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Energy Efficient Self-Steering Mechanism for an Autonomous Sailing Vessel 自主帆船的节能自转向机构
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867310
Dhomé Ulysse, Rolleberg Niklas, Kuttenkeuler Jakob
This paper presents the development and experimental evaluation of a self-steering mechanism for an autonomous sailing vessel. The steering mechanism is designed and tailored to relief the commonly used electro-mechanical steering during majority of the mission by the use of pure mechanical coupling between the self-trimming rig and the rudder. This significantly reduces the need for electric power for steering at constant apparent wind angle. Added to the steering, a two-layer navigation system is proposed for path-planning and navigation with algorithms tailored for low-power, low-memory microcontroller. We present experimental results from a total of 19 days of autonomous sailing in Stockholm’s Archipelago. The experiments enabled us to compare the sailing performance with both active and self-steering systems for different apparent wind angles. On average, the active steering keeps a heading within ±5.1◦ of the target while the self-steering is able to maintain the heading within ±8.1◦ of the target. Another conclusion that can be drawn is that the apparent wind angle doesn’t influence the steering performance.
本文介绍了一种用于自主航行船舶的自转向机构的研制和实验评估。转向机构的设计和定制,以缓解在大多数任务中常用的机电转向,利用自修边装置和舵之间的纯机械耦合。这大大减少了在恒定视风角下转向所需的电力。除了转向之外,还提出了一种两层导航系统,用于路径规划和导航,该系统采用针对低功耗、低内存微控制器量身定制的算法。我们展示了在斯德哥尔摩群岛进行的总共19天的自主航行的实验结果。实验使我们能够比较主动转向系统和自转向系统在不同视风角下的航行性能。平均而言,主动转向保持航向在±5.1◦的目标,而自转向能够保持航向在±8.1◦的目标。另一个可以得出的结论是,视风角不影响转向性能。
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引用次数: 2
Posterior Cramér-Rao Lower Bound for Multiple Passive Sensors in an Uncertain Ocean Environment 不确定海洋环境下多被动传感器的后验cram<s:1> - rao下界
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867393
P. Lei, Shuqing Ma, Wenke Wang, Le Li, Zemin Zhou, Yu Chen
In this paper, our study is motivated by the fact that it is not always clear what the placement of the multiple passive sensors giving the best tracking performance for the underwater targets of interest might be. To account for the issue, posterior Cramér-Rao lower bound (PCRLB) is utilized, which provides a measure of the optimal achievable accuracy of the target state estimation. To derive the recursive Fisher information matrix (FIM) and PCRLB for multisensor multitarget state estimation in an uncertain ocean environment, we address the impact of the uncertain propagation, which is ignored by the previously researches. It is demonstrated that the propagation uncertainty and target tracking results play important roles in the FIM and PCRLB. Moreover, the general framework for integrated target tracking and sensor placement is also proposed.
在本文中,我们研究的动机是这样一个事实,即对感兴趣的水下目标提供最佳跟踪性能的多个无源传感器的放置位置并不总是很清楚。为了解决这个问题,使用了后验cram - rao下界(PCRLB),它提供了目标状态估计的最佳可实现精度的度量。为了推导不确定海洋环境下多传感器多目标状态估计的递归Fisher信息矩阵(FIM)和PCRLB,解决了以往研究忽略的不确定传播的影响。研究结果表明,传播不确定性和目标跟踪结果在fm和PCRLB中起着重要作用。此外,还提出了目标跟踪与传感器集成的总体框架。
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引用次数: 0
An Approximate Message Passing Algorithm for Channel and Impulsive Noise Estimation in Underwater Acoustic OFDM Systems 水声OFDM系统中信道和脉冲噪声估计的近似消息传递算法
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867369
Shuyi Wu, Shuche Wang, Zhiqiang He, K. Niu, Y. Rong
An accurate and efficient channel and impulsive noise estimation is an important step in underwater acoustic (UA) orthogonal frequency-division multiplexing systems. We propose an approximate message passing (AMP) algorithm for channel and impulsive noise estimation. In particular, we model the distribution of the channel impulse response and impulsive noise as a Gaussian mixture, which is the prior information for the AMP algorithm. The proposed algorithm is evaluated through numerical simulations and real data collected during a UA communication experiment conducted in December 2015 in the estuary of the Swan River, Western Australia. The simulation and experimental results show that compared with existing approaches, the proposed algorithm has a better performance.
准确、高效的信道和脉冲噪声估计是水声正交频分复用系统中的一个重要步骤。我们提出了一种近似消息传递(AMP)算法用于信道和脉冲噪声估计。特别地,我们将信道脉冲响应和脉冲噪声的分布建模为高斯混合,这是AMP算法的先验信息。通过数值模拟和2015年12月在西澳大利亚天鹅河河口进行的UA通信实验中收集的真实数据对所提出的算法进行了评估。仿真和实验结果表明,与现有方法相比,该算法具有更好的性能。
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引用次数: 5
Underwater objects classifier based on super-resolution spatial spectrum variance 基于超分辨率空间光谱方差的水下目标分类器
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867292
Xuan Li, Xiaochuan Ma
In underwater environment, the low speed target recognition has been a challenge problem. A design for underwater objects identification is suggested in this paper. The construction can be used in harbor surveillance and ocean environment inspection. Utilizing super-resolution beamforming, the distinctions between the low-speed object (such as buoy or low speed AUV) and the beacon can be observed in spatial-temporal spectrum. Corresponding to the features of power differences and spatial spectrum variance in vertical direction, the low-speed object can be separated from beacon. The data from lake experiment is dealt with and illustrate the method.
在水下环境下,低速目标识别一直是一个具有挑战性的问题。本文提出了一种水下目标识别的设计方案。该结构可用于港口监视和海洋环境检查。利用超分辨率波束形成技术,可以在时空光谱上观察低速目标(如浮标或低速AUV)与信标之间的区别。根据信标在垂直方向上的功率差和空间频谱方差特征,可以将低速目标与信标分离。以湖泊试验数据为例,说明了该方法的可行性。
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引用次数: 0
A New Type of DBCP compliant drifting Buoy: the SVP-BRST 一种新型符合DBCP的漂流浮标:SVP-BRST
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867081
M. Lucas, M. L. Menn, Arnaud David, J. Sagot, P. Poli, Kai Herklotz, M. Belbéoch, A. O'carroll
The on-going efforts to improved remote sensing data quality, and in particular the retrieval of Sea Surface temperature though the use of the radiometer underlined the need for higher quality in situ calibrated reference temperature (O’Carroll 2008). This let to a first attempt at designing and deploying improved drifting buoys within the framework of the DBCP HR-SST Pilot Project. These improvements included an improved location accuracy through the use of GPS, an improved in situ temperature resolution (0.01 K) and the finally a new binary format to ensure that the improved resolution temperature was correctly fed into the WMO GTS system.
正在进行的提高遥感数据质量的努力,特别是通过使用辐射计检索海面温度的努力,强调了对更高质量的原位校准参考温度的需求(O’carroll 2008)。这是在DBCP HR-SST试点项目框架内首次尝试设计和部署改进的漂流浮标。这些改进包括通过使用GPS提高定位精度,提高原位温度分辨率(0.01 K),最后是一种新的二进制格式,以确保提高的分辨率温度正确地输入WMO GTS系统。
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引用次数: 0
Observation and propagation of wave groups to improve the proceedings of the maritime operation 海浪群的观测和传播,以提高海上作业的效率
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867583
Céline Drouet, N. Cellier
One way to increase the operability of the naval platform is to predict its future motions. To predict these future motions it is necessary to know the future environmental conditions and more especially the waves incoming to the naval platform. To know the incoming waves it is necessary to observe them upstream with an optical or electromagnetic sensor and propagate them down to the future position of the naval platform. This knowledge of the future waves can be decisive for engaging critical phase of maritime operations, like the launch and recovery of helicopters and drones…Among the observed waves, some of them called "dangerous waves" can induce high ship motions which carry on a cancellation of the launch or land of a helicopter. Dangerous is not about tsunami or rogue waves here, but rather relatively energetic waves (higher, steeper than average) that can transfer kinetic energy to the ship. Often these waves occur in groups. The aim of this article is to present a simple and pragmatic method based on an energetic approach to find these "dangerous waves" out of the observed surface by the waves sensors and propagate them up to a desired position. Results of the propagation of the identified "dangerous waves" are presented for simulated surface elevation of open ocean, obtained by using the software HOS-ocean. (Abstract)
提高海军平台可操作性的一种方法是预测其未来的运动。为了预测这些未来的运动,有必要了解未来的环境条件,特别是进入海军平台的波浪。为了了解入射波,必须用光学或电磁传感器在上游观察它们,并将它们向下传播到海军平台的未来位置。这种对未来海浪的了解对于参与海上行动的关键阶段是决定性的,比如直升机和无人机的发射和回收……在观察到的海浪中,一些被称为“危险海浪”的海浪可以引起船只的高速运动,从而取消直升机的发射或降落。这里的危险不是海啸或巨浪,而是相对有能量的海浪(比平均水平更高、更陡),可以将动能传递给船只。这些波通常是成群出现的。本文的目的是提出一种基于能量方法的简单实用的方法,通过波传感器从观测表面找到这些“危险波”,并将它们传播到所需的位置。利用HOS-ocean软件模拟公海表面高程,给出了识别出的“危险波”的传播结果。(抽象)
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引用次数: 0
Propulsive Performance Analysis of Underwater Flapping Multi-foil 水下扑翼多翼推进性能分析
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867579
Huan Wang, X. Du, Baoshou Zhang
In recent years, with an increasing interest in the underwater wave glider, which is propelled by converting the ocean wave energy into forward thrust through flapping multi-foil, the flapping-foil aerodynamics has become an important and popular topic of research in the biomimetic field. However, due to the complex marine environment, the wave motion frequency is low and uncontrollable, and the wave amplitude and frequency are non-constant, which make the underwater multi-wing fluttering flow field of the aircraft unsteady. Therefore, it is crucial to study the propulsive characteristics of underwater flapping multi-foil under different conditions. In this paper, hydrodynamics calculation model is built based on the Reynolds-averaged Navier–Stokes (RANS) equation and Realizable model. Two dimensional (2D) NACA foils are applied to establish the hydrodynamic calculation model of flapping multi-foil. The foils are assumed to undergo a combined translational and rotational motion. The unstructured grid was generates by Ansys ICEM. CFD Commercial software Fluent is applied to solve the fluid dynamic characteristics of the flapping multi-foil under various conditions. The results show that flapping multi-foil can produce higher propulsion than a single flapping foil, the interaction of the multi-foil wake was found advantageous for propulsion, it can produce higher propulsion when the distance between the foils is shorter. In this paper, results also show the influence of different factors to the propulsion, which provides a meaningful reference for developing underwater flapping multi-foil vehicle.
近年来,随着水下波浪滑翔机通过多翼扑动将海浪能量转化为向前推力推进的研究日益受到关注,扑动翼型空气动力学已成为仿生领域的一个重要研究热点。然而,由于海洋环境复杂,波浪运动频率低且不可控,波浪振幅和频率都是非恒定的,使得飞机水下多翼扑动流场不稳定。因此,研究水下扑翼多翼在不同工况下的推进特性至关重要。本文基于reynolds -average Navier-Stokes (RANS)方程和Realizable模型建立了水动力学计算模型。采用二维NACA膜建立了扑动多膜的水动力计算模型。假设箔片经历了一个联合的平移和旋转运动。非结构化网格由Ansys ICEM生成。应用CFD商用软件Fluent求解了扑动多翼在不同工况下的流体动力学特性。结果表明,扑动多翼比单个扑动翼产生更大的推进力,多翼尾迹的相互作用有利于推进力的发挥,当多翼之间的距离较短时可以产生更大的推进力。研究结果还显示了不同因素对推进力的影响,为水下扑翼多翼航行器的研制提供了有意义的参考。
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引用次数: 4
In-channel modifications for improved optical detection of phosphate in a microfluidic chip design 微流控芯片设计中改进磷酸盐光学检测的通道内改进
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867516
Joyce O'Grady, Nigel J. Kent, I. Maguire, P. McGinnity, E. Jennings, F. Regan
Recent developments in the area of low cost optical analysers has enabled rapid, reliable and robust analysis of water nutrient levels, such as phosphate, in water systems. Herein, describes an enhancement study of a previously demonstrated lab- on-a-disc (LOAD) centrifugal microfluidic device for the detection of phosphate in freshwater. The LOAD device utilizes a microfluidic sample processing to enable high precision metering and reagent mixing, followed by colorimetric analysis (at 880 nm) of the resultant complex. A customisable and complementary, in-house analysis system was also developed to enhance user interaction and enable rapid analysis. This analysis system delivers both disc centrifugation and automated colourimetric detection of the LOAD device, with recording of data transmitted via PC interface. The aim of this study is to maintain the same level of sensitivity of the current[1] system with a reduced pathlength. The limit of detection (LOD) and limit of quantification (LOQ) for this new revised system are as follows: The blackened chip obtained the best sensitivity with an LOD and LOQ of 6 and 19 μg L−1 respectively, followed by the P80 roughened chip which achieved 13 and 38 μg L−1, these results will be discussed further in this paper.The previously demonstrated microfluidic platform demonstrated an optical path length detection of 75 mm for optimal detectability, resulting in low quantity of sample testing per disc. This work details the optimisation of the disc design through a reduction of path length, therefore increasing the number of test replications on-disc by two-fold and a reduction in reagent consumption, whilst maintaining the same sensitivity using photo-enhancement techniques. The photo-enhancement techniques described in this paper utilize detection channel surface modifications, e.g. coatings and refractive index modification. These assist in significantly improving the signal-to-noise (S/N) with increased transmittance, hence increasing the overall sensitivity that can be achieved using the system. This piece of work focuses on the optical improvement using surface modification strategies in detection enhancement.
低成本光学分析仪领域的最新发展使水系统中磷酸盐等水营养水平的快速,可靠和强大的分析成为可能。本文描述了先前演示的用于检测淡水中磷酸盐的盘上实验室(LOAD)离心微流控装置的增强研究。LOAD设备利用微流体样品处理实现高精度计量和试剂混合,然后对所得复合物进行比色分析(880 nm)。此外,还开发了一个可定制和互补的内部分析系统,以加强用户交互和实现快速分析。该分析系统提供圆盘离心和自动比色检测LOAD设备,并通过PC接口传输数据记录。本研究的目的是在减少路径长度的情况下保持电流[1]系统的相同灵敏度水平。新体系的检出限(LOD)和定量限(LOQ)如下:黑化芯片的灵敏度最高,LOD和LOQ分别为6和19 μg L−1,P80粗化芯片次之,LOD和LOQ分别为13和38 μg L−1,本文将进一步讨论这些结果。先前演示的微流控平台展示了75毫米的光路长度检测,以获得最佳的可检测性,从而降低了每个圆盘的样品测试量。这项工作详细介绍了通过减少路径长度来优化光盘设计,从而将光盘上的测试重复次数增加两倍,并减少试剂消耗,同时使用光增强技术保持相同的灵敏度。本文描述的光增强技术利用探测通道表面修饰,例如涂层和折射率修饰。这有助于显著提高信噪比(S/N),增加透光率,从而提高使用系统可以实现的整体灵敏度。这项工作的重点是在检测增强中使用表面修饰策略进行光学改进。
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引用次数: 1
A MEMS-based Magnetometer Calibration Approach in AUV Navigation System 水下航行器导航系统中基于mems的磁强计标定方法
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867368
R. Yan, Fubin Zhang, Huihui Chen
MEMS-IMU has the characteristics of small size and low cost. It can greatly reduce the cost when applied to underwater navigation and positioning system. However, MEMS-IMU has lower precision and poorer stability, especially MEMS magnetometers are more susceptible to the surrounding magnetic field environment. Therefore, it is of great significance to study a stable and effective calibration method for magnetometers. In this paper, by analyzing the existing magnetometer calibration methods, namely the ellipsoid fitting method and the dot product invariance method, an improved method namely multi-constraint calibration based on two is proposed. Based on the three basic properties of the geomagnetic field, the error equation of the multi-constraint calibration method is established, the nonlinear optimization objective function is obtained from the error equation, and the nonlinear target optimization function is solved by the Levenberg-Marquardt (L-M) method to obtain the calibration parameters. The error is compensated to obtain an ideal magnetometer output, which improves the accuracy of the AUV(Autonomous Underwater Vehicle) underwater navigation system. The simulation results show that the multi-constraint calibration method has obvious advantages compared with the ellipsoid fitting method and the dot product invariant method in solving the calibration parameters.
MEMS-IMU具有体积小、成本低的特点。将其应用于水下导航定位系统,可以大大降低成本。然而,MEMS- imu的精度较低,稳定性较差,特别是MEMS磁强计更容易受到周围磁场环境的影响。因此,研究一种稳定有效的磁强计标定方法具有重要意义。本文通过分析现有的磁力计标定方法,即椭球拟合法和点积不变性法,提出了一种改进的方法,即基于两者的多约束标定方法。基于地磁场的三个基本性质,建立了多约束定标方法的误差方程,由误差方程得到非线性优化目标函数,利用Levenberg-Marquardt (L-M)法求解非线性目标优化函数,得到定标参数。对误差进行补偿,得到理想的磁强计输出,提高了AUV(Autonomous Underwater Vehicle)水下导航系统的精度。仿真结果表明,与椭球拟合法和点积不变量法相比,多约束标定方法在标定参数求解方面具有明显的优势。
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引用次数: 4
From decision-making to Oceans Accounts: a case study 从决策到海洋账户:一个案例研究
Pub Date : 2019-06-01 DOI: 10.1109/OCEANSE.2019.8867584
M. Pinheiro, T. Miranda, Vasco Ferreira, E. Pereira, I. Valente, Fábio Cruz, D. Maslov
Earth systems are nowadays on the verge of radical disruptions, whether due to unprecedented demographic pressures or as a result of the current complexity of global systems. Climate Changes, ecosystems unbalances, natural resources depletion, pollution, extreme events, natural catastrophes, humanized overpopulated environments, as well as economical turbulences, represent more than ever, very uncertain terms of an equation that is difficult to balance. Novel procedures are essential to make use of local and global information that is nowadays available from multiple sources, to produce intelligible and actionable models for sustainable development, in particular for the oceans protection, the main support of human life on earth. An example of this procedures is the Oceans Accounts (OA) framework that aims at integrating the biophysical information, measure ecosystem services, track and measure the changes on the ecosystems and link all this data to economic and human activity within a given spatial area. This work presents a novel approach that uses spatial modeling techniques capable of dealing with limited and discrete data, such as Geostatistics. These spatial techniques, combined with remote sensing, can provide a sound background of information for the implementation and leverage of the Oceans Accounts framework. Moreover, an emphasis will be given to the application of the OA framework to marine protected areas (MPA’s) with an identification of the main gaps regarding the cycle of collecting, processing and integrating social, environmental and economic data. The main focus will be on enabling the next generation of decision support systems to support design and impact assessment of alternative engineering solutions for marine contexts, such as energy harvesting and offshore platforms or aquaculture, in the context of blue economy, as well as marine planning and economic activities regulation.
无论是由于前所未有的人口压力,还是由于当前全球系统的复杂性,地球系统目前正处于彻底破坏的边缘。气候变化、生态系统失衡、自然资源枯竭、污染、极端事件、自然灾害、人为造成的人口过多的环境,以及经济动荡,都比以往任何时候都更加不确定,难以平衡。为了利用目前从多种来源获得的当地和全球信息,为可持续发展,特别是为保护地球上人类生命的主要支柱海洋,制定可理解和可操作的模式,必须采用新的程序。这一程序的一个例子是海洋核算框架,其目的是综合生物物理信息,测量生态系统服务,跟踪和测量生态系统的变化,并将所有这些数据与特定空间区域内的经济和人类活动联系起来。这项工作提出了一种新颖的方法,使用能够处理有限和离散数据的空间建模技术,如地质统计学。这些空间技术与遥感相结合,可以为实施和利用海洋核算框架提供良好的信息背景。此外,将强调将OA框架应用于海洋保护区,并查明在收集、处理和综合社会、环境和经济数据的周期方面的主要差距。主要重点将是使下一代决策支持系统能够支持蓝色经济背景下海洋环境(如能源收集和海上平台或水产养殖)替代工程解决方案的设计和影响评估,以及海洋规划和经济活动监管。
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引用次数: 1
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OCEANS 2019 - Marseille
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