Pub Date : 2018-05-30DOI: 10.1109/OCEANSKOBE.2018.8559308
Byunghyun Yoo, Jinwhan Kim
As international regulations for commercial ships regarding environmental pollution and global warming are being reinforced, worldwide efforts are growing to reduce the fuel consumption of ships; this is directly related to the emissions of environmental pollutants and greenhouse gases. A common method to reduce the fuel consumption of ships is to find a ship route that consumes less fuel. In many existing ship route optimization studies, the desired ship routes are calculated using a single objective optimization algorithm such as A * to minimize the path length, travel time, or fuel consumption. However, it is practically more important to reach the destination no later than the alloted time slot at a port even under weather uncertainties. In this study, a multi-objective optimization algorithm is employed to calculate the Pareto set with two objective functions: the fuel consumption and the expected time of arrival. Subsequently, using the Pareto set, the uncertainty of the arrival time and the probability that the ship will arrive within the specified time are estimated. Finally, the route to reach the port on time is determined with more certainty while minimizing fuel consumption. In order to verify the validity of the proposed method, a set of simulations were performed, and their results are discussed.
{"title":"Ship Route Optimization Considering On-Time Arrival Probability Under Environmental Uncertainty","authors":"Byunghyun Yoo, Jinwhan Kim","doi":"10.1109/OCEANSKOBE.2018.8559308","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559308","url":null,"abstract":"As international regulations for commercial ships regarding environmental pollution and global warming are being reinforced, worldwide efforts are growing to reduce the fuel consumption of ships; this is directly related to the emissions of environmental pollutants and greenhouse gases. A common method to reduce the fuel consumption of ships is to find a ship route that consumes less fuel. In many existing ship route optimization studies, the desired ship routes are calculated using a single objective optimization algorithm such as A * to minimize the path length, travel time, or fuel consumption. However, it is practically more important to reach the destination no later than the alloted time slot at a port even under weather uncertainties. In this study, a multi-objective optimization algorithm is employed to calculate the Pareto set with two objective functions: the fuel consumption and the expected time of arrival. Subsequently, using the Pareto set, the uncertainty of the arrival time and the probability that the ship will arrive within the specified time are estimated. Finally, the route to reach the port on time is determined with more certainty while minimizing fuel consumption. In order to verify the validity of the proposed method, a set of simulations were performed, and their results are discussed.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128616364","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 : 2018-05-29DOI: 10.1109/OCEANSKOBE.2018.8559421
Minsung Sung, Hangil Joe, Juhwan Kim, Son-cheol Yu
In underwater environment, sonar sensors have the advantage of being able to shoot images in turbid environment and having long working range. However, images taken with sonar sensor are difficult to recognize because of their low resolution. This paper proposes neural network based efficient resolution enhancement method in sonar images. We built convolutional neural network composed of 23 convolutional layers and 18 ResNet blocks, and trained the network with actual and denoised underwater sonar images. As a result, high resolution images can be restored from manually lowered resolution images, recording higher PSNR compared to interpolation algorithms. The proposed method can increase resolution of noisy, low-resolution sonar images without loss in working range.
{"title":"Convolutional Neural Network Based Resolution Enhancement of Underwater Sonar Image Without Losing Working Range of Sonar Sensors","authors":"Minsung Sung, Hangil Joe, Juhwan Kim, Son-cheol Yu","doi":"10.1109/OCEANSKOBE.2018.8559421","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559421","url":null,"abstract":"In underwater environment, sonar sensors have the advantage of being able to shoot images in turbid environment and having long working range. However, images taken with sonar sensor are difficult to recognize because of their low resolution. This paper proposes neural network based efficient resolution enhancement method in sonar images. We built convolutional neural network composed of 23 convolutional layers and 18 ResNet blocks, and trained the network with actual and denoised underwater sonar images. As a result, high resolution images can be restored from manually lowered resolution images, recording higher PSNR compared to interpolation algorithms. The proposed method can increase resolution of noisy, low-resolution sonar images without loss in working range.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122530691","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 : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559310
Christopher Dahlin Rodin, T. Johansen
In a number of ocean surveillance and remote sensing applications, visible light and thermal cameras are used to detect and identify objects at the sea surface. Knowing beforehand what the camera can detect or not can be important, yet highly difficult to determine. Optical models such as Modulation Transfer Functions can help in evaluating a camera system, but requires a deeper knowledge in optics, and detailed specifications of each component. The models also does not handle noise coming from the scene background, which in many cases is the major limiting factor of detectability. In this paper, we evaluate the results of an edge detection algorithm on images from two commercial off-the-shelf camera system – one visual light and one thermal. We then draw conclusions on the detectability of objects which commonly needs to be detected at the sea surface.
{"title":"Detectability of Objects at the Sea Surface in Visible Light and Thermal Camera Images","authors":"Christopher Dahlin Rodin, T. Johansen","doi":"10.1109/OCEANSKOBE.2018.8559310","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559310","url":null,"abstract":"In a number of ocean surveillance and remote sensing applications, visible light and thermal cameras are used to detect and identify objects at the sea surface. Knowing beforehand what the camera can detect or not can be important, yet highly difficult to determine. Optical models such as Modulation Transfer Functions can help in evaluating a camera system, but requires a deeper knowledge in optics, and detailed specifications of each component. The models also does not handle noise coming from the scene background, which in many cases is the major limiting factor of detectability. In this paper, we evaluate the results of an edge detection algorithm on images from two commercial off-the-shelf camera system – one visual light and one thermal. We then draw conclusions on the detectability of objects which commonly needs to be detected at the sea surface.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116594735","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 : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559255
David P. Williams
It is demonstrated that the phase information present in complex high-frequency synthetic aperture sonar (SAS) imagery can be exploited for successful object classification. That is, without using the amplitude content of the imagery, man-made targets can be discriminated from naturally occurring clutter. To exploit the information ostensibly hidden in the phase imagery, relatively simple convolutional neural networks (CNNs) are trained, “from scratch,” on a large database of SAS phase images collected at sea. Inference is then performed on real SAS data collected at sea during five other surveys that span multiple geographical locations and a variety of seafloor types and conditions. These experimental results on the test data illustrate that the phase information alone can produce favorable object classification performance. To our knowledge, this work is the first to demonstrate this finding.
{"title":"Exploiting Phase Information in Synthetic Aperture Sonar Images for Target Classification","authors":"David P. Williams","doi":"10.1109/OCEANSKOBE.2018.8559255","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559255","url":null,"abstract":"It is demonstrated that the phase information present in complex high-frequency synthetic aperture sonar (SAS) imagery can be exploited for successful object classification. That is, without using the amplitude content of the imagery, man-made targets can be discriminated from naturally occurring clutter. To exploit the information ostensibly hidden in the phase imagery, relatively simple convolutional neural networks (CNNs) are trained, “from scratch,” on a large database of SAS phase images collected at sea. Inference is then performed on real SAS data collected at sea during five other surveys that span multiple geographical locations and a variety of seafloor types and conditions. These experimental results on the test data illustrate that the phase information alone can produce favorable object classification performance. To our knowledge, this work is the first to demonstrate this finding.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126115027","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 : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559049
Steve Bloomer, Matthew Kowalczyk, P. Kowalczyk, S. Constable, E. Haber, Toru Kasuga
Seafloor massive sulfide (SMS) deposits are of interest because of their potential as copper and gold orebodies. This mineralization is often highly conductive, and consequently, electromagnetic mapping of these deposits for ranking of drilling targets often follows autonomous underwater vehicle (AUV) surveys that include multibeam bathymetry, side scan sonar, and chemical sensor data collection. This paper describes the results of two engineering tests to enable the simultaneous collection of standard payload AUV data with electromagnetic data for rapid determination of drilling targets. The resulting system is shown to be an efficient and cost-effective method for concurrent high-resolution multisensor and electromagnetic mapping in an SMS environment.
{"title":"AUV-CSEM: An Improvement in the Efficiency of Multi-Sensor Mapping of Seafloor Massive Sulfide (SMS) Deposits with an AUV","authors":"Steve Bloomer, Matthew Kowalczyk, P. Kowalczyk, S. Constable, E. Haber, Toru Kasuga","doi":"10.1109/OCEANSKOBE.2018.8559049","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559049","url":null,"abstract":"Seafloor massive sulfide (SMS) deposits are of interest because of their potential as copper and gold orebodies. This mineralization is often highly conductive, and consequently, electromagnetic mapping of these deposits for ranking of drilling targets often follows autonomous underwater vehicle (AUV) surveys that include multibeam bathymetry, side scan sonar, and chemical sensor data collection. This paper describes the results of two engineering tests to enable the simultaneous collection of standard payload AUV data with electromagnetic data for rapid determination of drilling targets. The resulting system is shown to be an efficient and cost-effective method for concurrent high-resolution multisensor and electromagnetic mapping in an SMS environment.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126939455","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 : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559061
Ørnulf Jan Rødseth, HÁvard Nordahl, Åsa S. Hoem
Autonomous ships are creating significant interest in the maritime world and the need for a more consistent definition framework is very apparent. This paper suggests building a framework based on the SAE J3016 standard for autonomous cars, but to extend it where necessary. One main difference is that ships are larger, slower and fewer than cars, but that consequences of accidents may be more severe. This is a typical characteristic of industrial autonomous systems. For ships one also must consider a more complex functional system (duration of voyage, energy, steering, hull integrity and stability etc.) as well as a very likely possibility that autonomous ships will be supervised form shore. This points to a constrained autonomy, where the system has programmable limits to the actions it may take. This creates a more complex taxonomy, in terms of the operational scenario possibilities, in how the control problem is solved and how responsibilities are divided between humans and computer systems.
{"title":"Characterization of Autonomy in Merchant Ships","authors":"Ørnulf Jan Rødseth, HÁvard Nordahl, Åsa S. Hoem","doi":"10.1109/OCEANSKOBE.2018.8559061","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559061","url":null,"abstract":"Autonomous ships are creating significant interest in the maritime world and the need for a more consistent definition framework is very apparent. This paper suggests building a framework based on the SAE J3016 standard for autonomous cars, but to extend it where necessary. One main difference is that ships are larger, slower and fewer than cars, but that consequences of accidents may be more severe. This is a typical characteristic of industrial autonomous systems. For ships one also must consider a more complex functional system (duration of voyage, energy, steering, hull integrity and stability etc.) as well as a very likely possibility that autonomous ships will be supervised form shore. This points to a constrained autonomy, where the system has programmable limits to the actions it may take. This creates a more complex taxonomy, in terms of the operational scenario possibilities, in how the control problem is solved and how responsibilities are divided between humans and computer systems.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128656906","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 : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559327
Qiulong Yang, Kunde Yang, Ran Cao, Liya Xu, Ying Zhang, Hong Liu, Chunlong Huang, J. Li
Wind-driven and distant shipping noise sources may significantly and simultaneously affect the spatial characteristics of the total noise field to some extent in deep ocean. In this paper, a standard ray approach and parabolic equation solution method were jointly utilized to model the low-frequency ambient noise field in a range-dependent deep ocean environment. The reanalysis databases of National Center of Environment Prediction (NCEP) and Volunteer Observation System (VOS) were used to model the ambient noise source intensity and distribution in South China Sea. Spatial vertical directionality and correlation were analyzed in three scenarios that correspond to three wind speed conditions. Furthermore, the vertical characteristics of low-frequency ambient noise field were compared with the Cron/Sherman deep water noise field coherence function. Simulation results with the described modeling method showed good agreement with the experimental measurement results based on the vertical line array deployed in deep ocean.
{"title":"Vertical Correlation and Directionality of Ambient Noise in Deep Ocean","authors":"Qiulong Yang, Kunde Yang, Ran Cao, Liya Xu, Ying Zhang, Hong Liu, Chunlong Huang, J. Li","doi":"10.1109/OCEANSKOBE.2018.8559327","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559327","url":null,"abstract":"Wind-driven and distant shipping noise sources may significantly and simultaneously affect the spatial characteristics of the total noise field to some extent in deep ocean. In this paper, a standard ray approach and parabolic equation solution method were jointly utilized to model the low-frequency ambient noise field in a range-dependent deep ocean environment. The reanalysis databases of National Center of Environment Prediction (NCEP) and Volunteer Observation System (VOS) were used to model the ambient noise source intensity and distribution in South China Sea. Spatial vertical directionality and correlation were analyzed in three scenarios that correspond to three wind speed conditions. Furthermore, the vertical characteristics of low-frequency ambient noise field were compared with the Cron/Sherman deep water noise field coherence function. Simulation results with the described modeling method showed good agreement with the experimental measurement results based on the vertical line array deployed in deep ocean.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"225 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130356493","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 : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559348
Mengxue Hou, Shijie Liu, Fumin Zhang, C. Edwards
In this paper, path planning is used to design the time-optimal path for an underwater glider subject to realistic flow conditions, while flow canceling strategy is used to calculate glider's steering angle such that it will follow the planned path. Navigation performance, defined in terms of path tracking error and travel time for glider to reach the destination, is discussed for cases of using flow canceling algorithm with respect to different flow conditions and relative strength of the time-varying and averaged flow. Mathematical analysis shows that performing path following with the averaged flow results in shorter travel time compared to performing path following with instantaneous flow, when non-tidal flow is the dominant component in the field. But it may result in longer travel time when tidal flow is the dominant component in the field. Path following with averaged flow results in increasing path following error if flow speed is less than the glider's forward speed. When flow speed is comparable to glider speed, the path tracking error can be unbounded when using flow canceling with instantaneous flow. Simulated experiments near Cape Hatteras, NC show that performing flow canceling algorithm with averaged flow will result in shorter travel time, but may induce larger path tracking error than performing flow canceling algorithm with instantaneous flow.
{"title":"A Combined Path Planning and Path Following Method for Underwater Glider Navigation in a Strong, Dynamic Flow Field","authors":"Mengxue Hou, Shijie Liu, Fumin Zhang, C. Edwards","doi":"10.1109/OCEANSKOBE.2018.8559348","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559348","url":null,"abstract":"In this paper, path planning is used to design the time-optimal path for an underwater glider subject to realistic flow conditions, while flow canceling strategy is used to calculate glider's steering angle such that it will follow the planned path. Navigation performance, defined in terms of path tracking error and travel time for glider to reach the destination, is discussed for cases of using flow canceling algorithm with respect to different flow conditions and relative strength of the time-varying and averaged flow. Mathematical analysis shows that performing path following with the averaged flow results in shorter travel time compared to performing path following with instantaneous flow, when non-tidal flow is the dominant component in the field. But it may result in longer travel time when tidal flow is the dominant component in the field. Path following with averaged flow results in increasing path following error if flow speed is less than the glider's forward speed. When flow speed is comparable to glider speed, the path tracking error can be unbounded when using flow canceling with instantaneous flow. Simulated experiments near Cape Hatteras, NC show that performing flow canceling algorithm with averaged flow will result in shorter travel time, but may induce larger path tracking error than performing flow canceling algorithm with instantaneous flow.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129064196","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 : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559190
Y. Yokota, T. Ishikawa, Shun-ichi Watanabe
The Global Navigation Satellite System-Acoustic ranging combination technique (GNSS-A) has achieved many historical geoscientific observations—a coseismic huge deformation following the 2011 Tohoku-oki earthquake, an interseismic coupling condition along the Nankai Trough megathrust zone, and so on. However, even with the latest observation technology, it takes about 3 years to detect an interseismic small deformation. We then cannot detect a small coseismic event or a slow slip event. In order to exceed such detection limit, elimination of errors‐‐especially errors from marine fields—by analytical approaches is required. In the current analysis strategy, only an analyzing of the shallowest ocean structure with the most disturbances has been conducted. Here, we developed a new analytical strategy that can extract a gradient field of a deeper structure and applied it to actual data. Resultant extracted ocean fields were consistent with the JCOPE-2 ocean model and real ocean fields. Resultant time series of the seafloor crustal deformations were also refined by this new strategy. These total results show the validity of the new analysis technique and the extracted natural phenomenon.
{"title":"Analytical Approach for the Precise GNSS-A Seafloor Geodetic Observation: Extraction of Ocean Disturbance Effect","authors":"Y. Yokota, T. Ishikawa, Shun-ichi Watanabe","doi":"10.1109/OCEANSKOBE.2018.8559190","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559190","url":null,"abstract":"The Global Navigation Satellite System-Acoustic ranging combination technique (GNSS-A) has achieved many historical geoscientific observations—a coseismic huge deformation following the 2011 Tohoku-oki earthquake, an interseismic coupling condition along the Nankai Trough megathrust zone, and so on. However, even with the latest observation technology, it takes about 3 years to detect an interseismic small deformation. We then cannot detect a small coseismic event or a slow slip event. In order to exceed such detection limit, elimination of errors‐‐especially errors from marine fields—by analytical approaches is required. In the current analysis strategy, only an analyzing of the shallowest ocean structure with the most disturbances has been conducted. Here, we developed a new analytical strategy that can extract a gradient field of a deeper structure and applied it to actual data. Resultant extracted ocean fields were consistent with the JCOPE-2 ocean model and real ocean fields. Resultant time series of the seafloor crustal deformations were also refined by this new strategy. These total results show the validity of the new analysis technique and the extracted natural phenomenon.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129075010","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 : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559295
Qiuyang Tao, Yuehai Zhou, F. Tong, A. Song, Fumin Zhang
Underwater acoustic communication is critical for many application scenarios of micro autonomous underwater vehicles $(mu mathbf{AUVs})$. Knowing disturbances of acoustic communication is essential for the safe and efficient operation of $mu mathbf{AUVs}$. This paper presents the experimental results of acoustic communication of $mu mathbf{AUVs}$ operating in confined space. Packet Reception Rate (PRR) and Bit Error Rate (BER) are evaluated while the $mu mathbf{AUV}$ is either stationary or moving. Major factors that impacts the acoustic communication are pinpointed and discussed. The experimental results show that the multipath effect interferes the synchronization signals of the acoustic modem. Path hopping due to the relative motion between the $mu mathbf{AUV}$ and the basestation causes inferior BER. Extra noise from the under-maintained thrusters also degrades the communication performance.
{"title":"Evaluating Acoustic Communication Performance of Micro AUV in Confined Space","authors":"Qiuyang Tao, Yuehai Zhou, F. Tong, A. Song, Fumin Zhang","doi":"10.1109/OCEANSKOBE.2018.8559295","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559295","url":null,"abstract":"Underwater acoustic communication is critical for many application scenarios of micro autonomous underwater vehicles $(mu mathbf{AUVs})$. Knowing disturbances of acoustic communication is essential for the safe and efficient operation of $mu mathbf{AUVs}$. This paper presents the experimental results of acoustic communication of $mu mathbf{AUVs}$ operating in confined space. Packet Reception Rate (PRR) and Bit Error Rate (BER) are evaluated while the $mu mathbf{AUV}$ is either stationary or moving. Major factors that impacts the acoustic communication are pinpointed and discussed. The experimental results show that the multipath effect interferes the synchronization signals of the acoustic modem. Path hopping due to the relative motion between the $mu mathbf{AUV}$ and the basestation causes inferior BER. Extra noise from the under-maintained thrusters also degrades the communication performance.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126254794","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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