D. Yoerger, A. Bradley, H. Singh, B. Walden, M. Cormier, W. Ryan
We used the Autonomous Benthic Explorer (ABE) to create maps of an active spreading center on the mid-ocean ridge at a depth of 2600 meters. We took advantage of ABEs precise navigation and bottom following capabilities and produced detailed bathymetric maps with a scanning sonar, and photo-mosaics using ABE's video snapshot system, and measured the temperature and optical backscatter of the water. Refinement of ABE's transponder fixes, based on using returns gathered at the vehicle, contributed to the consistency of the results.
{"title":"Multisensor mapping of the deep seafloor with the Autonomous Benthic Explorer","authors":"D. Yoerger, A. Bradley, H. Singh, B. Walden, M. Cormier, W. Ryan","doi":"10.1109/UT.2000.852552","DOIUrl":"https://doi.org/10.1109/UT.2000.852552","url":null,"abstract":"We used the Autonomous Benthic Explorer (ABE) to create maps of an active spreading center on the mid-ocean ridge at a depth of 2600 meters. We took advantage of ABEs precise navigation and bottom following capabilities and produced detailed bathymetric maps with a scanning sonar, and photo-mosaics using ABE's video snapshot system, and measured the temperature and optical backscatter of the water. Refinement of ABE's transponder fixes, based on using returns gathered at the vehicle, contributed to the consistency of the results.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121506388","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}
Shows that a sliding mode fuzzy controller is quite satisfactory for the control and line of sight tracking performance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller allows a systematic method to construct a set of membership functions, called shrinking-span membership functions and dilating-span membership functions, for a specific linguistic variable. This gives the controller design more convenience to deal with nonlinearities of the vehicle dynamics and the environmental disturbances. Effects of using different design parameters are evaluated through experiments.
{"title":"Application of the sliding mode fuzzy controller to the guidance and control of an autonomous underwater vehicle","authors":"F. Chiu, J. Guo, C. Huang, W. Tsai","doi":"10.1109/UT.2000.852538","DOIUrl":"https://doi.org/10.1109/UT.2000.852538","url":null,"abstract":"Shows that a sliding mode fuzzy controller is quite satisfactory for the control and line of sight tracking performance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller allows a systematic method to construct a set of membership functions, called shrinking-span membership functions and dilating-span membership functions, for a specific linguistic variable. This gives the controller design more convenience to deal with nonlinearities of the vehicle dynamics and the environmental disturbances. Effects of using different design parameters are evaluated through experiments.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125605550","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}
Conventional towed arrays are typically 40-80 mm in diameter and weigh >1 kg/m, requiring facilities unavailable on small vessels and inconvenient for submarines. This work presents a design that uses miniature cylindrical ceramic sensors and surface mount electronics on an integrated multilayer PCB only 6 mm wide. A novel turbulence suppression technique is proposed, based on an assumption of near-isotropic turbulence structure scaling with the dimension of the towed body below a critical diameter. By making long and narrow sensors, turbulence noise is averaged incoherently while desired signals in the bandwidth up to 20 kHz are summed coherently, providing signal to turbulence noise gain. An 8 mm diameter prototype array has been constructed that can easily be handled by one person. Preliminary acoustic results are given and potential applications explored.
{"title":"The \"thinarray\"; a lightweight, ultra-thin (8 mm OD) towed array for use from small vessels of opportunity","authors":"J. Potter, E. Delaory, S. Constantin, S. Badiu","doi":"10.1109/UT.2000.852514","DOIUrl":"https://doi.org/10.1109/UT.2000.852514","url":null,"abstract":"Conventional towed arrays are typically 40-80 mm in diameter and weigh >1 kg/m, requiring facilities unavailable on small vessels and inconvenient for submarines. This work presents a design that uses miniature cylindrical ceramic sensors and surface mount electronics on an integrated multilayer PCB only 6 mm wide. A novel turbulence suppression technique is proposed, based on an assumption of near-isotropic turbulence structure scaling with the dimension of the towed body below a critical diameter. By making long and narrow sensors, turbulence noise is averaged incoherently while desired signals in the bandwidth up to 20 kHz are summed coherently, providing signal to turbulence noise gain. An 8 mm diameter prototype array has been constructed that can easily be handled by one person. Preliminary acoustic results are given and potential applications explored.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121722261","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}
The previous synthetic aperture techniques have been investigated to increase signal gain, improve angular resolution and peak-to-sidelobe level ratios for towed line array sonar systems. However, the synthetic aperture method in this paper is performed for conformal array systems by mapping real elements on an axis to control like a linear array. The proposed method for the conformal array performs coherent processing of sub-aperture signals at successive time intervals in the beam domain via FFT transformations. This was confirmed by the simulation results and compared to the results from use of the synthetic aperture technique under the conformal array.
{"title":"Robust synthetic aperture processing in oceanic fluctuations","authors":"Jun Hwan Kim, Ki Man Kim, W. Oh, K. C. Doh","doi":"10.1109/UT.2000.852516","DOIUrl":"https://doi.org/10.1109/UT.2000.852516","url":null,"abstract":"The previous synthetic aperture techniques have been investigated to increase signal gain, improve angular resolution and peak-to-sidelobe level ratios for towed line array sonar systems. However, the synthetic aperture method in this paper is performed for conformal array systems by mapping real elements on an axis to control like a linear array. The proposed method for the conformal array performs coherent processing of sub-aperture signals at successive time intervals in the beam domain via FFT transformations. This was confirmed by the simulation results and compared to the results from use of the synthetic aperture technique under the conformal array.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116480336","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}
M. Mironenko, A. Alekseev, V. Korochentsev, V. Korochentsev, P.P. Unru
Regularities of parametric interaction of waves of various physical nature (mostly of acoustic wave of sound range and low frequency electromagnetic waves) under their joint propagation in conducting marine medium are considered On the basis of classic hydroacoustic equations of Navier-Stokes and of electrodynamic Maxwell's equations and Ohm's law the possibility of realization of the regularities mentioned above while solving practical tasks of applied hydroacoustics is substantiated.
{"title":"Distribution and interaction of elastic and electromagnetic waves in sea water","authors":"M. Mironenko, A. Alekseev, V. Korochentsev, V. Korochentsev, P.P. Unru","doi":"10.1109/UT.2000.852524","DOIUrl":"https://doi.org/10.1109/UT.2000.852524","url":null,"abstract":"Regularities of parametric interaction of waves of various physical nature (mostly of acoustic wave of sound range and low frequency electromagnetic waves) under their joint propagation in conducting marine medium are considered On the basis of classic hydroacoustic equations of Navier-Stokes and of electrodynamic Maxwell's equations and Ohm's law the possibility of realization of the regularities mentioned above while solving practical tasks of applied hydroacoustics is substantiated.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123467887","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}
As international trade is getting prosperous, commercial ports need to accommodate hundreds of vessels everyday. When a vessel berths the wharf carelessly, it is possible to cause some damage to the pier beneath the waterline without leaving any evidence. Generally, scuba divers are sent down with camera to take photos or video tapes of the underwater structure for further studies of the damage. We propose using a laser light stripe technique to overcome the problem of turbid water. From geometry we know that a straight line projected to a plane remains a straight line. On the other hand, if there are any concave or convex features on the plane, the projected line will deform accordingly. So we can extract information, such as position or depth of the concavity, from the deformation of the projected line. In our study, we project a laser beam stripe on the target and use a CCD camera to capture the image. With image processing, we can extract the profile of the cross section, thus, the overall 3D measurement of the target. We verify this idea with different shapes of objects submerged in different levels of turbid water in a test tank. Preliminary results indicate that this device can detect narrow gaps of 1 cm in NTU level 2.5 foul water from a distance of 60 cm with coverage of 60 cm wide.
{"title":"Underwater structure inspection with laser light stripes","authors":"Chau-Chang Wang, S. Shyue, S. Cheng","doi":"10.1109/UT.2000.852541","DOIUrl":"https://doi.org/10.1109/UT.2000.852541","url":null,"abstract":"As international trade is getting prosperous, commercial ports need to accommodate hundreds of vessels everyday. When a vessel berths the wharf carelessly, it is possible to cause some damage to the pier beneath the waterline without leaving any evidence. Generally, scuba divers are sent down with camera to take photos or video tapes of the underwater structure for further studies of the damage. We propose using a laser light stripe technique to overcome the problem of turbid water. From geometry we know that a straight line projected to a plane remains a straight line. On the other hand, if there are any concave or convex features on the plane, the projected line will deform accordingly. So we can extract information, such as position or depth of the concavity, from the deformation of the projected line. In our study, we project a laser beam stripe on the target and use a CCD camera to capture the image. With image processing, we can extract the profile of the cross section, thus, the overall 3D measurement of the target. We verify this idea with different shapes of objects submerged in different levels of turbid water in a test tank. Preliminary results indicate that this device can detect narrow gaps of 1 cm in NTU level 2.5 foul water from a distance of 60 cm with coverage of 60 cm wide.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"1423 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127441287","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}
Sang Enfang, Su Longbin, Z. Jingyi, G. Peng, Wu Yanhe, Qiao Gang
In this paper, the features of two new forward looking sonars for remotely operated vehicle/unmanned underwater vehicle (ROV/UUV) are described. These two sonars have different system structures: one is composed of a rectangular acoustic array and parallel DSP central processing unit; and the other one is composed of a cross-line array and single fast DSP board as a central processing unit. Both of them include other common and necessary components which have been modularized. The new software for high resolution acoustic imaging developed for both sonars are also presented. A comparison and analysis of experimental results from these two sonars is presented. Finally, conclusions based on a number of imaging experiments are given.
{"title":"The features of two forward looking sonars for ROV/UUV and their experimental results","authors":"Sang Enfang, Su Longbin, Z. Jingyi, G. Peng, Wu Yanhe, Qiao Gang","doi":"10.1109/UT.2000.852584","DOIUrl":"https://doi.org/10.1109/UT.2000.852584","url":null,"abstract":"In this paper, the features of two new forward looking sonars for remotely operated vehicle/unmanned underwater vehicle (ROV/UUV) are described. These two sonars have different system structures: one is composed of a rectangular acoustic array and parallel DSP central processing unit; and the other one is composed of a cross-line array and single fast DSP board as a central processing unit. Both of them include other common and necessary components which have been modularized. The new software for high resolution acoustic imaging developed for both sonars are also presented. A comparison and analysis of experimental results from these two sonars is presented. Finally, conclusions based on a number of imaging experiments are given.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130571091","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}
A compact nuclear power unit consisting of a liquid metal fast reactor (LMFR) system and a closed Brayton cycle power generation system was studied. Main specifications of the power unit are: 215 kWt thermal power, 40 kWe electric power, primary coolant=NaK(Na; 0.22, K;0.78), secondary coolant of mixture gas of He and Xe, total weight of 26.6 /spl times/103 kg, 5.2 m height, and 3500 m depth of setting location. The power unit is used as a power source for an unmanned sea-bottom base. The base with the power unit is used for measuring the temperature and velocity from the sea bottom to the surface, heat flux from the sea bottom, gravity, magnetic field, chemical composition of the sea water, etc. A more detail explanation regarding the application of the base for meteorological research is given. In the next century, there is a great possibility that several power units will be needed and set in the Pacific to observe the temperature rise caused by CO/sub 2/ increase and other meteorological phenomena.
{"title":"Fast reactor system for underwater activities","authors":"Akira Otsubo, K. Haga, Y. Kowata","doi":"10.1109/UT.2000.852554","DOIUrl":"https://doi.org/10.1109/UT.2000.852554","url":null,"abstract":"A compact nuclear power unit consisting of a liquid metal fast reactor (LMFR) system and a closed Brayton cycle power generation system was studied. Main specifications of the power unit are: 215 kWt thermal power, 40 kWe electric power, primary coolant=NaK(Na; 0.22, K;0.78), secondary coolant of mixture gas of He and Xe, total weight of 26.6 /spl times/103 kg, 5.2 m height, and 3500 m depth of setting location. The power unit is used as a power source for an unmanned sea-bottom base. The base with the power unit is used for measuring the temperature and velocity from the sea bottom to the surface, heat flux from the sea bottom, gravity, magnetic field, chemical composition of the sea water, etc. A more detail explanation regarding the application of the base for meteorological research is given. In the next century, there is a great possibility that several power units will be needed and set in the Pacific to observe the temperature rise caused by CO/sub 2/ increase and other meteorological phenomena.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122214906","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}
A more effective and reliable way of recognizing the specific acoustic signal is introduced. The detailed schematic and processes with respect to the receiving, recognizing, and emitting of the sound from the surface ship are explained. For this system to be a practical one, an actuator (or releaser) containing the relevant boards is designed and fabricated. This method has been proven to be quite reliable through repeated sea trials.
{"title":"The development of a reliable deep sea acoustic release system","authors":"Y. Oh, Chul-Won Lee, Jong-sik Woo","doi":"10.1109/UT.2000.852576","DOIUrl":"https://doi.org/10.1109/UT.2000.852576","url":null,"abstract":"A more effective and reliable way of recognizing the specific acoustic signal is introduced. The detailed schematic and processes with respect to the receiving, recognizing, and emitting of the sound from the surface ship are explained. For this system to be a practical one, an actuator (or releaser) containing the relevant boards is designed and fabricated. This method has been proven to be quite reliable through repeated sea trials.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125133057","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}
H. Momma, M. Watanabe, K. Mitsuzawa, K. Danno, Masahiko Ida, M. Arita, I. Ujino
In November 1999, the H-II Rocket Flight No. 8 was launched from Tanegashima Space Center. However, the first stage engine stopped in 4 minutes. Consequently, the engine dropped 380 nautical miles off Izu-Ogasawara Islands in 3000 m of water. The JAMSTEC was requested to search for the first stage engine in order to identify the cause of the failure. The search area was a box, 3.3 km in width and 26 km in length. First of all, the survey using 40 kHz side scan sonar on board the ROV Kaiko was carried out. After seven days of sonar survey, a probable contact was obtained. It was the engine section. However, the main engine was not discovered yet. Then, the JAMSTEC/Deep Tow sonar was deployed in the second cruise. On the second day, sonar contacts were obtained approximately 15 km southeast of the engine section. On December 24, 1999, the main engine was discovered by the deep tow camera. In the third cruise, the nozzle skirt of the main engine was discovered by the ROV Dolphin-3K. Finally, the main engine was recovered approximately two months after the launch.
{"title":"Search and recovery of the H-II Rocket Flight No. 8 engine","authors":"H. Momma, M. Watanabe, K. Mitsuzawa, K. Danno, Masahiko Ida, M. Arita, I. Ujino","doi":"10.1109/UT.2000.852509","DOIUrl":"https://doi.org/10.1109/UT.2000.852509","url":null,"abstract":"In November 1999, the H-II Rocket Flight No. 8 was launched from Tanegashima Space Center. However, the first stage engine stopped in 4 minutes. Consequently, the engine dropped 380 nautical miles off Izu-Ogasawara Islands in 3000 m of water. The JAMSTEC was requested to search for the first stage engine in order to identify the cause of the failure. The search area was a box, 3.3 km in width and 26 km in length. First of all, the survey using 40 kHz side scan sonar on board the ROV Kaiko was carried out. After seven days of sonar survey, a probable contact was obtained. It was the engine section. However, the main engine was not discovered yet. Then, the JAMSTEC/Deep Tow sonar was deployed in the second cruise. On the second day, sonar contacts were obtained approximately 15 km southeast of the engine section. On December 24, 1999, the main engine was discovered by the deep tow camera. In the third cruise, the nozzle skirt of the main engine was discovered by the ROV Dolphin-3K. Finally, the main engine was recovered approximately two months after the launch.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125141068","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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