Pub Date : 2015-10-01DOI: 10.23919/OCEANS.2015.7404616
W. Jeong, S. Yoo, H. Shim, J. Park, B. Jun
Korea Research Institute of Ships & Ocean Engineering(KRISO) developed a new type of underwater robot, ”Crabster(CR200)” for a precise survey and underwater tasks at a range down to 200m underwater by. This paper introduce a waypoint tracking control algorithm for efficient underwater exploration of CR200. The algorithm consist of Heading controller, Position controller and Path segment selector with four diverse modes which are Forward heading mode, Fixed heading mode, Fixed target mode and Target locked crab gait mode. Effectiveness and applicability of the proposed algorithm are confirmed by simulation and experiment results. The experiment is performed on March and May 2015, that are CR200's function test in ocean engineering water tank facility and real sea test in Korea yellow sea for Korea cultural properties survey.
{"title":"Waypoint tracking control of a multi-legged underwater robot crabster","authors":"W. Jeong, S. Yoo, H. Shim, J. Park, B. Jun","doi":"10.23919/OCEANS.2015.7404616","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404616","url":null,"abstract":"Korea Research Institute of Ships & Ocean Engineering(KRISO) developed a new type of underwater robot, ”Crabster(CR200)” for a precise survey and underwater tasks at a range down to 200m underwater by. This paper introduce a waypoint tracking control algorithm for efficient underwater exploration of CR200. The algorithm consist of Heading controller, Position controller and Path segment selector with four diverse modes which are Forward heading mode, Fixed heading mode, Fixed target mode and Target locked crab gait mode. Effectiveness and applicability of the proposed algorithm are confirmed by simulation and experiment results. The experiment is performed on March and May 2015, that are CR200's function test in ocean engineering water tank facility and real sea test in Korea yellow sea for Korea cultural properties survey.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"32 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":"115344256","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.2015.7404389
Gregory S. Schultz, J. Keranen, A. Gleason, N. Gracias
Seafloor sensing in littoral environments is challenged by a combination of technical requirements related to the detection, georegistration, and confirmation or characterization of natural and man-made items on, or beneath the seafloor. Specifically, EM sensing from unmanned systems enables the positioning of array-based sensors directly over targets of interest in a wide range of littoral environments: from surf zone to benthic areas in 100's of meters of water. Targets include both anthropogenic objects such as marine archeology and salvage, infrastructure associated with undersea cables, seabed foundations for windfarms, and unexploded ordnance (UXO) and other munitions hazards as well as shallow natural and geologic objects such as freshwater lens, gas hydrates, mineral ore, and heterogeneous sediment deposits. In this paper, we present aspects of the design, development and testing of array configurations from testing and evaluations in littoral environments. This includes integration and testing with multiple remotely and autonomously operated swimming platforms (ROVs, AUVs, and hybrids). In particular, we demonstrate the deployment of an integrated system based on a hybrid autonomous underwater vehicle and comprising bottom following, station keeping, and waypoint mapping control, a multi-channel frequency-domain EM array, and multiple high resolution imaging sensors. Results from initial testing and pilot studies for UXO surveying, marine archeology, and seabed classification are summarized.
{"title":"Littoral seafloor sensing and characterization using marine electromagnetics, optical imagery, and remotely and autonomously operated platforms","authors":"Gregory S. Schultz, J. Keranen, A. Gleason, N. Gracias","doi":"10.23919/OCEANS.2015.7404389","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404389","url":null,"abstract":"Seafloor sensing in littoral environments is challenged by a combination of technical requirements related to the detection, georegistration, and confirmation or characterization of natural and man-made items on, or beneath the seafloor. Specifically, EM sensing from unmanned systems enables the positioning of array-based sensors directly over targets of interest in a wide range of littoral environments: from surf zone to benthic areas in 100's of meters of water. Targets include both anthropogenic objects such as marine archeology and salvage, infrastructure associated with undersea cables, seabed foundations for windfarms, and unexploded ordnance (UXO) and other munitions hazards as well as shallow natural and geologic objects such as freshwater lens, gas hydrates, mineral ore, and heterogeneous sediment deposits. In this paper, we present aspects of the design, development and testing of array configurations from testing and evaluations in littoral environments. This includes integration and testing with multiple remotely and autonomously operated swimming platforms (ROVs, AUVs, and hybrids). In particular, we demonstrate the deployment of an integrated system based on a hybrid autonomous underwater vehicle and comprising bottom following, station keeping, and waypoint mapping control, a multi-channel frequency-domain EM array, and multiple high resolution imaging sensors. Results from initial testing and pilot studies for UXO surveying, marine archeology, and seabed classification are summarized.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"30 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":"116704369","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.2015.7401883
Seung‐Sep Kim, P. Wessel
Seamounts are ubiquitous manifestations of underwater volcanism that rise above the surrounding ocean floor by more than a few hundred or thousand meters. Any temporal and spatial variations of the underwater volcanic and tectonic processes that formed seamounts can primarily be understood through their geometric characterization and spatial distribution. For this study, we utilize the vertical gravity gradient (VGG) version 23.1 derived from satellite altimetry, which includes new data from the CryoSat-2, Envisat, and Jason1 missions. A repeated statistical comparison for an area with no significant geologic features shows that the standard deviation of VGG 23.1 is decreased about 48% from the previous release, indicating the signal-to-noise ratio has been improved significantly from the previous version. In order to examine whether the new data give us better opportunities to find seamounts, we choose near-ridge environments constrained by good bathymetry coverage. For a given area, the nonlinear inversion method to search for seamounts is applied. We approximate VGG anomalies over seamounts as sums of individual, partially overlapping, elliptical polynomial functions, which allows us to form a non-linear inverse problem by fitting the polynomial model to the observations. Model parameters for a potential seamount include geographical location, peak VGG amplitude, major and minor axes of the elliptical base, and the azimuth of the major axis. The non-linear inversion is very sensitive to the initial values for the location and amplitude; hence, they are constrained by the center and amplitude of the uppermost contours obtained with a 1-Eotvos contour interval. With these initial conditions from contouring, we execute a stepwise and fully automated inversion and obtain optimal model estimates for potential seamounts; these are statistically evaluated for significance using the Akaike Information Criterion and F tests. Here we present a preliminary result of seamount detection using the new global data and discuss possibilities for constructing a new synthesized global dataset of seamounts.
{"title":"Finding seamounts with altimetry-derived gravity data","authors":"Seung‐Sep Kim, P. Wessel","doi":"10.23919/OCEANS.2015.7401883","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401883","url":null,"abstract":"Seamounts are ubiquitous manifestations of underwater volcanism that rise above the surrounding ocean floor by more than a few hundred or thousand meters. Any temporal and spatial variations of the underwater volcanic and tectonic processes that formed seamounts can primarily be understood through their geometric characterization and spatial distribution. For this study, we utilize the vertical gravity gradient (VGG) version 23.1 derived from satellite altimetry, which includes new data from the CryoSat-2, Envisat, and Jason1 missions. A repeated statistical comparison for an area with no significant geologic features shows that the standard deviation of VGG 23.1 is decreased about 48% from the previous release, indicating the signal-to-noise ratio has been improved significantly from the previous version. In order to examine whether the new data give us better opportunities to find seamounts, we choose near-ridge environments constrained by good bathymetry coverage. For a given area, the nonlinear inversion method to search for seamounts is applied. We approximate VGG anomalies over seamounts as sums of individual, partially overlapping, elliptical polynomial functions, which allows us to form a non-linear inverse problem by fitting the polynomial model to the observations. Model parameters for a potential seamount include geographical location, peak VGG amplitude, major and minor axes of the elliptical base, and the azimuth of the major axis. The non-linear inversion is very sensitive to the initial values for the location and amplitude; hence, they are constrained by the center and amplitude of the uppermost contours obtained with a 1-Eotvos contour interval. With these initial conditions from contouring, we execute a stepwise and fully automated inversion and obtain optimal model estimates for potential seamounts; these are statistically evaluated for significance using the Akaike Information Criterion and F tests. Here we present a preliminary result of seamount detection using the new global data and discuss possibilities for constructing a new synthesized global dataset of seamounts.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"71 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":"127168491","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.2015.7401913
Yu-shi Zhu, Canjun Yang, Xiaole Xu, Qing Li, Jun Wang, Minjian Cai
Underwater profilers are widely used as measurement platform for ocean monitoring. However, these profilers only control the depth itself while lack the control ability in horizontal plane. The disadvantage of lacking horizontal mobility for profilers leads to drifting along with current passively and the deviation from the desired region. In this paper, we present a hybrid underwater profiler (HUP) aiming to overcome the disadvantage. The hybrid profiler has the characteristics as follows: it combines the capacity of an underwater profiler to have a good maneuverability in vertical direction, and the capacity of an underwater glider to glide in order to rectify the horizontal displacement offset generated by current. Due to the characteristics, the hybrid profiler could be used for ocean persistent monitoring to get the profiling data in a specified area.
{"title":"A hybrid underwater profiler used for persistent monitoring","authors":"Yu-shi Zhu, Canjun Yang, Xiaole Xu, Qing Li, Jun Wang, Minjian Cai","doi":"10.23919/OCEANS.2015.7401913","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401913","url":null,"abstract":"Underwater profilers are widely used as measurement platform for ocean monitoring. However, these profilers only control the depth itself while lack the control ability in horizontal plane. The disadvantage of lacking horizontal mobility for profilers leads to drifting along with current passively and the deviation from the desired region. In this paper, we present a hybrid underwater profiler (HUP) aiming to overcome the disadvantage. The hybrid profiler has the characteristics as follows: it combines the capacity of an underwater profiler to have a good maneuverability in vertical direction, and the capacity of an underwater glider to glide in order to rectify the horizontal displacement offset generated by current. Due to the characteristics, the hybrid profiler could be used for ocean persistent monitoring to get the profiling data in a specified area.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"13 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":"127348602","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.2015.7404513
F. Whoriskey
The Ocean Tracking Network (OTN) is a global research and technology development platform headquartered at Dalhousie University, in Halifax, Nova Scotia. OTN uses electronic telemetry to document the local-to-global movements and survival of aquatic animals, and to link them to environmental correlates. OTN works with various tracking methods including satellite and data storage tag systems, but its dominant focus is acoustic telemetry. Results from OTN studies inform conservation, management and policy for aquatic biological resources. OTN is built on global partnerships for the sharing of equipment and data. The OTN has stimulated technological development in telemetry by bringing researchers with needs for new capabilities together with manufacturers to generate, test, and operationalize new technologies. This has included pioneering work into the use of marine autonomous vehicles (Slocum electric gliders, and a Liquid Robotics Wave Glider) in animal telemetry research. Similarly, OTN scientists worked with the Sea Mammal Research Unit to pioneer the placement of mobile acoustic receiver units on grey seals, linked via Bluetooth to a satellite transmitter/receiver. This provided receiver coverage in areas occupied by the seals during their typically extensive migrations, reported any detections the sealborne receivers had in near-real time, and allowed for the examination of behavioral interactions among the seals as well as between seals and other tagged species. OTN and its researchers have also partnered with industry to use OTN's infrastructure to help provide answers to questions posed to industry by regulators prior to authorizing their proposed developments of the ocean. These studies have included documenting how animals are affected by underwater electrical transmission lines, or aquaculture infrastructure
{"title":"The Ocean Tracking Network: A global partnership uses electronic tagging technologies to track the movements of aquatic animals, answer science questions, stimulate new technology development and assist with sustainable development of the ocean","authors":"F. Whoriskey","doi":"10.23919/OCEANS.2015.7404513","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404513","url":null,"abstract":"The Ocean Tracking Network (OTN) is a global research and technology development platform headquartered at Dalhousie University, in Halifax, Nova Scotia. OTN uses electronic telemetry to document the local-to-global movements and survival of aquatic animals, and to link them to environmental correlates. OTN works with various tracking methods including satellite and data storage tag systems, but its dominant focus is acoustic telemetry. Results from OTN studies inform conservation, management and policy for aquatic biological resources. OTN is built on global partnerships for the sharing of equipment and data. The OTN has stimulated technological development in telemetry by bringing researchers with needs for new capabilities together with manufacturers to generate, test, and operationalize new technologies. This has included pioneering work into the use of marine autonomous vehicles (Slocum electric gliders, and a Liquid Robotics Wave Glider) in animal telemetry research. Similarly, OTN scientists worked with the Sea Mammal Research Unit to pioneer the placement of mobile acoustic receiver units on grey seals, linked via Bluetooth to a satellite transmitter/receiver. This provided receiver coverage in areas occupied by the seals during their typically extensive migrations, reported any detections the sealborne receivers had in near-real time, and allowed for the examination of behavioral interactions among the seals as well as between seals and other tagged species. OTN and its researchers have also partnered with industry to use OTN's infrastructure to help provide answers to questions posed to industry by regulators prior to authorizing their proposed developments of the ocean. These studies have included documenting how animals are affected by underwater electrical transmission lines, or aquaculture infrastructure","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"57 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":"125770580","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.2015.7404617
R. Carlon
In this paper, we show how using a Liquid Robotics Wave Glider can allow for a mobile and comprehensive solution for detecting tagged animals in real time and characterizing their environment. We will compare the Wave Glider based solution to more traditional buoy and boat based solutions and note the unique advantages of this novel, new technology. With its ability to follow animal migrations, change courses mid-mission, and interact with existing tracking infrastructure, the Wave Glider changes how tagged animals can be tracked. Additionally, we will discuss other sensor packages that could be added to a Fish Telemetry Wave Glider to provide complementary environmental data. Examples of existing projects and missions will be explored, including tracking great white sharks in the Pacific Ocean, various fish species off the southeast US coast and everything from salmon to crabs to eels outside of Halifax, among others.
{"title":"Tracking tagged fish using a wave glider","authors":"R. Carlon","doi":"10.23919/OCEANS.2015.7404617","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404617","url":null,"abstract":"In this paper, we show how using a Liquid Robotics Wave Glider can allow for a mobile and comprehensive solution for detecting tagged animals in real time and characterizing their environment. We will compare the Wave Glider based solution to more traditional buoy and boat based solutions and note the unique advantages of this novel, new technology. With its ability to follow animal migrations, change courses mid-mission, and interact with existing tracking infrastructure, the Wave Glider changes how tagged animals can be tracked. Additionally, we will discuss other sensor packages that could be added to a Fish Telemetry Wave Glider to provide complementary environmental data. Examples of existing projects and missions will be explored, including tracking great white sharks in the Pacific Ocean, various fish species off the southeast US coast and everything from salmon to crabs to eels outside of Halifax, among others.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"30 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":"125945019","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.2015.7401969
Yanwu Zhang, B. Kieft, R. McEwen, Jordan Stanway, J. Bellingham, J. Ryan, B. Hobson, D. Pargett, J. Birch, C. Scholin
Phytoplankton patches in the coastal ocean have important impacts on the patterns of primary productivity, the survival and growth of zooplankton and fish larvae, and the development of harmful algal blooms (HABs). We desire to observe microscopic life in a phytoplankton patch in its natural frame of reference (which is moving with the ocean current), thereby permitting resolution of time-dependent evolution of the population. To achieve this goal, we have developed a method for a Tethys-class long range autonomous underwater vehicle (AUV) (which has a propeller and a buoyancy engine) to detect, track, and sample a phytoplankton patch in buoyancy-controlled drifting mode. In this mode, the vehicle shuts off its propeller and actively controls its buoyancy to autonomously find the peakchlorophyll layer, stay in it, and trigger water sampling in the layer. In an experiment in Monterey Bay, CA in July 2015, the Makai AUV, which was equipped with a prototype 3rd-generation Environmental Sample Processor (3G-ESP), ran the algorithm to autonomously detect the peak-chlorophyll layer, and drifted and triggered ESP samplings in the layer.
{"title":"Tracking and sampling of a phytoplankton patch by an autonomous underwater vehicle in drifting mode","authors":"Yanwu Zhang, B. Kieft, R. McEwen, Jordan Stanway, J. Bellingham, J. Ryan, B. Hobson, D. Pargett, J. Birch, C. Scholin","doi":"10.23919/OCEANS.2015.7401969","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401969","url":null,"abstract":"Phytoplankton patches in the coastal ocean have important impacts on the patterns of primary productivity, the survival and growth of zooplankton and fish larvae, and the development of harmful algal blooms (HABs). We desire to observe microscopic life in a phytoplankton patch in its natural frame of reference (which is moving with the ocean current), thereby permitting resolution of time-dependent evolution of the population. To achieve this goal, we have developed a method for a Tethys-class long range autonomous underwater vehicle (AUV) (which has a propeller and a buoyancy engine) to detect, track, and sample a phytoplankton patch in buoyancy-controlled drifting mode. In this mode, the vehicle shuts off its propeller and actively controls its buoyancy to autonomously find the peakchlorophyll layer, stay in it, and trigger water sampling in the layer. In an experiment in Monterey Bay, CA in July 2015, the Makai AUV, which was equipped with a prototype 3rd-generation Environmental Sample Processor (3G-ESP), ran the algorithm to autonomously detect the peak-chlorophyll layer, and drifted and triggered ESP samplings in the layer.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"61 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":"126140967","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.2015.7404604
Taofeek Orekan, Peng Zhang
Wave energy offers the highest energy density when compared to other renewable energy resources, and its energy potentials are huge. Different technologies such as point absorbers are been developed to capture the wave power. Vigorous testing, evaluation procedures, and assessments of the device performances under different wave conditions are critically important. In this paper, an integrated dynamic model of a point absorber wave energy converter is developed to evaluate its dynamic behavior. The hydrodynamic and hydrostatic parameters of the system are discussed. A direct drive linear generator power takeoff is considered. A phase control strategy is used to maximize the power extracted by the generator and stored in a battery. The simulation results under regular and irregular waves are presented to illustrate the overall performances of the system.
{"title":"Integrated dynamic modeling of a point absorber wave energy converter in regular and irregular waves","authors":"Taofeek Orekan, Peng Zhang","doi":"10.23919/OCEANS.2015.7404604","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7404604","url":null,"abstract":"Wave energy offers the highest energy density when compared to other renewable energy resources, and its energy potentials are huge. Different technologies such as point absorbers are been developed to capture the wave power. Vigorous testing, evaluation procedures, and assessments of the device performances under different wave conditions are critically important. In this paper, an integrated dynamic model of a point absorber wave energy converter is developed to evaluate its dynamic behavior. The hydrodynamic and hydrostatic parameters of the system are discussed. A direct drive linear generator power takeoff is considered. A phase control strategy is used to maximize the power extracted by the generator and stored in a battery. The simulation results under regular and irregular waves are presented to illustrate the overall performances of the system.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"16 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":"123665042","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.2015.7401975
Petter Norgren, M. Ludvigsen, T. Ingebretsen, Vegard Hovstein
This paper presents a demonstration conducted in the Trondheim fjord, where an unmanned surface vehicle (USV) developed and operated by Maritime Robotics AS was used to relay acoustic information sent by a REMUS 100 autonomous underwater vehicle (AUV), to an onshore operation center. The AUVs mission was to conduct a survey of a Short Sunderland type aircraft, which was sunk just outside Munkholmen in 1945. The progress of the AUV and the USV were available in real-time throughout the demonstration, and was presented in Maritime Robotics' in-house Vehicle Control Station (VCS) software. The acoustic telemetry data was also relayed to the REMUS Vehicle Interface Program (VIP), used for monitoring the health of the AUV. Furthermore, the USV used the telemetry messages sent by the AUV, containing e.g. position and heading, to autonomously track the AUV during the survey. Throughout the mission, only 63% of the modem messages was received by the USV, and the longest time between telemetry updates was 6 minutes, but the USVs ability to track the AUV and relay data was successfully demonstrated.
{"title":"Tracking and remote monitoring of an autonomous underwater vehicle using an unmanned surface vehicle in the Trondheim fjord","authors":"Petter Norgren, M. Ludvigsen, T. Ingebretsen, Vegard Hovstein","doi":"10.23919/OCEANS.2015.7401975","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401975","url":null,"abstract":"This paper presents a demonstration conducted in the Trondheim fjord, where an unmanned surface vehicle (USV) developed and operated by Maritime Robotics AS was used to relay acoustic information sent by a REMUS 100 autonomous underwater vehicle (AUV), to an onshore operation center. The AUVs mission was to conduct a survey of a Short Sunderland type aircraft, which was sunk just outside Munkholmen in 1945. The progress of the AUV and the USV were available in real-time throughout the demonstration, and was presented in Maritime Robotics' in-house Vehicle Control Station (VCS) software. The acoustic telemetry data was also relayed to the REMUS Vehicle Interface Program (VIP), used for monitoring the health of the AUV. Furthermore, the USV used the telemetry messages sent by the AUV, containing e.g. position and heading, to autonomously track the AUV during the survey. Throughout the mission, only 63% of the modem messages was received by the USV, and the longest time between telemetry updates was 6 minutes, but the USVs ability to track the AUV and relay data was successfully demonstrated.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"6 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":"125485045","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.2015.7401870
A. Lin, Hui-fang Chen, Lei Xie
The long propagation delay and the high bit error rate of underwater acoustic channel greatly affect the performance efficiency of underwater acoustic networks (UWANs). In this paper, we propose three ARQ schemes for UWANs, namely selective repeat-ARQ, Type-I Hybrid ARQ and Type-II Hybrid ARQ, where the transmissions of data and acknowledgment packets are interlaced. The proposed ARQ schemes are designed in the multiuser UWAN with single-hop network topology, and the media access control is the time division multiple access. The performance of the proposed ARQ schemes, in terms of the transmission efficiency and the average transmission delay of a packet, is analyzed, and the closed-form expressions of the performance metrics are derived. By comparisons, the best choices of the ARQ scheme in different network parameter scenarios are given.
{"title":"Performance analysis of ARQ protocols in multiuser underwater acoustic networks","authors":"A. Lin, Hui-fang Chen, Lei Xie","doi":"10.23919/OCEANS.2015.7401870","DOIUrl":"https://doi.org/10.23919/OCEANS.2015.7401870","url":null,"abstract":"The long propagation delay and the high bit error rate of underwater acoustic channel greatly affect the performance efficiency of underwater acoustic networks (UWANs). In this paper, we propose three ARQ schemes for UWANs, namely selective repeat-ARQ, Type-I Hybrid ARQ and Type-II Hybrid ARQ, where the transmissions of data and acknowledgment packets are interlaced. The proposed ARQ schemes are designed in the multiuser UWAN with single-hop network topology, and the media access control is the time division multiple access. The performance of the proposed ARQ schemes, in terms of the transmission efficiency and the average transmission delay of a packet, is analyzed, and the closed-form expressions of the performance metrics are derived. By comparisons, the best choices of the ARQ scheme in different network parameter scenarios are given.","PeriodicalId":403976,"journal":{"name":"OCEANS 2015 - MTS/IEEE Washington","volume":"60 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":"115035777","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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