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OCEANS 2015 - MTS/IEEE Washington最新文献

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Trend modelling of wave parameters and application in onboard prediction of ship responses 波浪参数趋势模拟及其在船舶响应预测中的应用
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7401961
N. Montazeri, U. Nielsen, Jørgen Juncher Jensen
This paper presents a trend analysis for prediction of sea state parameters onboard ships during voyages. Given those parameters, a JONSWAP model and also the transfer functions, prediction of wave induced ship responses are thus made. The procedure is tested with full-scale data of an in-service container ship. Comparison between predictions and the actual measurements, implies a good agreement in general. This method can be an efficient way to improve decision support onboard ships.
本文提出了航次中船舶海况参数预测的趋势分析方法。在此基础上,结合JONSWAP模型和传递函数,对船舶的波浪响应进行了预测。用一艘在役集装箱船的全尺寸数据对该方法进行了验证。将预测结果与实际测量结果进行比较,表明两者大体上是一致的。该方法是提高舰船决策支持能力的有效途径。
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引用次数: 4
Multi-legged ROV Crabster and an acoustic camera for survey of underwater cultural heritages 多足ROV Crabster和用于调查水下文化遗产的声学相机
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7401986
Jin-Yeong Park, H. Shim, H. Baek, S. Yoo, B. Jun, Pan-Mook Lee
In west coast of Korea peninsula, there are some offshore sites where ancient sunken shipwrecks have been discovered. These ships are supposed to carry an amount of artifacts what show lifestyle and culture of the day. In these areas, however, because of fast ocean currents and low visibility, underwater survey and excavation by divers are strictly restricted. Especially, optical cameras and human's visual inspection become defective. To overcome these conditions, use of unmanned underwater vehicles such like a ROV(Remotely Operated Vehicle) which is equipped with acoustic imaging devices has been raised. This paper describes preliminary performance experiments for survey of underwater cultural heritages using a ROV whose name is Crabster driven by six artificial legs with a high-resolution acoustic camera in sea. The Crabster uses the six articulated legs actuated by BLDC motors as its thrusters. Therefore, it moves on the sea floor without disturbances by propellers which are widely used as thrusters of any other general ROVs. In addition, The robot is expected to minimize shadow areas of acoustic imaging sensors by controlling its body posture precisely using the legs. In this paper, we introduce operations of Crabster and the acoustic imaging devices when we conducted from April to May in 2015. Using acoustic imaging devices, we could find dispersed potteries and iron caldrons. Mosaicked image to show surround of the robot is also included.
在朝鲜半岛西海岸,发现了一些古代沉船残骸的近海遗址。这些船应该携带大量的文物,展示了当时的生活方式和文化。然而,在这些地区,由于洋流快,能见度低,潜水员的水下调查和挖掘受到严格限制。特别是光学摄像机和人的目视检查出现了缺陷。为了克服这些条件,已经提出使用无人水下航行器,如配备声成像设备的ROV(远程操作车辆)。本文介绍了一种水下文化遗产调查的初步性能实验,该水下文化遗产调查是由六个人工腿驱动的水下机器人Crabster和高分辨率声学相机在海上进行的。Crabster使用BLDC电机驱动的六个铰接式腿作为推进器。因此,它在海底移动时不受螺旋桨的干扰,而螺旋桨被广泛用作其他一般rov的推进器。此外,机器人还将通过腿部精确控制身体姿势,最大限度地减少声成像传感器的阴影区域。”本文介绍了我们在2015年4 - 5月进行的Crabster和声成像设备的操作情况。利用声成像设备,我们可以找到分散的陶器和铁锅。镶嵌图像显示环绕的机器人也包括在内。
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引用次数: 5
A communications and relative navigation architecture for underwater vehicle coordination 一种用于水下航行器协调的通信及相关导航体系结构
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7401936
Thomas C. Furfaro, J. Alves
This paper presents an implementation of a communications stack for underwater communications and relative localisation. The application scenario, under the auspices of the EC MORPH project, is described. The high-level architecture is described, with the relevant hardware and software implementation details. A summary of the localisation methods, based on previous works, is given, followed by a discussion of the encoding mechanism.
本文提出了一种用于水下通信和相对定位的通信栈的实现方法。在欧共体MORPH项目的支持下,描述了应用场景。描述了高级体系结构,以及相关的硬件和软件实现细节。本文根据前人的工作总结了定位方法,然后讨论了编码机制。
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引用次数: 2
A computationally-efficient 2D imaging sonar model for underwater robotics simulations in Gazebo Gazebo中用于水下机器人仿真的计算效率高的二维成像声纳模型
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7404349
Kevin J. DeMarco, M. West, A. Howard
Divers have to perform technical underwater tasks in dangerous and unstructured environments. To reduce a diver's workload and improve overall safety, an underwater robotic assistant (UWRA) could be deployed with the diver. The UWRA could assist the diver in navigation, quickly ferry tools from the surface, and carry underwater samples. To develop and test the autonomy required for such a UWRA, autonomy developers could benefit from a simulated underwater environment. Unfortunately, a real-time simulation for one of the most important sensors in underwater robotics, a forward-looking 2D imaging sonar, does not exist in robotics simulators. We developed a simulation for 2D imaging sonars that executes in real-time in the Gazebo robotics simulator. The 2D imaging sonar simulator was assessed by comparing the sonar images that it generated with sonar images generated by real sonar systems in similar environments. For example, we tested both the simulated and real sonar systems in environments with underwater man-made structures, divers, and varying terrain. The sonar simulator was also assessed based on its computational complexity and compared to other similar simulators with respect to sonar image generation rates. We found that our 2D imaging sonar simulator generated qualitatively realistic images and that it was computationally efficient enough to execute in real-time with the Gazebo simulator.
潜水员必须在危险和非结构化的环境中执行技术水下任务。为了减少潜水员的工作量并提高整体安全性,水下机器人助手(UWRA)可以与潜水员一起部署。UWRA可以帮助潜水员导航,快速从水面运送工具,并携带水下样本。为了开发和测试UWRA所需的自主性,自主开发人员可以从模拟的水下环境中受益。遗憾的是,对于水下机器人中最重要的传感器之一——前视二维成像声纳,机器人模拟器中不存在实时仿真。我们开发了一个2D成像声纳的模拟,在Gazebo机器人模拟器中实时执行。通过与真实声纳系统在相似环境下产生的声纳图像进行比较,对二维成像声纳模拟器进行了评估。例如,我们在水下人造结构、潜水员和不同地形的环境中测试了模拟声呐系统和真实声呐系统。声纳模拟器还根据其计算复杂性进行了评估,并与其他类似的模拟器进行了声呐图像生成率的比较。我们发现,我们的2D成像声纳模拟器生成了定性逼真的图像,并且它的计算效率足以与Gazebo模拟器一起实时执行。
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引用次数: 17
Sliding-PD control performance on autonomous underwater gliders 自主水下滑翔机的滑动pd控制性能
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7404426
Isabel Andrade-Bustos, L. García-Valdovinos, T. Salgado-Jiménez, M. Bandala-Sánchez
The response of the ROGUE underwater glider controlled by a scheme called Sliding PD control is shown and described. This control law has been widely used in robot manipulators, quadrotors and underwater ROV's. This is a model-free and chattering-free controller that makes motion robust to disturbance and uncertainty. The ROGUE dynamic model calculated on the vertical plane take into account a ballast tank fixed at the buoyancy center, a movable mass capable of motion just along the longitudinal axis and eliminates the offset static point mass. These considerations simplify significantly the equations of motion. Through simulation results this nonlinear controller demonstrates that it ensures a steady glide by directly controlling the movable mass position along with the ballast mass.
对ROGUE水下滑翔机的响应进行了分析和描述。该控制律已广泛应用于机器人操作机、四旋翼机和水下ROV中。这是一个无模型和无抖振的控制器,使运动对干扰和不确定性具有鲁棒性。在垂直平面上计算的ROGUE动态模型考虑了固定在浮力中心的压载舱,这是一个能够沿着纵轴运动的可移动质量,消除了偏移的静态点质量。这些考虑大大简化了运动方程。仿真结果表明,该非线性控制器通过直接控制可动质量和压载质量的位置来保证系统的平稳滑动。
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引用次数: 2
Modeling motor-perceptual behaviors to enable intuitive paths in an aquatic robot 模拟运动感知行为,实现水上机器人的直观路径
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7404424
Carlos E. Romero-Martinez, L. Abril Torres-Mendez, E. Martínez-García
This ongoing research focuses on providing skills based on motor-perceptual behaviors to an underwater vehicle in order to execute collision-avoidance trajectories in a more natural and intuitive way. An intuitive action can be seen as a reflex in humans and some animals. Reflexs do not involve a conscious reasoning at the time of execution, this is because a motorperceptual skill for a particular action has been already developed in the brain from a past execution. For the case of a robot, the analogy would be that, during a collision-avoidance action, no sensor feedback is needed to correct the robot's state, and thus there is no need of applying a control law to achieve the required locomotion. The direct consequence of this would be the reduction of robot cost while maintaining its performance. Our approach involves a training phase, in which a set of primitive curve trajectories, at different radius and velocities, parameterized in time and orientation, are performed by using a PD control. By applying a linear regression classifier, only those output control parameters that yield stable and accurate trajectories are fed to a knowledge database. These parameters are used to perform intuitive trajectories without using a control law. Preliminary results show the feasibility of our method.
这项正在进行的研究的重点是为水下航行器提供基于运动感知行为的技能,以便以更自然和直观的方式执行避碰轨迹。直觉行为可以看作是人类和一些动物的反射。在执行时,反射不涉及有意识的推理,这是因为大脑已经从过去的执行中形成了特定动作的运动知觉技能。对于机器人来说,类比是,在避碰动作中,不需要传感器反馈来纠正机器人的状态,因此不需要应用控制律来实现所需的运动。这样做的直接结果将是在保持其性能的同时降低机器人的成本。我们的方法包括一个训练阶段,其中一组原始曲线轨迹,在不同的半径和速度下,参数化的时间和方向,通过使用PD控制来执行。通过应用线性回归分类器,只有那些产生稳定和准确轨迹的输出控制参数被馈送到知识库。这些参数用于执行直观的轨迹,而不使用控制律。初步结果表明了该方法的可行性。
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引用次数: 0
Motion compensator for acoustic device mounted on Autonomous Surface Vehicle 安装在自主水面车辆上的声学装置运动补偿器
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7401884
Y. Hirakawa, T. Yoda, T. Takayama, T. Hyakudome, T. Nakatani
In recent days, the simultaneous operation of several AUVs is desired to realize widespread exploration in a navigation. As a method to realize the simultaneous operation, introduction the repeater vehicle called ASV (Autonomous Surface Vehicle) is proposed. The task of the ASV is to chase an AUV and to communicate with a support vessel. So, one ASV is needed for one AUV but several ASVs are monitored by one support vessel. The size of the ASV is similar to the AUV and is significantly smaller than the support vessel, so the seakeeping qualities are lower than the support vessel. Larger ship motion is expected than the support vessel and causes communication trouble. In this report, the new active motion compensator and the model experiment with this motion compensator is reported.
近年来,为了实现一次航行的大范围探测,需要多台水下机器人同时操作。作为实现同步作战的一种方法,提出了一种名为ASV (Autonomous Surface vehicle)的中继器。ASV的任务是追赶AUV并与支援船进行通信。因此,一个AUV需要一个ASV,但多个ASV由一艘支援船监控。ASV的尺寸与AUV相似,但明显小于支撑船,因此其耐波性低于支撑船。预计船只的运动比支援船更大,并造成通信问题。本文报道了一种新型主动运动补偿器及其模型实验。
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引用次数: 2
Mobile control center: A new approach to deploy ROV-oriented education and training 移动控制中心:部署面向rov的教育和培训的新途径
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7404547
F. Miorim, F. Rocha, G. de Tomi
The paper discusses the requirements to design a mobile control center (MCC), which is a remotely operated vehicle (ROV) educational control center that is compact and that can be used in different high sea ROV operations. The intended applications are for research and educational purposes. The need for better-prepared technical professionals is present in the Brazilian offshore oil and gas scenario. In deep-sea operations, where space is scarce and need to be wisely occupied, ROV operators need to have a proper formation and have a widespread awareness of the processes they participate. Using a control center that brings the reality of the operator day-by-day experiences to ROV students will help in the improvement of the skill set of the future ROV operators. A literature survey on the state-of-the-art on the subject was carried out to assess the existing technology and it has shown that there is an opportunity for developing such as concept. Current initiatives reported in the literature include a containerized delivery system with an automated control centers and other features essential to ROV operations. However, our analysis has indicated that this type of solution does not entirely address the requirements for research and educational activities. The mobile control center design should include a generic control center that could be integrated in an agile fashion onto different ROV units from different manufacturers. Besides, it needs to be present in the facilities planed to fit the course, next to the Santos basin, where major in oil engineering is lessoned. By addressing these requirements in this control center and forming techniques and engineers in the same facilities and in with the same attention and teaching method makes them closer and readier to work together in the future.
论述了移动控制中心(MCC)的设计要求,该控制中心是一种结构紧凑、可用于不同远洋ROV作业的远程操作机器人(ROV)教育控制中心。预期的应用是用于研究和教育目的。巴西海上油气行业急需专业技术人员。在深海作业中,由于空间有限,需要合理利用,ROV操作人员需要有一个合适的编队,并对他们所参与的过程有广泛的认识。使用一个控制中心,将操作员的日常经验带给ROV学生,将有助于提高未来ROV操作员的技能。对该主题的最新技术进行了文献调查,以评估现有技术,并表明存在开发诸如概念的机会。目前文献中报道的方案包括带有自动化控制中心的集装箱输送系统,以及ROV操作所必需的其他功能。然而,我们的分析表明,这种类型的解决方案并不能完全满足研究和教育活动的要求。移动控制中心的设计应该包括一个通用的控制中心,可以以灵活的方式集成到不同制造商的不同ROV设备上。此外,它需要在Santos盆地附近的设施中出现,以适应课程的需要,Santos盆地是石油工程专业的授课地。通过解决这些要求,在这个控制中心和成形技术和工程师在相同的设施和相同的关注和教学方法,使他们更紧密,更容易在未来一起工作。
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引用次数: 1
Research on recognition method of UUV vision based on PSO-BP network 基于PSO-BP网络的UUV视觉识别方法研究
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7401836
Wei Zhang, Detao Meng, Zhicheng Liang, Ying Li Guo, Jiajia Zhou, Yunfeng Han
During unmanned underwater vehicle (UUV) recovery process, the vision sensor needs to extract and recognize all light sources from guided images. Firstly, Aiming at restoring underwater image without exact depth map, a segmented-linear-mapping approach based on scattering model is put forward. Restoring results indicate that the approach is capable of highlighting subtle details and improving image quality effectively. Then the light source edge and its invariant moments are extracted by Canny edge detection algorithm combined with improved Snake model. At last, a kind of Back Propagation network based on particle swarm optimization algorithm (PSOBP) for UUV recognition is designed, which demonstrates higher recognition rate than traditional BP network.
在无人潜航器(UUV)恢复过程中,视觉传感器需要从引导图像中提取并识别所有光源。首先,针对无精确深度图的水下图像恢复问题,提出了一种基于散射模型的分割线性映射方法。恢复结果表明,该方法能够有效地突出细微细节,提高图像质量。然后结合改进的Snake模型,采用Canny边缘检测算法提取光源边缘及其不变矩;最后,设计了一种基于粒子群优化算法(PSOBP)的反向传播网络用于UUV识别,该网络比传统BP网络具有更高的识别率。
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引用次数: 2
Sea breeze, coastal upwelling modeling to support offshore wind energy planning and operations 海风、沿海上升流建模,支持海上风能规划和运营
Pub Date : 2015-10-01 DOI: 10.23919/OCEANS.2015.7404456
G. Seroka, T. Miles, R. Dunk, J. Kohut, S. Glenn, E. Fredj
In July 2014, BOEM issued the NJ Proposed Sale Notice of nearly 344,000 acres designated for offshore wind (OSW) energy development. The BOEM lease auction is expected to take place during the current year. The OSW developer(s) who win the lease(s) will submit their development application to the NJ Board of Public Utilities (NJ BPU). These applications must include a wind resource assessment and economic analysis. One major focus in the NJ BPU OSW rules is that applications “shall account for the coincidence between time of generation for the project and peak electricity demand.” Preliminary data analysis shows two mesoscale processes-coastal upwelling and sea breeze-may have a significant impact on wind generation during peak electricity demand. Tasked by NJ BPU, the Rutgers University Center for Ocean Observing Leadership (RUCOOL) is using the Weather Research and Forecasting (WRF) model to resolve these processes and quantify their impact on the wind resource. The WRF model set-up used is designed specifically for coastal/offshore regions, with three pertinent features for these regions. First, innovative satellite sea surface temperature (SST) composites at 2km resolution are used to resolve coastal upwelling. These composites integrate a) our own declouding algorithm set for the Mid Atlantic Bight to remove cloudy pixels from Advanced Very High Resolution Radiometer (AVHRR) SST scans, and b) coldest pixel composites of the resulting declouded AVHRR SST scans, rather than warmest pixel composites that would effectively remove coastal upwelling. Second, microscale grid spacing (<;1km) is used in WRF to resolve the sea breeze circulation, which can vary at meso- to microscales. Finally, validation of the WRF simulations is performed against coastal/offshore wind monitoring sites with atmospheric heights up to 200m, in order to ensure adequate model performance in coastal/offshore conditions. Three main results will be presented in this paper: (i) Coastal upwelling can produce high wind shear (~8 ms-1 across rotor blade dimensions). These significant shear values could potentially pose engineering challenges and should be considered in wind resource assessments. (ii) Lagrangian Coherent Structure (LCS) methodology can be used to identify key boundaries and fronts within the sea breeze circulation. While the onshore component of the sea breeze is well observed, very little is known about its unobserved offshore component, where OSW turbines will be installed. (iii) Power generation from a hypothetical 3000 MW OSW scenario off NJ was analyzed during three different sea breeze cases (one with strong upwelling, one with weak upwelling, and one without upwelling). Significant variability in power production occurred within each case and across the three sea breeze cases (net capacity factor ranged from 1 to 95%). WRF OSW potential power production data are being ingested by an electricity grid model to evaluate the impact of OSW energy penetration i
2014年7月,BOEM发布了新泽西州近344,000英亩的拟议销售通知,指定用于海上风电(OSW)能源开发。BOEM租赁拍卖预计将在本年度进行。获得租约的OSW开发商将向新泽西州公用事业委员会(NJ BPU)提交开发申请。这些应用必须包括风能资源评估和经济分析。NJ BPU OSW规则的一个主要焦点是申请“应考虑项目发电时间和峰值电力需求之间的巧合”。初步数据分析表明,两个中尺度过程——沿海上升流和海风——可能对高峰电力需求期间的风力发电产生重大影响。罗格斯大学海洋观测领导中心(RUCOOL)由NJ BPU负责,使用天气研究与预报(WRF)模型来解决这些过程,并量化它们对风力资源的影响。所使用的WRF模型设置是专门为沿海/近海地区设计的,具有这些地区的三个相关特征。首先,利用创新的2公里分辨率卫星海表温度(SST)复合材料来解析沿海上升流。这些合成物整合了a)我们为大西洋中部光设置的去云算法,从高级甚高分辨率辐射计(AVHRR) SST扫描中去除多云像素,以及b)去云后AVHRR SST扫描的最冷像素合成物,而不是能有效去除沿海上升流的最暖像素合成物。其次,WRF采用微尺度网格间距(< 1km)来解析海风环流,海风环流可以在中尺度到微尺度上变化。最后,在大气高度高达200米的沿海/海上风监测点对WRF模拟进行验证,以确保模型在沿海/海上条件下具有足够的性能。本文将提出三个主要结果:(i)沿海上升流可以产生高风切变(在转子叶片尺寸上约8 ms-1)。这些显著的剪切值可能会带来潜在的工程挑战,应该在风力资源评估中加以考虑。(ii)拉格朗日相干结构(LCS)方法可用于识别海风环流中的关键边界和锋面。虽然海风的陆上成分被很好地观察到,但对其未被观察到的海上成分知之甚少,OSW涡轮机将安装在那里。(iii)分析了NJ海域3000 MW OSW情景在三种不同海风情况下的发电情况(一种是强上升流,一种是弱上升流,一种是无上升流)。在每种情况下以及在三种海风情况下,发电量都发生了显著的变化(净容量系数从1到95%不等)。WRF OSW潜在电力生产数据正在被电网模型吸收,以评估OSW能源渗透到电网中的影响,同时评估应用的经济部分。新泽西州正在引领这种先进的联合大气经济建模能力的发展,以确定OSW项目的可行性。正在进行的工作包括开发一个耦合的大气-海洋模式(WRF-ROMS,区域海洋模拟系统),该模式将为OSW资源评估提供改进的诊断沿海海气过程(海风和沿海上升流)的能力(即通过在模拟中包括相关的中尺度过程来降低不确定性),并在OSW建设和O&M阶段更准确地预测这些过程的业务预报。
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引用次数: 4
期刊
OCEANS 2015 - MTS/IEEE Washington
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