Pub Date : 2015-10-01DOI: 10.23919/OCEANS.2015.7404382
Yeongjun Lee, Jinwoo Choi, Hyun-Taek Choi
This paper presents experimental results of a realtime sonar-based localization technique using the probability-based landmark-recognition method. Sonar based localization is used for the navigation of unmanned underwater vehicle (UUVs). Inertial sensors such as inertial measurement unitss (IMUs), Doppler velocity logs (DVLs), and external information obtained from sonar are combined using the extended Kalman filter (EKF) technique to obtain the navigation information. We estimate the vehicle location using inertial sensor data, and it is corrected using sonar data, which provides the relative position between the vehicle and a landmark placed on the bottom. To verify the suitability of the proposed method, we perform experiments in a basin environment using the UUV, “yShark”.
{"title":"Experimental results of real-time sonar-based underwater localization using landmarks","authors":"Yeongjun Lee, Jinwoo Choi, Hyun-Taek Choi","doi":"10.23919/OCEANS.2015.7404382","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404382","url":null,"abstract":"This paper presents experimental results of a realtime sonar-based localization technique using the probability-based landmark-recognition method. Sonar based localization is used for the navigation of unmanned underwater vehicle (UUVs). Inertial sensors such as inertial measurement unitss (IMUs), Doppler velocity logs (DVLs), and external information obtained from sonar are combined using the extended Kalman filter (EKF) technique to obtain the navigation information. We estimate the vehicle location using inertial sensor data, and it is corrected using sonar data, which provides the relative position between the vehicle and a landmark placed on the bottom. To verify the suitability of the proposed method, we perform experiments in a basin environment using the UUV, “yShark”.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128019533","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404540
François-Xavier Socheleau, A. Pottier, C. Laot
Stochastic replay is a channel simulation method that generates random time-varying impulse responses (TVIRs) from data collected at sea. Most existing replay-based simulators only consider single-input single-output transmissions. In this paper, a single-input multiple-output (SIMO) stochastic replay-based simulator is presented. It is shown to keep temporal, inter-tap as well as spatial correlations consistent with those of the TVIR measured at sea. Numerical examples applied to data collected in Brest harbor, France, are discussed.
{"title":"Stochastic replay of SIMO underwater acoustic communication channels","authors":"François-Xavier Socheleau, A. Pottier, C. Laot","doi":"10.23919/OCEANS.2015.7404540","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404540","url":null,"abstract":"Stochastic replay is a channel simulation method that generates random time-varying impulse responses (TVIRs) from data collected at sea. Most existing replay-based simulators only consider single-input single-output transmissions. In this paper, a single-input multiple-output (SIMO) stochastic replay-based simulator is presented. It is shown to keep temporal, inter-tap as well as spatial correlations consistent with those of the TVIR measured at sea. Numerical examples applied to data collected in Brest harbor, France, are discussed.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132730382","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404357
E. Cokelet, C. Meinig, N. Lawrence‐Slavas, P. Stabeno, R. Jenkins, C. Mordy, H. Tabisola, J. Cross
New technologies can help scientists measure and understand Arctic warming, sea ice loss and ecosystem change. NOAA has worked with Saildrone, Inc., to develop an unmanned surface vehicle (USV)-Saildrone-to make ocean surface measurements autonomously, even in challenging high-latitude conditions. USVs augment traditional research ship cruises, mitigate ship risk in high seas and shallow water, and make lower cost measurements. Under remote control, USV sampling strategy can be adapted to meet changing needs. Two Saildrones conducted 97-day missions in the Bering Sea in spring-summer 2015, reliably measuring atmospheric and oceanic parameters. Measurements were validated against shipboard values. Following that, the Saildrone sampling strategies were modified, first to measure the effects of sea-ice melt on surface cooling and freshening, and then to study the Yukon River plume.
{"title":"The use of Saildrones to examine spring conditions in the Bering sea","authors":"E. Cokelet, C. Meinig, N. Lawrence‐Slavas, P. Stabeno, R. Jenkins, C. Mordy, H. Tabisola, J. Cross","doi":"10.23919/OCEANS.2015.7404357","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404357","url":null,"abstract":"New technologies can help scientists measure and understand Arctic warming, sea ice loss and ecosystem change. NOAA has worked with Saildrone, Inc., to develop an unmanned surface vehicle (USV)-Saildrone-to make ocean surface measurements autonomously, even in challenging high-latitude conditions. USVs augment traditional research ship cruises, mitigate ship risk in high seas and shallow water, and make lower cost measurements. Under remote control, USV sampling strategy can be adapted to meet changing needs. Two Saildrones conducted 97-day missions in the Bering Sea in spring-summer 2015, reliably measuring atmospheric and oceanic parameters. Measurements were validated against shipboard values. Following that, the Saildrone sampling strategies were modified, first to measure the effects of sea-ice melt on surface cooling and freshening, and then to study the Yukon River plume.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133497072","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404636
M. Angove, Christa L. Rabenold, M. Eblé, S. Weinstein, P. Whitmore
Tsunamis have long been recognized as a significant threat to U.S. coastlines. The National Oceanic and Atmospheric Administration (NOAA) and its predecessor agencies have had operational responsibility for issuing U.S. tsunami warnings since establishment of the Pacific Tsunami Warning Center in 1949. Today's end-to-end U.S. tsunami warning system relies on partnerships with federal, state, territorial, international, regional, and local organizations as well as industry. It includes preparedness and mitigation activities, observation technologies that rapidly detect earthquakes and tsunamis, earthquake analysis to characterize tsunamigenic events, timely and accurate messaging, hydrodynamic models for forecasting tsunami propagation and inundation, and decision support services during events to enhance community response. The U.S. system has proven to be strong and effective, but capability gaps remain. This paper examines the current state of the U.S. tsunami warning system and previews the science, technology, research, and development efforts aimed at improving the accuracy of NOAA's suite of tsunami warning products.
{"title":"U.S. tsunami warning system: Capabilities, gaps, and future vision","authors":"M. Angove, Christa L. Rabenold, M. Eblé, S. Weinstein, P. Whitmore","doi":"10.23919/OCEANS.2015.7404636","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404636","url":null,"abstract":"Tsunamis have long been recognized as a significant threat to U.S. coastlines. The National Oceanic and Atmospheric Administration (NOAA) and its predecessor agencies have had operational responsibility for issuing U.S. tsunami warnings since establishment of the Pacific Tsunami Warning Center in 1949. Today's end-to-end U.S. tsunami warning system relies on partnerships with federal, state, territorial, international, regional, and local organizations as well as industry. It includes preparedness and mitigation activities, observation technologies that rapidly detect earthquakes and tsunamis, earthquake analysis to characterize tsunamigenic events, timely and accurate messaging, hydrodynamic models for forecasting tsunami propagation and inundation, and decision support services during events to enhance community response. The U.S. system has proven to be strong and effective, but capability gaps remain. This paper examines the current state of the U.S. tsunami warning system and previews the science, technology, research, and development efforts aimed at improving the accuracy of NOAA's suite of tsunami warning products.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133734203","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7401824
C. Benson, M. Frater
Underwater acoustic modems are normally considered to offer low data-rates over distances of a few kilometers. This paper reports on open water performance of a high-frequency acoustic modem with demonstrated data rates of 380 kbps. The modem is simple and runs on commodity hardware using well understood signaling techniques.
{"title":"High data rates in the high frequency acoustic channel","authors":"C. Benson, M. Frater","doi":"10.23919/OCEANS.2015.7401824","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401824","url":null,"abstract":"Underwater acoustic modems are normally considered to offer low data-rates over distances of a few kilometers. This paper reports on open water performance of a high-frequency acoustic modem with demonstrated data rates of 380 kbps. The modem is simple and runs on commodity hardware using well understood signaling techniques.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131830288","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7401988
Jeffrey A. Caley, Geoffrey A. Hollinger
Monitoring marine ecosystems is challenging due to the dynamic and unpredictable nature of environmental phenomena. In this work we survey a series of techniques used in information gathering that can be used to increase experts' understanding of marine ecosystems through dynamic monitoring. To achieve this, an underwater glider simulator is constructed, and four different path planning algorithms are investigated: Boustrophendon paths, a gradient based approach, a Level-Sets method, and Sequential Bayesian Optimization. Each planner attempts to maximize the time the glider spends in an area where ocean variables are above a threshold value of interest. To emulate marine ecosystem sensor data, ocean temperatures are used. The planners are simulated 50 times each at random starting times and locations. After validation through simulation, we show that informed decision making improves performance, but more accurate prediction of ocean conditions would be necessary to benefit from long horizon lookahead planning.
{"title":"Data-driven comparison of spatio-temporal monitoring techniques","authors":"Jeffrey A. Caley, Geoffrey A. Hollinger","doi":"10.23919/OCEANS.2015.7401988","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401988","url":null,"abstract":"Monitoring marine ecosystems is challenging due to the dynamic and unpredictable nature of environmental phenomena. In this work we survey a series of techniques used in information gathering that can be used to increase experts' understanding of marine ecosystems through dynamic monitoring. To achieve this, an underwater glider simulator is constructed, and four different path planning algorithms are investigated: Boustrophendon paths, a gradient based approach, a Level-Sets method, and Sequential Bayesian Optimization. Each planner attempts to maximize the time the glider spends in an area where ocean variables are above a threshold value of interest. To emulate marine ecosystem sensor data, ocean temperatures are used. The planners are simulated 50 times each at random starting times and locations. After validation through simulation, we show that informed decision making improves performance, but more accurate prediction of ocean conditions would be necessary to benefit from long horizon lookahead planning.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"1206 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133070220","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7401955
H. Alhumyani, R. Ammar, Ayman Alharbi, S. Tolba
Underwater sensor networks (UWSN) have two major challenges: limited bandwidth and high propagation delay. In-network processing can improve the performance of UWSN data flow in the network, leading to better channel utilization. In order to do this, processing nodes have to be deployed to perform local processing, such as compression, mining, and feature extraction on the collected data. In this paper, we first develop an optimization framework based on Integer Linear Programming (ILP) for processing node deployment. We then solve the problems of processing and surface-level gateway node deployment and investigate their trade-offs. The advantage of processing node deployment on end-to-end delay and network lifetime is highlighted. Our results show that deploying processing nodes can minimize the number of surface-level gateways in addition to improving the performance of the network. Simulations are used to validate our work and show the advantages of the proposed architecture.
{"title":"Efficient surface-level gateway deployment using underwater sensing and processing networks","authors":"H. Alhumyani, R. Ammar, Ayman Alharbi, S. Tolba","doi":"10.23919/OCEANS.2015.7401955","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401955","url":null,"abstract":"Underwater sensor networks (UWSN) have two major challenges: limited bandwidth and high propagation delay. In-network processing can improve the performance of UWSN data flow in the network, leading to better channel utilization. In order to do this, processing nodes have to be deployed to perform local processing, such as compression, mining, and feature extraction on the collected data. In this paper, we first develop an optimization framework based on Integer Linear Programming (ILP) for processing node deployment. We then solve the problems of processing and surface-level gateway node deployment and investigate their trade-offs. The advantage of processing node deployment on end-to-end delay and network lifetime is highlighted. Our results show that deploying processing nodes can minimize the number of surface-level gateways in addition to improving the performance of the network. Simulations are used to validate our work and show the advantages of the proposed architecture.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133175486","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7404411
Li Li, A. Song, L. Cimini, X. Xia, Chien-Chung Shen
In-band full-duplex (IBFD) radios can double the spectral efficiency in theory, and their feasibility has been demonstrated by using advanced cancellation methods for terrestrial communications. We investigate the feasibility of acoustic IBFD in the underwater acoustic (UWA) channel, to enhance the spectral efficiency in the severely bandwidth-limited aquatic environment. We discuss the challenges of implementing IBFD UWA systems. Further, we propose an acoustic-specific cancellation scheme to deal with the strong multipath self-interference in IBFD UWA systems. We show, through simulations, that the proposed scheme can effectively suppress different types of interference.
{"title":"Interference cancellation in in-band full-duplex underwater acoustic systems","authors":"Li Li, A. Song, L. Cimini, X. Xia, Chien-Chung Shen","doi":"10.23919/OCEANS.2015.7404411","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404411","url":null,"abstract":"In-band full-duplex (IBFD) radios can double the spectral efficiency in theory, and their feasibility has been demonstrated by using advanced cancellation methods for terrestrial communications. We investigate the feasibility of acoustic IBFD in the underwater acoustic (UWA) channel, to enhance the spectral efficiency in the severely bandwidth-limited aquatic environment. We discuss the challenges of implementing IBFD UWA systems. Further, we propose an acoustic-specific cancellation scheme to deal with the strong multipath self-interference in IBFD UWA systems. We show, through simulations, that the proposed scheme can effectively suppress different types of interference.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130344243","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7401860
A. Baussard
In this paper, the classification and segmentation of seafloor images recorded by sidescan sonar is considered. To address this problem, which can be related to texture analysis, a supervised approach based on the Bayesian framework is proposed. The features of the textured images are obtained through a parametric probabilistic model of the 2D steerable Riesz wavelet coefficients. The generalized Gaussian distribution, which is a well-established model, is used in this contribution. It is also proposed to model the approximation coefficients using the finite Gaussian mixture model to enhance the classification rate between two statistically close classes when considering only the detail coefficients. The classification results using the 2D steerable Riesz wavelets are compared to the results obtained using the classical discrete wavelets. Then, this classification method is used for image segmentation.
{"title":"Bayesian texture classification using steerable Riesz wavelets: Application to sonar images","authors":"A. Baussard","doi":"10.23919/OCEANS.2015.7401860","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401860","url":null,"abstract":"In this paper, the classification and segmentation of seafloor images recorded by sidescan sonar is considered. To address this problem, which can be related to texture analysis, a supervised approach based on the Bayesian framework is proposed. The features of the textured images are obtained through a parametric probabilistic model of the 2D steerable Riesz wavelet coefficients. The generalized Gaussian distribution, which is a well-established model, is used in this contribution. It is also proposed to model the approximation coefficients using the finite Gaussian mixture model to enhance the classification rate between two statistically close classes when considering only the detail coefficients. The classification results using the 2D steerable Riesz wavelets are compared to the results obtained using the classical discrete wavelets. Then, this classification method is used for image segmentation.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114309092","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 : 2015-10-01DOI: 10.23919/OCEANS.2015.7401825
A. Williams
Development of a velocity measurement technology in science is driven by questions requiring the new technology for their answers. Thus application of the new technology is the only reason for its development and expeditions using it are the test of its behavior. Yet from an engineering viewpoint, the expeditions are simply testing milestones on the development path. This paper is tutorial to a degree to explain to less battle scarred oceanic engineers why and how development of instrumentation proceeds.
{"title":"Current measurement expeditions: Deep-sea, shelf-edge, near-surface, shallow-water, and under ice","authors":"A. Williams","doi":"10.23919/OCEANS.2015.7401825","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401825","url":null,"abstract":"Development of a velocity measurement technology in science is driven by questions requiring the new technology for their answers. Thus application of the new technology is the only reason for its development and expeditions using it are the test of its behavior. Yet from an engineering viewpoint, the expeditions are simply testing milestones on the development path. This paper is tutorial to a degree to explain to less battle scarred oceanic engineers why and how development of instrumentation proceeds.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117094245","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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