Pub Date : 2016-11-01DOI: 10.1109/AUV.2016.7778686
Zhi Li, R. Bachmayer, A. Vardy
Risk analysis of an Autonomous Surface Craft (ASC) is a very important subject since it is closely related to the safety of an ASC operating in harsh ocean environments. In this study, we provide a detailed analysis of the primary disturbance of ocean waves and its influence on an ASC's roll motion. A conventional decoupled nonlinear roll motion model has been chosen and through experiments the roll motion model parameters are successfully identified. Using this model, we perform extensive simulations under different assumed wave conditions. Our analysis is based on the well-known erosion basin technique in phase plane. The safe region proportion has been defined to serve as a safety criterion. Through analysis, we find out that the safety of an ASC operating in the ocean is related to the wave amplitude and wave encounter frequency. This relationship provides a useful reference for risk analysis of an ASC. The results provided can be regarded as guidelines for an ASC's safety determination, and thus they are planned to be integrated into an ASC for its self safety awareness. The presented method can also be extended to other medium-size or large marine vessels for their operational safety analysis.
{"title":"Risk analysis of an Autonomous Surface Craft for operation in harsh ocean environments","authors":"Zhi Li, R. Bachmayer, A. Vardy","doi":"10.1109/AUV.2016.7778686","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778686","url":null,"abstract":"Risk analysis of an Autonomous Surface Craft (ASC) is a very important subject since it is closely related to the safety of an ASC operating in harsh ocean environments. In this study, we provide a detailed analysis of the primary disturbance of ocean waves and its influence on an ASC's roll motion. A conventional decoupled nonlinear roll motion model has been chosen and through experiments the roll motion model parameters are successfully identified. Using this model, we perform extensive simulations under different assumed wave conditions. Our analysis is based on the well-known erosion basin technique in phase plane. The safe region proportion has been defined to serve as a safety criterion. Through analysis, we find out that the safety of an ASC operating in the ocean is related to the wave amplitude and wave encounter frequency. This relationship provides a useful reference for risk analysis of an ASC. The results provided can be regarded as guidelines for an ASC's safety determination, and thus they are planned to be integrated into an ASC for its self safety awareness. The presented method can also be extended to other medium-size or large marine vessels for their operational safety analysis.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122464734","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778693
M. Carreras, J. D. Hernández, Eduard Vidal, N. Palomeras, P. Ridao
This paper proposes the use of path planning algorithms for AUVs in applications where the robot needs to adapt online its trajectory for inspection or safety purposes. These algorithms generate trajectories under motion constraints, which can be followed without deviations, to ensure the safety even when passing close to obstacles. View planning algorithms are also combined to decide the movements to be executed to discover the unexplored seabed or target and to cover it with a camera or sonar. Online mapping with profiling sonars and online planning with fast sampling-based algorithms, allows the execution of missions without any previous knowledge of the 3D shape of the environment. Real 2D results with a torpedo-shaped AUV with hovering capabilities in an artificial harbour structure and natural rocky canyon demonstrate the feasibility of the approach for avoiding or inspecting the underwater environment. Simulated 3D results also show the capability of the approach to be extended in more real and challenging environments.
{"title":"Online motion planning for underwater inspection","authors":"M. Carreras, J. D. Hernández, Eduard Vidal, N. Palomeras, P. Ridao","doi":"10.1109/AUV.2016.7778693","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778693","url":null,"abstract":"This paper proposes the use of path planning algorithms for AUVs in applications where the robot needs to adapt online its trajectory for inspection or safety purposes. These algorithms generate trajectories under motion constraints, which can be followed without deviations, to ensure the safety even when passing close to obstacles. View planning algorithms are also combined to decide the movements to be executed to discover the unexplored seabed or target and to cover it with a camera or sonar. Online mapping with profiling sonars and online planning with fast sampling-based algorithms, allows the execution of missions without any previous knowledge of the 3D shape of the environment. Real 2D results with a torpedo-shaped AUV with hovering capabilities in an artificial harbour structure and natural rocky canyon demonstrate the feasibility of the approach for avoiding or inspecting the underwater environment. Simulated 3D results also show the capability of the approach to be extended in more real and challenging environments.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116375538","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778699
Y. S. Song, M. Arshad
Autonomous Underwater Vehicle (AUV) play an important role in underwater inspection mission. However, there are external disturbances and parameter uncertainties which degrade the performance of an AUV. A robust control is needed to minimize the effects of external influences on AUV's system behaviour, subjects to the constraint of not having a complete representation of the AUV system. This paper proposed a time invariant tracking control method for AUV using robust filter approach. The proposed controller is able to achieve robustness against parameter uncertainties, model nonlinearities, and unexpected external disturbances with only rigid-body system inertia matrix information of AUV. Simulation results are presented to illustrate the performance of designed robust tracking control.
{"title":"Tracking control design for autonomous underwater vehicle using robust filter approach","authors":"Y. S. Song, M. Arshad","doi":"10.1109/AUV.2016.7778699","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778699","url":null,"abstract":"Autonomous Underwater Vehicle (AUV) play an important role in underwater inspection mission. However, there are external disturbances and parameter uncertainties which degrade the performance of an AUV. A robust control is needed to minimize the effects of external influences on AUV's system behaviour, subjects to the constraint of not having a complete representation of the AUV system. This paper proposed a time invariant tracking control method for AUV using robust filter approach. The proposed controller is able to achieve robustness against parameter uncertainties, model nonlinearities, and unexpected external disturbances with only rigid-body system inertia matrix information of AUV. Simulation results are presented to illustrate the performance of designed robust tracking control.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133839424","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778654
Steve Bloomer, P. Kowalczyk, S. Constable, Enmoto Keisuke
Towed controlled source electromagnetic systems (CSEM) are used to map subsurface resistivity structure. In 2014 and 2015, Fukada Salvage and Marine Works Co. Ltd and Ocean Floor Geophysics used a towed CSEM system developed by the Scripps Institution of Oceanography to map gas hydrate deposits. Towing the system at a constant depth in terrain with steep bathymetric gradients, such as in the vicinity of hydrothermal chimneys associated with seafloor massive sulfide (SMS) deposits, would prove difficult. Mounting electrodes on an AUV with a seafloor mounted transmitter as a source could overcome this difficulty, with the added benefit of simultaneous bathymetric mapping with a multibeam. To test the possibility of mounting electrodes on an AUV for CSEM mapping, a set of experiments were run to measure the noise levels of electric field measurements made using an AUV. The results of these tests are presented here.
{"title":"Test results and applications of an AUV-borne controlled source electromagnetic (CSEM) system","authors":"Steve Bloomer, P. Kowalczyk, S. Constable, Enmoto Keisuke","doi":"10.1109/AUV.2016.7778654","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778654","url":null,"abstract":"Towed controlled source electromagnetic systems (CSEM) are used to map subsurface resistivity structure. In 2014 and 2015, Fukada Salvage and Marine Works Co. Ltd and Ocean Floor Geophysics used a towed CSEM system developed by the Scripps Institution of Oceanography to map gas hydrate deposits. Towing the system at a constant depth in terrain with steep bathymetric gradients, such as in the vicinity of hydrothermal chimneys associated with seafloor massive sulfide (SMS) deposits, would prove difficult. Mounting electrodes on an AUV with a seafloor mounted transmitter as a source could overcome this difficulty, with the added benefit of simultaneous bathymetric mapping with a multibeam. To test the possibility of mounting electrodes on an AUV for CSEM mapping, a set of experiments were run to measure the noise levels of electric field measurements made using an AUV. The results of these tests are presented here.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"284 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133073128","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778716
Seokyong Song, Son-cheol Yu
It is still hard mission for human divers or robotic systems to investigate complex underwater environments, composed of several turning points and rooms. This paper explains a design of the Autonomous Underwater Vehicle (AUV) for marking physical and visible path logs in water. Then, it will make the repeated exploration easier. For the solution of underwater marking, we chose to use paraffin wax which can be melted easily in the heated body of machine and also be hardened easily in water. This vehicle has a container for storing the bulk of paraffin wax filament, nozzle part for ejecting the filament, and cameras for detecting filament mark. The marking method is similar with Fused Filament Fabrication (FFF) method of 3D printers. Nozzle motors extrude filament into nozzle, heating core melts it, and it comes out from the nozzle in water. As well as leaving a path mark, this AUV finds interesting places with real-time topic modeling algorithm and draws a circle-shaped mark, can be detected the next time on the point.
{"title":"Underwater marking AUV using paraffin wax","authors":"Seokyong Song, Son-cheol Yu","doi":"10.1109/AUV.2016.7778716","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778716","url":null,"abstract":"It is still hard mission for human divers or robotic systems to investigate complex underwater environments, composed of several turning points and rooms. This paper explains a design of the Autonomous Underwater Vehicle (AUV) for marking physical and visible path logs in water. Then, it will make the repeated exploration easier. For the solution of underwater marking, we chose to use paraffin wax which can be melted easily in the heated body of machine and also be hardened easily in water. This vehicle has a container for storing the bulk of paraffin wax filament, nozzle part for ejecting the filament, and cameras for detecting filament mark. The marking method is similar with Fused Filament Fabrication (FFF) method of 3D printers. Nozzle motors extrude filament into nozzle, heating core melts it, and it comes out from the nozzle in water. As well as leaving a path mark, this AUV finds interesting places with real-time topic modeling algorithm and draws a circle-shaped mark, can be detected the next time on the point.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128928335","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778701
J. Sverdrup-Thygeson, E. Kelasidi, K. Pettersen, J. Gravdahl
Autonomous underwater vehicles (AUVs) have been used for environmental mapping and surveys of various kinds for some time. More recently, the AUVs have entered the domain of the remotely operated vehicles (ROVs) to tackle some of the lighter subsea operations, such as inspection, maintenance, and repair (IMR) and light intervention tasks. The successful transition to AUVs for inspection of subsea infrastructure has pushed the technology towards AUVs equipped with robotic arms. Some AUVs with attached manipulator arms have demonstrated autonomous light intervention, but the majority of such tasks are still carried out using tethered and expensive ROVs with support vessels. The underwater swimming manipulator (USM) presented in this paper, is a snake-like bio-inspired AUV with exceptional accessibility and flexibility, due to its slender, multi-articulated structure. In this paper, we discuss why the USM is an appropriate system for certain tasks that are normally carried out by conventional ROVs and AUVs. Furthermore, we address the topic of kinematic control of the USM to utilize the inherent redundancy. Finally, we present and make use of a newly developed and versatile simulation environment for USMs to assert the applicability of the USM for performing subsea inspections and light intervention.
{"title":"The underwater swimming manipulator - a bio-inspired AUV","authors":"J. Sverdrup-Thygeson, E. Kelasidi, K. Pettersen, J. Gravdahl","doi":"10.1109/AUV.2016.7778701","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778701","url":null,"abstract":"Autonomous underwater vehicles (AUVs) have been used for environmental mapping and surveys of various kinds for some time. More recently, the AUVs have entered the domain of the remotely operated vehicles (ROVs) to tackle some of the lighter subsea operations, such as inspection, maintenance, and repair (IMR) and light intervention tasks. The successful transition to AUVs for inspection of subsea infrastructure has pushed the technology towards AUVs equipped with robotic arms. Some AUVs with attached manipulator arms have demonstrated autonomous light intervention, but the majority of such tasks are still carried out using tethered and expensive ROVs with support vessels. The underwater swimming manipulator (USM) presented in this paper, is a snake-like bio-inspired AUV with exceptional accessibility and flexibility, due to its slender, multi-articulated structure. In this paper, we discuss why the USM is an appropriate system for certain tasks that are normally carried out by conventional ROVs and AUVs. Furthermore, we address the topic of kinematic control of the USM to utilize the inherent redundancy. Finally, we present and make use of a newly developed and versatile simulation environment for USMs to assert the applicability of the USM for performing subsea inspections and light intervention.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"1499 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127442772","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778720
Juhyun Pyo, Son-cheol Yu
The typical autonomous underwater vehicles (AUVs) are widely used in underwater exploration. However, there are difficulties to use AUVs in constrained environments such as the strong current or poor visibility. In this paper, we proposed the novel design and operation strategy of AUV that can overcome these restricted condition. The proposed AUV is composed by upper and lower body with specific technologies. Two bodies have different shape and role. The lower body is firmly fixed on the seafloor, and guides the upper body connected by tether to the target. The upper body is in close proximity to the target to obtain the optical information. In this process, it is important that such buoyancy control, winch control and sensor fusion.
{"title":"Development of AUV (MI) for strong ocean current and zero-visibility condition","authors":"Juhyun Pyo, Son-cheol Yu","doi":"10.1109/AUV.2016.7778720","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778720","url":null,"abstract":"The typical autonomous underwater vehicles (AUVs) are widely used in underwater exploration. However, there are difficulties to use AUVs in constrained environments such as the strong current or poor visibility. In this paper, we proposed the novel design and operation strategy of AUV that can overcome these restricted condition. The proposed AUV is composed by upper and lower body with specific technologies. Two bodies have different shape and role. The lower body is firmly fixed on the seafloor, and guides the upper body connected by tether to the target. The upper body is in close proximity to the target to obtain the optical information. In this process, it is important that such buoyancy control, winch control and sensor fusion.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114856896","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778703
M. F. Yahya, M. Arshad
Underwater docking for an autonomous underwater vehicle is important in sense that the vehicle can stop at a docking station to recharge its battery, transfer data, and can be used for launch and recovery system. To perform docking, recognizing the station through vision is important. There are few researches conducted on underwater docking using vision to recognize targets as guidance for the underwater vehicle to home towards the station. In those researches, docking is unsuccessful when one or more of the targets are not detectable. Specifically, the image processing part failed to recognize the target if the number of target taken from a captured image is not the same as the number of target in a desired image. This paper proposes a robust recognition of targets algorithm using bounding box partitioning to overcome the aforementioned problem. Result shows that the algorithm is capable to recognize the targets even if some of the targets went missing.
{"title":"Robust recognition of targets for underwater docking of autonomous underwater vehicle","authors":"M. F. Yahya, M. Arshad","doi":"10.1109/AUV.2016.7778703","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778703","url":null,"abstract":"Underwater docking for an autonomous underwater vehicle is important in sense that the vehicle can stop at a docking station to recharge its battery, transfer data, and can be used for launch and recovery system. To perform docking, recognizing the station through vision is important. There are few researches conducted on underwater docking using vision to recognize targets as guidance for the underwater vehicle to home towards the station. In those researches, docking is unsuccessful when one or more of the targets are not detectable. Specifically, the image processing part failed to recognize the target if the number of target taken from a captured image is not the same as the number of target in a desired image. This paper proposes a robust recognition of targets algorithm using bounding box partitioning to overcome the aforementioned problem. Result shows that the algorithm is capable to recognize the targets even if some of the targets went missing.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128100566","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778661
Jisung Park, Jinwhan Kim
In this study, model-referenced pose estimation using monocular vision is applied to the navigation of an underwater vehicle in an underwater environment. The relative spatial information between the vehicle and the nearby underwater structure is obtained by employing 3D model-referenced tracking techniques. The obtained relative pose enables the underwater robot to localize around the underwater structure whose geometric model is known a priori. To demonstrate the performance of the proposed algorithm a set of experiments was carried out in a test tank and its results are shown.
{"title":"High-precision underwater navigation using model-referenced pose estimation with monocular vision","authors":"Jisung Park, Jinwhan Kim","doi":"10.1109/AUV.2016.7778661","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778661","url":null,"abstract":"In this study, model-referenced pose estimation using monocular vision is applied to the navigation of an underwater vehicle in an underwater environment. The relative spatial information between the vehicle and the nearby underwater structure is obtained by employing 3D model-referenced tracking techniques. The obtained relative pose enables the underwater robot to localize around the underwater structure whose geometric model is known a priori. To demonstrate the performance of the proposed algorithm a set of experiments was carried out in a test tank and its results are shown.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121287036","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 : 2016-11-01DOI: 10.1109/AUV.2016.7778665
M. Kojima, A. Asada, K. Mizuno, K. Nagahashi, F. Katase, Yuta Saito, T. Ura
Small AUV “IK-A” equipped with IRSAS was developed for submarine hydrothermal deposits exploration. Observed IRSAS data could acquire the back scatter image and bathymetry. One of the features of the seafloor hydrothermal deposits is the chimney and the mound-like terrain. Back scatter image can distinguish these terrain and other terrains. IRSAS has increased much measurable terrain by switching the pointing angle and real/synthetic aperture. On the other hand, perturbations of small IK-A, it was detected that affects the synthetic aperture processing. At the moment, there is a need to solve the problems of the following two points. Improving motion correction for synthetic aperture processing. Determination of the switching criteria of the narrow beam transmitter or wide beam transmitter.
{"title":"AUV IRSAS for submarine hydrothermal deposits exploration","authors":"M. Kojima, A. Asada, K. Mizuno, K. Nagahashi, F. Katase, Yuta Saito, T. Ura","doi":"10.1109/AUV.2016.7778665","DOIUrl":"https://doi.org/10.1109/AUV.2016.7778665","url":null,"abstract":"Small AUV “IK-A” equipped with IRSAS was developed for submarine hydrothermal deposits exploration. Observed IRSAS data could acquire the back scatter image and bathymetry. One of the features of the seafloor hydrothermal deposits is the chimney and the mound-like terrain. Back scatter image can distinguish these terrain and other terrains. IRSAS has increased much measurable terrain by switching the pointing angle and real/synthetic aperture. On the other hand, perturbations of small IK-A, it was detected that affects the synthetic aperture processing. At the moment, there is a need to solve the problems of the following two points. Improving motion correction for synthetic aperture processing. Determination of the switching criteria of the narrow beam transmitter or wide beam transmitter.","PeriodicalId":416057,"journal":{"name":"2016 IEEE/OES Autonomous Underwater Vehicles (AUV)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126024141","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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