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Experimental investigation of oceanic ambient noise generated by typhoon in deep ocean 深海台风产生海洋环境噪声的实验研究
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867205
Qiulong Yang, Kunde Yang, Chunlong Huang, Yukun Zhang, Xingyue Zhou, Runze Xue, Hong Liu
Typhoons Soulik and Nida passed by receivers during ambient noise measurement in deep ocean in WP2013 and SCS2016. When the typhoons were quite close to the receivers, the noise levels increased and exceeded 10 dB. In this study, the moment when a typhoon is closest to receivers is chosen as the breakpoint, and the measured ambient noises are divided into those before and after the typhoon. Linear regression is conducted to analyze the relationships between noise levels and the local wind speed (WS) and air pressure, significant wave height (SWH) during a typhoon period. A linear relationship occurs between noise levels and the logarithm of WS, between noise levels and the logarithm of SWH, and between noise levels and the logarithm of air pressure. The slope before a typhoon is less than that after a typhoon due to the contamination of distant noise sources. The noise levels during a typhoon period can be formulated with the local WS or SWH in deep ocean and were 5 dB less those of Wenz curves at the same wind force. It is deduced that the sea condition during typhoon period did not developed completely at the same wind force compared with that in Wenz curves.
在WP2013和SCS2016的深海环境噪声测量中,台风“苏力克”和“妮达”通过接收器。当台风非常接近接收器时,噪音水平增加并超过10分贝。本研究选取台风离接收机最近的时刻作为断点,将测得的环境噪声分为台风前和台风后的环境噪声。利用线性回归分析了台风期间噪声水平与局地风速、气压、有效波高的关系。噪声级与WS的对数、噪声级与SWH的对数、以及噪声级与气压的对数之间存在线性关系。由于远处噪声源的污染,台风前的坡度小于台风后的坡度。台风期间的噪声声级可以用局地WS或深海SWH来表示,在相同风力下比Wenz曲线低5 dB。推断台风期间的海况与温兹曲线在相同风力条件下发展不完全。
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引用次数: 1
Fast Classification and Detection of Marine Targets in Complex Scenes with YOLOv3 基于YOLOv3的复杂场景下海洋目标快速分类与检测
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867137
Tingchao Shi, Mingyong Liu, Yang Yang, Sainan Li, Peixin Wang, Yuxuan Huang
In order to meet the needs of fast detection and classification of different marine targets during intelligent unmanned surface vehicle (USV) operations, In this paper, I introduce a convolutional neural network based on one of the most effective object detection algorithms, named YOLOv3, to classify and detect images of different marine targets. Firstly, I showed the network structure of the algorithm in this paper. Then, I explained how I got the optimal anchor box parameter of the algorithm. Finally, I improved the activation function to make the algorithm more robust to noise. The final results show that the MAP of the detector in this paper is 91.83%,and we reach a detection rate of 58.3 fps by improving the YOLOV3 algorithm.
为了满足智能无人水面车辆(USV)作战过程中对不同海洋目标的快速检测和分类需求,本文基于目前最有效的目标检测算法之一YOLOv3,引入卷积神经网络对不同海洋目标图像进行分类和检测。首先,本文给出了算法的网络结构。然后,我解释了如何得到算法的最优锚盒参数。最后,我改进了激活函数,使算法对噪声具有更强的鲁棒性。最终结果表明,本文探测器的MAP为91.83%,通过改进YOLOV3算法达到58.3 fps的检测率。
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引用次数: 4
Applying AADL to realize embedded control systems for coordination of multiple low-cost underwater drones 应用AADL实现多台低成本水下无人潜航器协同的嵌入式控制系统
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867198
H. Pham, T. Soriano, V. Ngo
The goal of this study is to realize a component architecture of embedded control systems for coordination of UUV based on a Model Driven Engineering approach. We firstly have studied in end-to-end flow latency and faults for an embedded system of UUV in scenario-case coordinated control of multiple UUVs. A basic declarative model and its instance are then implemented to illustrate a scheduling analysis of the system instance. The abstraction of the complex embedded system is represented in consideration of AADL system, process, and device components. Following on this representation, the run-time composition of all elements, allocate software to hardware resources, and assign values to properties of the elements are detailed for analyzing and creating an instance of coordination system. Specially, it is taken into account for inspecting and developing a controller of low-cost underwater drone such as BlueROV, an open-source platform for a research prototype and educational purposes.
本研究的目标是基于模型驱动工程的方法,实现嵌入式无人潜航器协调控制系统的组件架构。我们首先研究了嵌入式UUV系统在多UUV场景-案例协同控制中的端到端流延迟和故障。然后实现一个基本的声明性模型及其实例,以说明系统实例的调度分析。从AADL系统、过程和器件组件三个方面对复杂嵌入式系统进行了抽象。在此表示之后,所有元素的运行时组合,将软件分配到硬件资源,并将值分配给元素的属性,这些都是用于分析和创建协调系统实例的详细信息。特别是考虑到检查和开发低成本水下无人机的控制器,如BlueROV,一个用于研究原型和教育目的的开源平台。
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引用次数: 3
An Interference Cancellation Approach for MIMO Orthogonal Signal-Division Multiplexing in Time-Varying Channels 时变信道中MIMO正交信分复用的干扰消除方法
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867407
J. Ribeiro, J. Gomes, R. Dinis
This work aims to explore Orthogonal Signal-Division Multiplexing, an existing modulation format that was recently introduced in underwater communications [1], [2], [3], with flexible spectrum management and relatively simple equalization techniques. The matrix interpretation of the modulation allows a turbo like receiver to be implemented. A MIMO extension based on interference cancellation is developed to increase the spectral efficiency of the system. The effectiveness of MIMO OSDM is studied here through simulation, to characterize the efficiency of the link as a function of the time-frequency partitioning, as well as the impact of several parameters that control the iterative decoding process at the receiver.
本工作旨在探索正交信分复用,这是一种最近在水下通信中引入的现有调制格式[1],[2],[3],具有灵活的频谱管理和相对简单的均衡技术。调制的矩阵解释允许实现类似涡轮的接收器。为了提高系统的频谱效率,提出了一种基于干扰抵消的MIMO扩展方案。本文通过仿真研究了MIMO OSDM的有效性,将链路的效率描述为时频划分的函数,以及控制接收端迭代解码过程的几个参数的影响。
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引用次数: 1
Effects of viscosity and nonlinearity on 3D flapping-foil thruster for marine applications 粘性和非线性对船舶用三维扑翼型推进器的影响
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867084
G. Papadakis, E. Filippas, D. Ntouras, K. Belibassakis
The present work focuses on the influence of viscosity, nonlinearities and 3D effects on the predicted performance of a submerged flapping wing. The computational tools used for the numerical investigation consist of in house computational fluid dynamics (CFD) and potential flow solvers. Numerical calculations obtained by both methods are presented over a range of motion parameters and compared against other methods and experimental data. Our analysis enlightens the importance of viscous, nonlinear and 3D effects to the operation of flapping foils. Additionally, a direct comparison between a CFD and a BEM solver is made highlighting the advantages and limitations of each method. The present methods could serve as useful tools for the assessment, preliminary design and control of the studied system for marine propulsion.
本文主要研究了粘性、非线性和三维效应对水下扑翼性能预测的影响。用于数值研究的计算工具包括内部计算流体动力学(CFD)和势流求解器。给出了两种方法在运动参数范围内的数值计算结果,并与其他方法和实验数据进行了比较。本文的分析揭示了粘滞效应、非线性效应和三维效应对扑翼工作的重要性。此外,还对CFD和边界元法进行了比较,突出了每种方法的优点和局限性。该方法可为舰船推进系统的评估、初步设计和控制提供有用的工具。
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引用次数: 8
Two-Stage Self-Interference Cancellation for Full-Duplex Underwater Acoustic Systems 全双工水声系统的两级自干扰消除
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867539
Lu Shen, B. Henson, Y. Zakharov, P. Mitchell
Underwater acoustic (UWA) communication suffers from the limited available bandwidth of acoustic links. We consider in-band full-duplex (FD) communication in UWA channels, which has the potential of doubling the channel capacity. The key challenge of FD operation is the strong self-interference (SI) introduced by the near-end transmission. For a time-invariant UWA channel, the SI can be efficiently cancelled using an adaptive filter. In practice, the time-varying reflections particularly introduced by the moving sea surface limit the cancellation performance. In this paper, we propose a two-stage SI cancellation scheme with a transceiver structure comprising one projector and two hydrophones. In the first stage, the stable SI path from each hydrophone is cancelled using a digital canceller based on the recursive least-squares (RLS) algorithm with dichotomous coordinate descent (DCD) iterations. In the second stage, the scheme tries to cancel the residual SI using an RLS-DCD-based adaptive beamformer. The beamformer combines the residual signals at the hydrophones in such a way to minimize the final residual SI. The cancellation performance of the proposed scheme is investigated using the Waymark simulator and with lake experiments. As demonstrated by the simulation results, the SI can be efficiently cancelled with the proposed two-stage SI cancellation scheme. The experimental results also demonstrate the capability of the adaptive beamformer in reducing the residual SI after digital cancellation.
水声通信受到水声链路可用带宽有限的限制。我们考虑了UWA信道中带内全双工(FD)通信,它具有使信道容量翻倍的潜力。FD操作的主要挑战是近端传输带来的强自干扰(SI)。对于时不变UWA信道,可以使用自适应滤波器有效地抵消SI。在实际应用中,时变反射特别是海面移动引起的时变反射限制了对消性能。在本文中,我们提出了一个由一个投影仪和两个水听器组成的收发器结构的两阶段SI抵消方案。在第一阶段,使用基于递归最小二乘(RLS)算法和二分类坐标下降(DCD)迭代的数字消去器对每个水听器的稳定SI路径进行消去。在第二阶段,该方案尝试使用基于rls - dcd的自适应波束形成器来消除残余SI。波束形成器以这样一种方式将水听器处的残余信号组合在一起,以最小化最终的残余SI。利用Waymark模拟器和湖泊实验对该方案的消去性能进行了研究。仿真结果表明,所提出的两阶段干扰抵消方案能够有效地消除干扰。实验结果还证明了自适应波束形成器在减少数字对消后的残余SI方面的能力。
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引用次数: 8
Statistical Shipping Noise Characterization and Mitigation for Underwater Acoustic Communications 水声通信中船舶噪声的统计特性和抑制
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867520
Lazar Atanackovic, Ruoyu Zhang, L. Lampe, R. Diamant
Achieving high data rate robust communication in shallow and harbour underwater acoustic (UA) environments can be a demanding challenge in the presence of shipping noise. Noise generated from nearby passing ships can lead to impulsive agitations which impair UA communication systems. Utilizing the assumption that impulse noise exhibits sparsity, we realize a compressed sensing (CS) based framework for noise estimation exploiting the pilot sub-carriers of UA orthogonal frequency-division modulation systems. Under the CS framework, we propose the use of a empirical Bayesian approach which first characterizes the statistical properties of shipping noise prior to conceiving an estimate. In addition, we invoke the K-SVD algorithm for dictionary learning. K-SVD iteratively forms a sparse representation for the class of shipping noise signals, which is later used for noise estimation. Numerical results show that the empirical Bayesian based signal recovery algorithm yields the best performance for interference estimation.
在船舶噪声存在的情况下,在浅水和港口水声(UA)环境中实现高数据速率的鲁棒通信可能是一项艰巨的挑战。附近过往船只产生的噪声会导致脉冲扰动,从而损害UA通信系统。基于脉冲噪声具有稀疏性的假设,利用UA正交频分调制系统的导频子载波,实现了一种基于压缩感知的噪声估计框架。在CS框架下,我们建议使用经验贝叶斯方法,该方法首先表征航运噪声的统计特性,然后再进行估计。此外,我们调用K-SVD算法进行字典学习。K-SVD迭代地形成一类船舶噪声信号的稀疏表示,随后用于噪声估计。数值结果表明,基于经验贝叶斯的信号恢复算法对干扰估计的效果最好。
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引用次数: 4
Doppler Difference Aided Long Baseline Navigation for a Fast-Moving Underwater Vehicle 多普勒差分辅助快速移动水下航行器的长基线导航
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867495
Yongqing Wu, Xiaochuan Ma, Shefeng Yan, Dongyu Yuan, Jilong Li, Youming Li
Underwater navigation that relies solely on dead reckoning suffers from unbounded position error growth. In traditional positioning method based on TDOA, usual interference from multipath reflections and background noise lead to the choice of some fault correlation peaks and low SNR. In the paper, the combination of LBL and Doppler difference of an AUV will be expected to enable survey accuracy at any water depth where the position of an underwater acoustic transmitter equipped on the moving platform can be determined. And based on pattern time delay shift coding pulse, frequency estimation of Doppler shift in LBL method could be described with Doppler effects from AUV moving. Thus, with the intersection of two contours of Doppler difference, the positioning solution of AUV and the relative trial results could be finished and verified.
单纯依靠航位推算的水下导航存在无界的位置误差增长。传统的基于TDOA的定位方法中,由于多径反射和背景噪声的干扰,通常会选择一些故障相关峰,信噪比较低。在本文中,水下航行器的LBL和多普勒差的结合将有望实现在任何水深的测量精度,并且可以确定安装在移动平台上的水声发射机的位置。基于模式时延漂移编码脉冲,LBL方法的多普勒频移估计可以用水下机器人运动的多普勒效应来描述。这样,通过多普勒差分两条等值线的相交,就可以完成并验证水下航行器的定位解和相关的试验结果。
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引用次数: 0
A Fault Diagnosis Method for INS/DVL/USBL Integrated Navigation System Based on Support Vector Regression 基于支持向量回归的INS/DVL/USBL组合导航系统故障诊断方法
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867427
Jing Liu, Yanhui Wei, Shenggong Hao
For the problem of fault subsystem identification in INS/DVL/USBL integrated navigation system, a fault diagnosis method based on SVR for INS/DVL/USBL integrated navigation system is proposed to improve the reliability of underwater robot integrated navigation system. The method firstly realizes the fault diagnosis of the integrated navigation system by the residual test method, but the traditional residual test method can only detect the fault and cannot accurately identify the fault subsystem. Therefore, a regression prediction model based on support vector machine is constructed to predict the state of the inertial navigation system. The fault diagnosis of the inertial navigation is assisted according to the difference between the output of the system model and the output of the prediction model, so as to identify the fault source of the system. Simulation experiments show that the method can diagnose the fault subsystem quickly and accurately. Through fault isolation and system reconstruction, the accuracy of the navigation system can be guaranteed, and the reliability and anti-interference of the integrated navigation system can be improved.
针对INS/DVL/USBL组合导航系统故障分系统识别问题,提出了一种基于SVR的INS/DVL/USBL组合导航系统故障诊断方法,以提高水下机器人组合导航系统的可靠性。该方法首先通过残差测试方法实现了综合导航系统的故障诊断,但传统的残差测试方法只能检测故障,不能准确识别故障子系统。为此,构建了基于支持向量机的回归预测模型来预测惯性导航系统的状态。根据系统模型输出与预测模型输出的差异,辅助惯性导航的故障诊断,从而识别系统的故障源。仿真实验表明,该方法能够快速准确地诊断出故障子系统。通过故障隔离和系统重构,可以保证导航系统的精度,提高组合导航系统的可靠性和抗干扰性。
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引用次数: 4
Improved Fish Tagging Technology : Field Test Results and Analysis 改进的鱼类标记技术:现场测试结果和分析
Pub Date : 2019-06-17 DOI: 10.1109/OCEANSE.2019.8867259
Hyunju Blemel, A. Bennett, Silas Hughes, Kathleen Wienhold, Thomas Flanigan, M. Lutcavage, C. Lam, Clayward Tam
Conventional tagging methods using plastic streamer ID tags have been the most widely used tool for elucidating fish movements in the last half century. However, this universal method for fish tagging is not optimal for tracking global fish populations because it requires fishermen to log details of each catch while they are also attempting to perform all of their usual at-sea activities. Under the current method, fishermen are asked to remember the time and location of the catch, in addition to its size, weight, and condition of the fish and then record it on a data card or similar. The potentially long delay between the recapture event when a previously tagged fish is caught and the associated data entry creates a barrier to accurate data collection and may result in poor data logging. Building on the work of the Olin College of Engineering Intelligent Vehicles Laboratory, Point Road Solutions, LLC (PRS), in partnership with The Large Pelagics Research Center (LPRC) and the Pacific Islands Fisheries Group (PIFC), the research team has been developing a more streamlined, automated method for fisherman to submit data from fish tags while at sea.In the new process, a fish is tagged with a modified streamer tag carrying a rice grain radio-frequency identification (RFID), chip. A fisherman would scan the tag at or near the time of capture with a compatible RFID reader, which will transmit the fish’s tag information to a personal smartphone pre-installed with our reporting application (Hawaii, or "HI", Tag App). The application then appends the tag ID with information such as location, date and time from the phone. Initial tests conducted off the island of Hawaii (Summer 2016) demonstrated that the HI Tag application greatly improved the process of fish tagging and reporting when compared to the current manual data logging method. However, during the 2017 sea trials the HI Tag required extensive interaction with a phone or tablet to properly function. This was deemed inappropriate by the fishermen who asked for a simpler, more streamlined process which was compatible with the kind of environment and work flow found on a fishing vessel at sea. PRS therefore constructed a custom-designed RFID reader with an integrated camera and Bluetooth, designed for use in the kind of challenging environments found on a small working fishing vessels. With this addition, fishermen could scan a tag and image a fish without ever touching their phone or tablet. The RFID information and photo would be automatically transmitted to the phone or tablet via Bluetooth and then associated with time, date and location data on the phone. We tested the improved device off Kona-Kailua, Hawaii, in the summer of 2018 during what turned out to be one of the most prolific Yellowfin fishing periods in living memory. The team then conducted a post-mission interview and debriefing with the local fishermen to determine what aspects of the new generation tagging system were improved and wh
在过去的半个世纪里,使用塑料飘带ID标签的传统标记方法一直是阐明鱼类运动的最广泛使用的工具。然而,这种通用的鱼类标记方法并不是追踪全球鱼类种群的最佳方法,因为它要求渔民在进行所有日常海上活动的同时,记录每次捕获的详细信息。根据目前的方法,渔民被要求记住捕获的时间和地点,以及鱼的大小、重量和状况,然后将其记录在数据卡或类似的东西上。当捕获先前标记的鱼时,从重新捕获事件到相关数据输入之间可能存在很长的延迟,这对准确的数据收集造成了障碍,并可能导致数据记录不佳。在奥林工程学院智能车辆实验室、Point Road Solutions, LLC (PRS)与大型远洋研究中心(LPRC)和太平洋岛屿渔业集团(PIFC)合作的基础上,研究团队一直在开发一种更精简、自动化的方法,供渔民在海上提交鱼类标签数据。在这个新过程中,一条鱼被一个改良的带有米粒射频识别(RFID)芯片的飘带标签所标记。渔民将在捕获时或接近捕获时使用兼容的RFID读取器扫描标签,该读取器将鱼的标签信息传输到预装了我们的报告应用程序(夏威夷,或“HI”,标签应用程序)的个人智能手机上。然后,应用程序将标签ID附加到手机的位置、日期和时间等信息。在夏威夷岛(2016年夏季)进行的初步测试表明,与目前的手动数据记录方法相比,HI Tag应用程序大大改善了鱼类标记和报告的过程。然而,在2017年海试期间,HI Tag需要与手机或平板电脑进行广泛的互动才能正常工作。渔民们认为这是不合适的,他们要求一个更简单、更精简的程序,以适应海上渔船的环境和工作流程。因此,PRS建造了一个定制的RFID读取器,集成了摄像头和蓝牙,专为小型渔船的挑战性环境而设计。有了这个功能,渔民可以扫描一个标签,在不碰手机或平板电脑的情况下给鱼拍照。RFID信息和照片将通过蓝牙自动传输到手机或平板电脑上,然后与手机上的时间、日期和位置数据相关联。我们于2018年夏天在夏威夷科纳-凯卢阿附近测试了改进后的设备,当时是人们记忆中最多产的黄鳍鱼捕捞期之一。小组随后与当地渔民进行了任务后的面谈和汇报,以确定新一代标签系统的哪些方面得到了改进,哪些方面没有达到预期的效用。这些反馈导致了一个最终的设计,作者认为它是“完整的”、功能齐全的,可以进行更广泛的分发和应用。
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引用次数: 4
期刊
OCEANS 2019 - Marseille
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