Pub Date : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867408
J. Billant, Júlia Bozzinio, F. Leclerc, J. Escartín, N. Gracias, K. Istenič, A. Arnaubec, Rafael García
Geomorphological and geological studies of the seafloor benefit today from both ROV exploration and from acquisition of high resolution bathymetric data. Although both represent significant improvements to study submarine domains, the understanding of the studied objects is made more difficult than on land given the limited visual perception provided by the ROV camera due to the attenuation of light in the water and the need to use artificial illumination. Likewise, mapping can be performed using GIS software for digital elevation models and its derivatives (e.g. slope or shade raster), mostly in a 2D map view only. So, the submarine studies lack the field survey stage performed in classical onshore works that allows clear visualization and appreciation of the studied objects.Our aim is to develop a solution allowing the visualization of Digital Elevation Models (DEM) and 3D models derived from Structure-from-Motion (SfM) within a virtual reality environment, and to use these data for geomorphological and geological analysis. For this, we use an Oculus Rift headset, Touch controllers, and the Unity game engine, with GIS-like interaction capabilities.The free and open Unity package that we are developing allows, at this stage, data visualization and working at a 1:1 scale in a georeferenced system. The user can therefore move freely within a 3D immersive environment that includes custom topographic data. For quantitative observations, we develop tools (ruler, compass) allowing measurements similar to those performed during geomorphological or geological field work. We also add the possibility to map objects. Digitizing in 3D is achieved with a laser pointed towards the data, providing great precision. The user can thus create pseudo shapefiles using the same three graphic primitives, and that are compatible with standard GIS software. Beside these functionalities, we also implement a spatial user interface displaying help and information and a teleportation tool preventing motion sickness.The users that have tested this solution are enthusiastic and agree that it helps to better appreciate and understand the shape and geometry of the studied objects. It was also used to present and explain 3D models of outcrops to master students. Further developments will port the solution for other headsets, facilitate the data import (e.g., standard file formats for 3D objects and DEMs), create and manage of multiple layers of shapefiles, and include multiplayer online gaming capabilities to allow remote co-working with colleague(s) at other distant locations, or a whole classroom.
{"title":"Performing submarine field survey without scuba gear using GIS-like mapping in a Virtual Reality environment","authors":"J. Billant, Júlia Bozzinio, F. Leclerc, J. Escartín, N. Gracias, K. Istenič, A. Arnaubec, Rafael García","doi":"10.1109/OCEANSE.2019.8867408","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867408","url":null,"abstract":"Geomorphological and geological studies of the seafloor benefit today from both ROV exploration and from acquisition of high resolution bathymetric data. Although both represent significant improvements to study submarine domains, the understanding of the studied objects is made more difficult than on land given the limited visual perception provided by the ROV camera due to the attenuation of light in the water and the need to use artificial illumination. Likewise, mapping can be performed using GIS software for digital elevation models and its derivatives (e.g. slope or shade raster), mostly in a 2D map view only. So, the submarine studies lack the field survey stage performed in classical onshore works that allows clear visualization and appreciation of the studied objects.Our aim is to develop a solution allowing the visualization of Digital Elevation Models (DEM) and 3D models derived from Structure-from-Motion (SfM) within a virtual reality environment, and to use these data for geomorphological and geological analysis. For this, we use an Oculus Rift headset, Touch controllers, and the Unity game engine, with GIS-like interaction capabilities.The free and open Unity package that we are developing allows, at this stage, data visualization and working at a 1:1 scale in a georeferenced system. The user can therefore move freely within a 3D immersive environment that includes custom topographic data. For quantitative observations, we develop tools (ruler, compass) allowing measurements similar to those performed during geomorphological or geological field work. We also add the possibility to map objects. Digitizing in 3D is achieved with a laser pointed towards the data, providing great precision. The user can thus create pseudo shapefiles using the same three graphic primitives, and that are compatible with standard GIS software. Beside these functionalities, we also implement a spatial user interface displaying help and information and a teleportation tool preventing motion sickness.The users that have tested this solution are enthusiastic and agree that it helps to better appreciate and understand the shape and geometry of the studied objects. It was also used to present and explain 3D models of outcrops to master students. Further developments will port the solution for other headsets, facilitate the data import (e.g., standard file formats for 3D objects and DEMs), create and manage of multiple layers of shapefiles, and include multiplayer online gaming capabilities to allow remote co-working with colleague(s) at other distant locations, or a whole classroom.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"184 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124667044","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 : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867191
M. Bond, M. Kerber, M. Murphy, L. Hsu, D. Chadwick, Y. Arias-Thode
Microbial Fuel Cells (MFCs) are a promising solid-state generation source, ideally suited to the powering of energy efficient sensors in remote locations. Benthic MFCs operate in marine or riverine sediments, utilizing the sea floor as the membrane between anode and cathode environments. Due to its simple design, the benthic MFC is a renewable, low cost, long term means to supplement the energy demands of electronics systems operating on or near the seafloor.We developed a segmented and isolated MFC design electrically coupled to a flyback based energy harvesting with self-starting capability from 350 mV, continuous operation down to 150 mV, and a peak generator to storage efficiency of 82%.This design was demonstrated in open-ocean testing in a 200 meter array. The harvesting circuit covers the full life-cycle of the MFC’s operation without alteration of boost circuitry, ensuring consistent power and resiliency. This final printed circuit board has a footprint of 4 cm x 1 cm, allowing for integration or retrofit into existing circuitry. This self-starting electrically isolated energy harvester for MFC provides for the addition of renewable energy generation into existing systems. This data will be presented at the conference.
{"title":"Electrically Isolated Energy Harvesting","authors":"M. Bond, M. Kerber, M. Murphy, L. Hsu, D. Chadwick, Y. Arias-Thode","doi":"10.1109/OCEANSE.2019.8867191","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867191","url":null,"abstract":"Microbial Fuel Cells (MFCs) are a promising solid-state generation source, ideally suited to the powering of energy efficient sensors in remote locations. Benthic MFCs operate in marine or riverine sediments, utilizing the sea floor as the membrane between anode and cathode environments. Due to its simple design, the benthic MFC is a renewable, low cost, long term means to supplement the energy demands of electronics systems operating on or near the seafloor.We developed a segmented and isolated MFC design electrically coupled to a flyback based energy harvesting with self-starting capability from 350 mV, continuous operation down to 150 mV, and a peak generator to storage efficiency of 82%.This design was demonstrated in open-ocean testing in a 200 meter array. The harvesting circuit covers the full life-cycle of the MFC’s operation without alteration of boost circuitry, ensuring consistent power and resiliency. This final printed circuit board has a footprint of 4 cm x 1 cm, allowing for integration or retrofit into existing circuitry. This self-starting electrically isolated energy harvester for MFC provides for the addition of renewable energy generation into existing systems. This data will be presented at the conference.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115545939","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 : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867128
Z. Ye, T.C. Yang
Coprime Sensor Array (CSA) has received a lot of attentions recently due to "coprime" nature of the array configuration, which yields a high resolution using product processing with fewer sensors, similar to that of a uniform liner array (ULA) of a larger aperture using conventional beamforming (CBF), with more sensors. Compared with the ULA, CSA yield higher sidelobes and less detection gain. This paper applies CBF to the CSA and then deconvolution to the CBF beam output, referred to as deconvolved CBF. Simulation results show that deconvolved CBF yields a higher resolution, higher gain and lower sidelobes than the product processing and its extensions.
{"title":"Deconvolved Conventional Beamforming for a Coprime Array","authors":"Z. Ye, T.C. Yang","doi":"10.1109/OCEANSE.2019.8867128","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867128","url":null,"abstract":"Coprime Sensor Array (CSA) has received a lot of attentions recently due to \"coprime\" nature of the array configuration, which yields a high resolution using product processing with fewer sensors, similar to that of a uniform liner array (ULA) of a larger aperture using conventional beamforming (CBF), with more sensors. Compared with the ULA, CSA yield higher sidelobes and less detection gain. This paper applies CBF to the CSA and then deconvolution to the CBF beam output, referred to as deconvolved CBF. Simulation results show that deconvolved CBF yields a higher resolution, higher gain and lower sidelobes than the product processing and its extensions.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114562132","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 : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867172
Pedro Merino Laso, David Brosset, Marie-Annick Giraud
Nowadays, USVs (Unmanned Surface Vehicles) are an important research field in cyber-physical systems. They realise normal and new missions reducing costs and risks. Multiple applications have been identified as port surveillance, search & rescue or environmental monitoring. Due to particularities, USVs require adapted HCI (Human-Computer Interaction) for mission planning, surveillance for autonomous functioning and distant control. Sea4M project looks for a novel architecture to command and control USV fleets taking into account all commandment chain. This interface demands role-based adaptation and to respond to heterogeneous embedded systems. Also, users are not always familiar with nautical navigation so, Sea4M implements a user-friendly interface to smooth the learning curve. In this paper, we present the development of a novel HCI that responds to these needs and its validation process.
{"title":"Monitor and Control Human-Computer Interface for Unmanned Surface Vehicle Fleets","authors":"Pedro Merino Laso, David Brosset, Marie-Annick Giraud","doi":"10.1109/OCEANSE.2019.8867172","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867172","url":null,"abstract":"Nowadays, USVs (Unmanned Surface Vehicles) are an important research field in cyber-physical systems. They realise normal and new missions reducing costs and risks. Multiple applications have been identified as port surveillance, search & rescue or environmental monitoring. Due to particularities, USVs require adapted HCI (Human-Computer Interaction) for mission planning, surveillance for autonomous functioning and distant control. Sea4M project looks for a novel architecture to command and control USV fleets taking into account all commandment chain. This interface demands role-based adaptation and to respond to heterogeneous embedded systems. Also, users are not always familiar with nautical navigation so, Sea4M implements a user-friendly interface to smooth the learning curve. In this paper, we present the development of a novel HCI that responds to these needs and its validation process.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"58 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120915977","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 : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867404
Fu-Hsuan Hsu, Jiahn-Horng Chen, J. Tsai
A new concept of wave energy extraction which combines an open caisson and a wave energy converter (WEC) is under development. Harbor resonance inside the caisson provides a possible way to amplify wave energy for WEC’s operating in regions of medium wave energy density. In the present paper, we conducted an experimental study on the amplification effect for a cylindrical caisson with an opening. The parameters in the study include the wave incident angle, wave period, and caisson opening angle. Two different caissons were designed for the present study. One is with a pair of wave guides mounted on both edges of caisson opening. The shape is a part of circular cylinder. The other one is without the guides. The experimental results show that the wave inside the caisson can be significantly amplified. The amplification factor, defined as the ratio of wave height inside the caisson to that of the incident wave, can reach up to 2 for some particular wave periods. The effect of the wave guide is also significant.
{"title":"An Experimental Study of Wave Amplification Inside an Open Caisson for Harnessing Wave Energy","authors":"Fu-Hsuan Hsu, Jiahn-Horng Chen, J. Tsai","doi":"10.1109/OCEANSE.2019.8867404","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867404","url":null,"abstract":"A new concept of wave energy extraction which combines an open caisson and a wave energy converter (WEC) is under development. Harbor resonance inside the caisson provides a possible way to amplify wave energy for WEC’s operating in regions of medium wave energy density. In the present paper, we conducted an experimental study on the amplification effect for a cylindrical caisson with an opening. The parameters in the study include the wave incident angle, wave period, and caisson opening angle. Two different caissons were designed for the present study. One is with a pair of wave guides mounted on both edges of caisson opening. The shape is a part of circular cylinder. The other one is without the guides. The experimental results show that the wave inside the caisson can be significantly amplified. The amplification factor, defined as the ratio of wave height inside the caisson to that of the incident wave, can reach up to 2 for some particular wave periods. The effect of the wave guide is also significant.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"257 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132683654","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 : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867262
Elizaveta Dubrovinskaya, P. Casari
We present a scheme to estimate the direction of arrival of acoustic signals reflected by underwater targets using wideband hydrophone arrays of opportunity. Such arrays may be obtained by arranging together multiple smaller sub-arrays that were originally designed to work independently. The array of opportunity that results may be subject to practical mounting limitations, hence the typical constraint that closest array elements should not be spaced more than one half-wavelength may not be upheld. In these conditions, the array is affected by spatial ambiguity.Our proposed scheme solves this issue by fusing direction-of-arrival information with side information on the estimated target location (obtained via multilateration). This makes it possible to eliminate most of the ambiguity, and yields accurate direction-of-arrival estimates. Our simulation results show that our scheme achieves satisfactory direction of arrival estimation and localization results. Moreover, even by relying on arrays of opportunity, we can outperform classical direction-of-arrival algorithms applied to larger arrays with half-wavelength spacing design.
{"title":"Underwater Direction of Arrival Estimation using Wideband Arrays of Opportunity","authors":"Elizaveta Dubrovinskaya, P. Casari","doi":"10.1109/OCEANSE.2019.8867262","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867262","url":null,"abstract":"We present a scheme to estimate the direction of arrival of acoustic signals reflected by underwater targets using wideband hydrophone arrays of opportunity. Such arrays may be obtained by arranging together multiple smaller sub-arrays that were originally designed to work independently. The array of opportunity that results may be subject to practical mounting limitations, hence the typical constraint that closest array elements should not be spaced more than one half-wavelength may not be upheld. In these conditions, the array is affected by spatial ambiguity.Our proposed scheme solves this issue by fusing direction-of-arrival information with side information on the estimated target location (obtained via multilateration). This makes it possible to eliminate most of the ambiguity, and yields accurate direction-of-arrival estimates. Our simulation results show that our scheme achieves satisfactory direction of arrival estimation and localization results. Moreover, even by relying on arrays of opportunity, we can outperform classical direction-of-arrival algorithms applied to larger arrays with half-wavelength spacing design.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132932409","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 : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867315
Matteo Franchi, A. Ridolfi, Leonardo Zacchini, B. Allotta
Autonomous Underwater Vehicles (AUVs) need safe and reliable navigation systems in order to perform the required tasks. Unfortunately, it is well known that the Global Positioning System (GPS) cannot be exploited during underwater missions. As a consequence, the real-time position of the AUV is usually obtained by means of recursive navigation filters such as Kalman Filter (KF), Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) or dead reckoning techniques where direct speed measurements are usually provided by specialized underwater sensors such as the Doppler Velocity Log (DVL). The final aim of this work is to propose an underwater navigation solution where the AUV is able to safely navigate without the need of a DVL. In particular, linear speed estimations are obtained from a Forward-Looking SONAR (FLS) or, in its absence, exploiting a simple dynamic model. The proposed solution is validated making use of data obtained during test at sea performed in La Spezia (Italy).
{"title":"Experimental Evaluation of a Forward-Looking Sonar-Based System for Acoustic Odometry","authors":"Matteo Franchi, A. Ridolfi, Leonardo Zacchini, B. Allotta","doi":"10.1109/OCEANSE.2019.8867315","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867315","url":null,"abstract":"Autonomous Underwater Vehicles (AUVs) need safe and reliable navigation systems in order to perform the required tasks. Unfortunately, it is well known that the Global Positioning System (GPS) cannot be exploited during underwater missions. As a consequence, the real-time position of the AUV is usually obtained by means of recursive navigation filters such as Kalman Filter (KF), Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) or dead reckoning techniques where direct speed measurements are usually provided by specialized underwater sensors such as the Doppler Velocity Log (DVL). The final aim of this work is to propose an underwater navigation solution where the AUV is able to safely navigate without the need of a DVL. In particular, linear speed estimations are obtained from a Forward-Looking SONAR (FLS) or, in its absence, exploiting a simple dynamic model. The proposed solution is validated making use of data obtained during test at sea performed in La Spezia (Italy).","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133472520","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 : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867060
Zeyu Li, Weidong Liu, Li-e Gao, Le Li
Challenges in ocean environment bring complexities for AUV docking, including ocean currents, obstacles and geometrical constraints. This paper proposed an evolutionary- based method, to optimize the docking path. First, the ocean environment and constraints are analysed and modelled. Next, the control points are designed to satisfy the model constraints. Then, the adaptive law and mutation operator are introduced in Particle Swarm Optimization (PSO), to achieve the global time- optimization. Finally, the proposed approach is evaluated via Monte-Carlo trials, which demonstrates a significant improvement with respect to the state-of-the-art approaches.
{"title":"A time-optimal path planning method for AUV docking under geometrical constraints","authors":"Zeyu Li, Weidong Liu, Li-e Gao, Le Li","doi":"10.1109/OCEANSE.2019.8867060","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867060","url":null,"abstract":"Challenges in ocean environment bring complexities for AUV docking, including ocean currents, obstacles and geometrical constraints. This paper proposed an evolutionary- based method, to optimize the docking path. First, the ocean environment and constraints are analysed and modelled. Next, the control points are designed to satisfy the model constraints. Then, the adaptive law and mutation operator are introduced in Particle Swarm Optimization (PSO), to achieve the global time- optimization. Finally, the proposed approach is evaluated via Monte-Carlo trials, which demonstrates a significant improvement with respect to the state-of-the-art approaches.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125556522","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}
This paper presents an improved localization approach in heavy sea bottom reverberation, in active detection. The mathematical model of fractional Fourier transform(FrFT) on underwater acoustic data is derived and thereby ocean reverberation suppression mechanism is achieved. And the approach of sparse target spatial spectral estimation in fractional Fourier(FrF) domain based on singular value decomposition(SVD) is proposed. An experiment was conducted in heavy sea bottom reverberation, and the results of direction of arrival(DOA) estimation fully demonstrate the improved localization performance in the presence of heavy sea bottom reverberation by proposed method.
{"title":"Sparse DOA Estimation in Heavy Ocean Reverberation in Fractional Fourier Domain","authors":"Yunchao Zhu, Kunde Yang, Feiyun Wu, Runze Xue, Xingyue Zhou, Chunlong Huang","doi":"10.1109/OCEANSE.2019.8867387","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867387","url":null,"abstract":"This paper presents an improved localization approach in heavy sea bottom reverberation, in active detection. The mathematical model of fractional Fourier transform(FrFT) on underwater acoustic data is derived and thereby ocean reverberation suppression mechanism is achieved. And the approach of sparse target spatial spectral estimation in fractional Fourier(FrF) domain based on singular value decomposition(SVD) is proposed. An experiment was conducted in heavy sea bottom reverberation, and the results of direction of arrival(DOA) estimation fully demonstrate the improved localization performance in the presence of heavy sea bottom reverberation by proposed method.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129589015","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 : 2019-06-17DOI: 10.1109/OCEANSE.2019.8867481
Umesh Neettiyath, B. Thornton, M. Sangekar, Yuya Nishida, K. Ishii, Takumi Sato, A. Bodenmann, T. Ura
A method for estimating the volumetric distribution of Cobalt-rich Manganese Crusts (Mn-crusts) by combining multi modal sensor data collected using an Autonomous Underwater Vehicle (AUV) is described. The AUV calculates the thickness of Mn-crusts using a sub-bottom sonar and generates a 3D colour reconstruction of the seafloor using a light sectioning mapping system. The 3D map is classified into one of the 3 types of seafloor - crusts, sediments and nodules, using a machine learning classifier. The thickness measurements are made along a seafloor transect whereas the 3D maps have a width of ~1.5 m, depending on the AUV altitude. The thickness measurement is then extrapolated to areas not scanned by the sonar, by defining an area of influence which is the area over which the thickness of the Mn-crust is not expected to change significantly. Estimates for percentage coverage of the Mn-crust and mass of Mn-crust per unit area are determined along the AUV transect based on the extrapolated thickness. This method provides a novel approach to estimate the distribution of Mn-crusts over large areas.
{"title":"An AUV Based Method for Estimating Hectare-scale Distributions of Deep Sea Cobalt-rich Manganese Crust Deposits","authors":"Umesh Neettiyath, B. Thornton, M. Sangekar, Yuya Nishida, K. Ishii, Takumi Sato, A. Bodenmann, T. Ura","doi":"10.1109/OCEANSE.2019.8867481","DOIUrl":"https://doi.org/10.1109/OCEANSE.2019.8867481","url":null,"abstract":"A method for estimating the volumetric distribution of Cobalt-rich Manganese Crusts (Mn-crusts) by combining multi modal sensor data collected using an Autonomous Underwater Vehicle (AUV) is described. The AUV calculates the thickness of Mn-crusts using a sub-bottom sonar and generates a 3D colour reconstruction of the seafloor using a light sectioning mapping system. The 3D map is classified into one of the 3 types of seafloor - crusts, sediments and nodules, using a machine learning classifier. The thickness measurements are made along a seafloor transect whereas the 3D maps have a width of ~1.5 m, depending on the AUV altitude. The thickness measurement is then extrapolated to areas not scanned by the sonar, by defining an area of influence which is the area over which the thickness of the Mn-crust is not expected to change significantly. Estimates for percentage coverage of the Mn-crust and mass of Mn-crust per unit area are determined along the AUV transect based on the extrapolated thickness. This method provides a novel approach to estimate the distribution of Mn-crusts over large areas.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126008376","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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