commercialize the technology for the global marketplace. This paper describes the 2nd generation pod prototype in detail, gives an overview of the demonstration projects goals and presents the preliminary results of the field program.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123031797","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003122
Nathan Brazil, S. Nakhla, S. Kenny
The global energy demand has led to an increased level of oil and gas production activities in remote and harsh environments, including the Grand Banks off the coast of Newfoundland. The increase in exploration, production, and shipment of oil near the shores of Newfoundland poses an increasing risk of a potential oil spill. Due to the particular vulnerability of the delicate Newfoundland coastline, and proximity to the fast moving Gulf Stream, it is imperative that any emergency response is immediate. One proposed method is the use of chemical dispersants applied via aircraft, which can cover large areas in a relatively short amount of time. This paper outlines the structural design of an oil dispersant system on a Dash 8 Q300 aircraft, which can be deployed during flight. The system can be installed and ready within 6 hours of the accident, and the boom deployment via mechanism will take less than two minutes.
{"title":"Deployable oil dispersant system for fixed wing aircraft","authors":"Nathan Brazil, S. Nakhla, S. Kenny","doi":"10.1109/OCEANS.2014.7003122","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003122","url":null,"abstract":"The global energy demand has led to an increased level of oil and gas production activities in remote and harsh environments, including the Grand Banks off the coast of Newfoundland. The increase in exploration, production, and shipment of oil near the shores of Newfoundland poses an increasing risk of a potential oil spill. Due to the particular vulnerability of the delicate Newfoundland coastline, and proximity to the fast moving Gulf Stream, it is imperative that any emergency response is immediate. One proposed method is the use of chemical dispersants applied via aircraft, which can cover large areas in a relatively short amount of time. This paper outlines the structural design of an oil dispersant system on a Dash 8 Q300 aircraft, which can be deployed during flight. The system can be installed and ready within 6 hours of the accident, and the boom deployment via mechanism will take less than two minutes.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"274 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128380835","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003045
M. Shinohara, Tomoaki Yamada, S. Sakai, H. Shiobara, T. Kanazawa
A new Ocean Bottom Cabled Seismic and Tsunami observation system (OBCST) has been developed for replacement of the existing cabled observation system off Sanriku, Japan, whose landing station was damaged by tsunamis of the 2011 Tohoku earthquake. Until 2010, we had already developed and installed the new compact Ocean Bottom Cabled Seismometer (OBCS) system near Awashima-island in the Japan Sea. After the installation, the OBCS system is being operated continuously and we have continuous seismic data for more than 3 years. The new OBCST system for off-Sanriku area is based on the Awashima system, and is characterized by system reliability using TCP/IP technology and down-sizing of an observation node using up-to-date electronics. The new OBCST system has new functions compared to the first system. An Ethernet of the system is upgraded to Giga-bit and clocks in observation nodes can be synchronized through TCP/IP protocol with an accuracy of 300 ns (IEEE 1588). In addition, power over Ethernet technology enables us to equip an external port for additional sensors. After installation of the cabled system, a scientific sensor can be added/replaced by using remotely operated vehicle. We have a plan to install the new OBCST system in 2015. The system has two observation nodes with three-component accelerometers and pressure gauge for tsunami observation and one node with accelerometers and an external port for additional sensors on seafloor. Total length of the practical system is approximately 100 km and an interval of the observation node is about 30 km. At the present, we are producing the observation nodes of the new OBCST. In this paper, we present a system of the new OBCST in detail, and installation plan.
{"title":"New ocean bottom cabled seismic and tsunami observation system enhanced by ICT","authors":"M. Shinohara, Tomoaki Yamada, S. Sakai, H. Shiobara, T. Kanazawa","doi":"10.1109/OCEANS.2014.7003045","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003045","url":null,"abstract":"A new Ocean Bottom Cabled Seismic and Tsunami observation system (OBCST) has been developed for replacement of the existing cabled observation system off Sanriku, Japan, whose landing station was damaged by tsunamis of the 2011 Tohoku earthquake. Until 2010, we had already developed and installed the new compact Ocean Bottom Cabled Seismometer (OBCS) system near Awashima-island in the Japan Sea. After the installation, the OBCS system is being operated continuously and we have continuous seismic data for more than 3 years. The new OBCST system for off-Sanriku area is based on the Awashima system, and is characterized by system reliability using TCP/IP technology and down-sizing of an observation node using up-to-date electronics. The new OBCST system has new functions compared to the first system. An Ethernet of the system is upgraded to Giga-bit and clocks in observation nodes can be synchronized through TCP/IP protocol with an accuracy of 300 ns (IEEE 1588). In addition, power over Ethernet technology enables us to equip an external port for additional sensors. After installation of the cabled system, a scientific sensor can be added/replaced by using remotely operated vehicle. We have a plan to install the new OBCST system in 2015. The system has two observation nodes with three-component accelerometers and pressure gauge for tsunami observation and one node with accelerometers and an external port for additional sensors on seafloor. Total length of the practical system is approximately 100 km and an interval of the observation node is about 30 km. At the present, we are producing the observation nodes of the new OBCST. In this paper, we present a system of the new OBCST in detail, and installation plan.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129700895","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7002984
Jian Gao, Changxin Liu, Yingxiang Wang
The acoustic docking control problem is investigated for the fully-actuated autonomous underwater vehicle (AUV) equipped with the USBL transceiver, which provides the positions of the two transponders on the dock station. Similar to the image-based visual servo control technology, the dynamics of the transponders' positions is modeled with the AUV's linear and angular velocities as the control inputs. The docking control errors are defined with the coordinates of the transponders in the local body-fixed frame. The backstepping based adaptive control is utilized to ensure the docking errors to be asymptotically stable with feedback control and adaptation laws. The performances of the proposed docking control are examined by the simulation studies.
{"title":"Backstepping adaptive docking control for a full-actuated autonomous underwater vehicle with onboard USBL system","authors":"Jian Gao, Changxin Liu, Yingxiang Wang","doi":"10.1109/OCEANS.2014.7002984","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7002984","url":null,"abstract":"The acoustic docking control problem is investigated for the fully-actuated autonomous underwater vehicle (AUV) equipped with the USBL transceiver, which provides the positions of the two transponders on the dock station. Similar to the image-based visual servo control technology, the dynamics of the transponders' positions is modeled with the AUV's linear and angular velocities as the control inputs. The docking control errors are defined with the coordinates of the transponders in the local body-fixed frame. The backstepping based adaptive control is utilized to ensure the docking errors to be asymptotically stable with feedback control and adaptation laws. The performances of the proposed docking control are examined by the simulation studies.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130506797","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 : 2014-09-01DOI: 10.1109/OCEANS.2014.7003214
Valentina Zeiger, S. Badri-Hoeher
A new approach for acoustic localization of a fixed subsea transponder using a surface vessel equipped with a transceiver and global positioning system (GPS) based on a modified Hough transform (MHT) is presented. The MHT developed in this work is used to determine the latitude and longitude coordinates of a transponder utilizing acoustic range and GPS data gathered by the surface vessel while traveling a particular route. Various survey scenarios for a single seabed transponder have been simulated and studied considering both, accurate and inaccurate ranging, as well as realistic conditions such as different route lengths and inexactly geometrical routes (inter alia ellipse-shaped routes). The MHT-based localization approach may particularly find use in the survey of long baseline transponders. The fixed seabed transponders are provided to enable exploration tasks by acoustic networking in various fields, from science and research covering the seas and oceans (e.g. oceanography, marine biology and geology) to industrial use (e.g. exploration of deep-sea resources and minerals, monitoring of offshore constructions). The simulation results demonstrate that the proposed approach can localize the transponder unambiguously and precisely for accurate ranging. Concerning the impact of uniform ranging uncertainties, e.g. arising from spatio-temporally coherent sound speed variations, it can be concluded that full circle and ellipse routes enable a precise estimate while half and quarter circle as well as ellipse routes enable a positioning accuracy within the millimeter range. In the presence of noisy range measurements, e.g. impacted by GPS errors, the approach can provide root mean squared errors from less than 5 mm to 5 m for ranging with a standard deviation of 7.5 mm and 7.5 m, respectively. The proposed positioning approach outperforms the least-squares estimation when shortened survey routes such as half and quarter ellipse are considered. These route forms accelerate the data gathering process, which are motivated by the reduction of the vessel time and cost for the transponder survey.
{"title":"A novel method for surface to subsea localization utilizing a modified hough transform","authors":"Valentina Zeiger, S. Badri-Hoeher","doi":"10.1109/OCEANS.2014.7003214","DOIUrl":"https://doi.org/10.1109/OCEANS.2014.7003214","url":null,"abstract":"A new approach for acoustic localization of a fixed subsea transponder using a surface vessel equipped with a transceiver and global positioning system (GPS) based on a modified Hough transform (MHT) is presented. The MHT developed in this work is used to determine the latitude and longitude coordinates of a transponder utilizing acoustic range and GPS data gathered by the surface vessel while traveling a particular route. Various survey scenarios for a single seabed transponder have been simulated and studied considering both, accurate and inaccurate ranging, as well as realistic conditions such as different route lengths and inexactly geometrical routes (inter alia ellipse-shaped routes). The MHT-based localization approach may particularly find use in the survey of long baseline transponders. The fixed seabed transponders are provided to enable exploration tasks by acoustic networking in various fields, from science and research covering the seas and oceans (e.g. oceanography, marine biology and geology) to industrial use (e.g. exploration of deep-sea resources and minerals, monitoring of offshore constructions). The simulation results demonstrate that the proposed approach can localize the transponder unambiguously and precisely for accurate ranging. Concerning the impact of uniform ranging uncertainties, e.g. arising from spatio-temporally coherent sound speed variations, it can be concluded that full circle and ellipse routes enable a precise estimate while half and quarter circle as well as ellipse routes enable a positioning accuracy within the millimeter range. In the presence of noisy range measurements, e.g. impacted by GPS errors, the approach can provide root mean squared errors from less than 5 mm to 5 m for ranging with a standard deviation of 7.5 mm and 7.5 m, respectively. The proposed positioning approach outperforms the least-squares estimation when shortened survey routes such as half and quarter ellipse are considered. These route forms accelerate the data gathering process, which are motivated by the reduction of the vessel time and cost for the transponder survey.","PeriodicalId":368693,"journal":{"name":"2014 Oceans - St. John's","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130544062","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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