Pub Date : 2018-05-28DOI: 10.1109/OCEANSKOBE.2018.8559474
Keila Lima, Eduardo R. B. Marques, J. Pinto, J. Sousa
The increasing availability and use of autonomous vehicles for real operational scenarios has led to the need for tools that allow human operators to interact with multiple systems effectively, taking into account their capabilities, limitations and environmental constraints. Multiple vehicles, deployed together in order to accomplish a common goal, impose a high burden on a human operator for specifying and executing coordinated behavior, particularly in mixed-initiative systems where humans are part of the control loop. In this paper, we describe experimental field tests for Dolphin, a domain-specific language that allows a single program to define the joint behaviour of multiple vehicles over a network. Using the language, it is possible to accomplish an orchestrated execution of single-vehicle tasks according to several patterns such as sequential, concurrent, or event-based program flow. With this aim, Dolphin has been integrated modularly with a software toolchain for autonomous vehicles developed by Laboratório de Sistemas e Tecnologia Subaquática (LSTS). The tests we describe made use of LSTS unmanned underwater vehicles (UUVs) at open sea during the 2017 edition of Rapid Environment Picture (REP), an annual exercise jointly organised by LSTS and the Portuguese Navy.
在实际操作场景中，自动驾驶汽车的可用性和使用越来越多，这导致了对工具的需求，使人类操作员能够有效地与多个系统进行交互，同时考虑到它们的能力、局限性和环境约束。为了实现一个共同的目标而部署在一起的多辆汽车，在指定和执行协调行为方面给人类操作员带来了很高的负担，特别是在混合主动系统中，人类是控制回路的一部分。在本文中，我们描述了Dolphin的实验现场测试，Dolphin是一种特定于领域的语言，允许单个程序定义网络上多个车辆的联合行为。使用该语言，可以根据顺序、并发或基于事件的程序流等多种模式，完成单车辆任务的编排执行。为此，Dolphin与Laboratório de Sistemas e tecologia Subaquática (LSTS)开发的自动驾驶汽车软件工具链进行了模块化集成。我们描述的测试是在2017年版快速环境图片(REP)期间在公海使用LSTS无人水下航行器(uuv)进行的，这是由LSTS和葡萄牙海军联合组织的年度演习。
{"title":"Programming Networked Vehicle Systems Using Dolphin - Field Tests at REP'17","authors":"Keila Lima, Eduardo R. B. Marques, J. Pinto, J. Sousa","doi":"10.1109/OCEANSKOBE.2018.8559474","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559474","url":null,"abstract":"The increasing availability and use of autonomous vehicles for real operational scenarios has led to the need for tools that allow human operators to interact with multiple systems effectively, taking into account their capabilities, limitations and environmental constraints. Multiple vehicles, deployed together in order to accomplish a common goal, impose a high burden on a human operator for specifying and executing coordinated behavior, particularly in mixed-initiative systems where humans are part of the control loop. In this paper, we describe experimental field tests for Dolphin, a domain-specific language that allows a single program to define the joint behaviour of multiple vehicles over a network. Using the language, it is possible to accomplish an orchestrated execution of single-vehicle tasks according to several patterns such as sequential, concurrent, or event-based program flow. With this aim, Dolphin has been integrated modularly with a software toolchain for autonomous vehicles developed by Laboratório de Sistemas e Tecnologia Subaquática (LSTS). The tests we describe made use of LSTS unmanned underwater vehicles (UUVs) at open sea during the 2017 edition of Rapid Environment Picture (REP), an annual exercise jointly organised by LSTS and the Portuguese Navy.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"2 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":"132778210","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.2018.8559052
Saima Ahmed, H. Vishnu, M. Chitre
We compare pulse compression waveforms of different categories in terms of their ambiguity function characteristics and performance in detection and range estimation. How well these characteristics translate into sonar performance in shallow waters is studied via simulations. We select three operating scenarios to compare the performance of these waveforms, namely, short range, long range and detection of multiple targets that are close to each other. Our comparison indicates the relative strengths and weaknesses of these waveforms. The results indicate that some aspects of the relative sonar performance of these waveforms can be gauged from their ambiguity function characteristics, though not always in a straightforward manner. Thus, this gives us a methodology to select suitable waveforms for sonar operation without the need to perform computationally intensive Monte Carlo simulations.
{"title":"Monostatic Sonar Performance Using Pulse Compression Waveforms","authors":"Saima Ahmed, H. Vishnu, M. Chitre","doi":"10.1109/OCEANSKOBE.2018.8559052","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559052","url":null,"abstract":"We compare pulse compression waveforms of different categories in terms of their ambiguity function characteristics and performance in detection and range estimation. How well these characteristics translate into sonar performance in shallow waters is studied via simulations. We select three operating scenarios to compare the performance of these waveforms, namely, short range, long range and detection of multiple targets that are close to each other. Our comparison indicates the relative strengths and weaknesses of these waveforms. The results indicate that some aspects of the relative sonar performance of these waveforms can be gauged from their ambiguity function characteristics, though not always in a straightforward manner. Thus, this gives us a methodology to select suitable waveforms for sonar operation without the need to perform computationally intensive Monte Carlo simulations.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"11 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":"133460400","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.2018.8558804
Fengqiang Xu, Xueyan Ding, Jinjia Peng, Guoliang Yuan, Yafei Wang, Jun Zhang, Xianping Fu
Detection and counting small objects using under-water robot draw an appealing attention because of its urgent demands in marine aquaculture. Because this challenge problem must be solved before the underwater robot can be used to catch seafood in practice instead of diver. This paper proposed a novel method using Faster R-CNN and kernelized correlation filter (KCF) tracking algorithm to detect seafood objects, such as sea cucumber, sea urchin, and scallop and so on in real time. Firstly, we trained an accurate and stable Faster R-CNN detector with VGG model using underwater image database, which is built by ourselves. Next, we recognized and tracked the seafood objects in order to fetch them using underwater robot vision in naturalistic ocean environment. The experimental results show the proposed method can recognized and catch seafood in real time using our integrated underwater robot.
{"title":"Real-Time Detecting Method of Marine Small Object with Underwater Robot Vision","authors":"Fengqiang Xu, Xueyan Ding, Jinjia Peng, Guoliang Yuan, Yafei Wang, Jun Zhang, Xianping Fu","doi":"10.1109/OCEANSKOBE.2018.8558804","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8558804","url":null,"abstract":"Detection and counting small objects using under-water robot draw an appealing attention because of its urgent demands in marine aquaculture. Because this challenge problem must be solved before the underwater robot can be used to catch seafood in practice instead of diver. This paper proposed a novel method using Faster R-CNN and kernelized correlation filter (KCF) tracking algorithm to detect seafood objects, such as sea cucumber, sea urchin, and scallop and so on in real time. Firstly, we trained an accurate and stable Faster R-CNN detector with VGG model using underwater image database, which is built by ourselves. Next, we recognized and tracked the seafood objects in order to fetch them using underwater robot vision in naturalistic ocean environment. The experimental results show the proposed method can recognized and catch seafood in real time using our integrated underwater robot.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"14 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":"132829638","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.2018.8559270
A. Mueller, J. Crusius, Alexander Agudelo, Fizzah Shaikh
The Portable Remote In-Situ Metal (PRISM) sampler is a trace metal clean sampler designed for high resolution study of iron (and other metals) in marine ecosystems. Sub-nanomolar detection limits are achievable through a combination of material selection (PTFE, LDPE, HDPE, polypropylene), actively pumped sampling, and design of the fluid loop to avoid contact between sampled waters and the pump or any active valves. A compact modular design, collecting 15 or 30 10 mL samples per module, facilitates deployment on a wide range of stationary, profiling, and mobile platforms. The PRISM sampler has been tested to 200m depth, sufficient for deployment along the continental shelf or for study of the euphotic zone, and can operate autonomously for up to 6 months on a battery pack of 8 C-cell NiMH batteries. Use of readily accessible standard parts minimizes cost and facilitates utilization by other scientists.
{"title":"A Novel High-Resolution Trace Metal Clean Sampler for Stationary, Profiling, and Mobile Deployment","authors":"A. Mueller, J. Crusius, Alexander Agudelo, Fizzah Shaikh","doi":"10.1109/OCEANSKOBE.2018.8559270","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559270","url":null,"abstract":"The Portable Remote In-Situ Metal (PRISM) sampler is a trace metal clean sampler designed for high resolution study of iron (and other metals) in marine ecosystems. Sub-nanomolar detection limits are achievable through a combination of material selection (PTFE, LDPE, HDPE, polypropylene), actively pumped sampling, and design of the fluid loop to avoid contact between sampled waters and the pump or any active valves. A compact modular design, collecting 15 or 30 10 mL samples per module, facilitates deployment on a wide range of stationary, profiling, and mobile platforms. The PRISM sampler has been tested to 200m depth, sufficient for deployment along the continental shelf or for study of the euphotic zone, and can operate autonomously for up to 6 months on a battery pack of 8 C-cell NiMH batteries. Use of readily accessible standard parts minimizes cost and facilitates utilization by other scientists.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"59 5 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":"130773434","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.2018.8558885
K. Mizuno, S. Tabeta, Yoshino Matsumoto, Shingo Sakamoto, Yusuke Sugimoto, Toshihiro Ogawa, Kenichi Sugimoto, L. Jimenez, Kei Terayama, H. Fukami, M. Sakagami, M. Deki, Akihiro Kawakubo
Various methods have been developed and used for monitoring marine benthic habitats, such as coral reefs and seagrass meadows. Basically, field transects, such as Line Intercept Transect (LIT), Photo Line Intercept Transect (PLIT), and Video Transect (VT), are the most widely used methods as it is easy and simple to conduct as well as less costly [1]. However, these in-situ visual method requires long sampling time due to the small coverage of the methods. In addition, 3D information of the seabed cannot be obtained. On the other hand, marine biologists and ecologists have increasingly relied on imagery from platforms such as autonomous underwater vehicles (AUVs) for marine monitoring [2], [3]. The underwater imagery obtained by AUVs can be used to make high quality 3D model of seabed, classify and count the abundance of various species in an area. However, the cost for development is still high and expert is necessary for the operation of vehicles. In addition, the AUV systems usually use mono or stereo cameras for the observation, therefore, the coverage of the observation is not wide.
已经开发和使用了各种方法来监测海洋底栖生物栖息地，例如珊瑚礁和海草草甸。基本上，现场样线(Line Intercept)样线(LIT)、照片(Photo Line Intercept)样线(PLIT)、视频样线(Video)样线(VT)等方法是应用最广泛的方法，因为它们容易、简单且成本较低[1]。然而，这些原位可视化方法由于覆盖范围小，需要较长的采样时间。此外，无法获得海底的三维信息。另一方面，海洋生物学家和生态学家越来越依赖自主水下航行器(auv)等平台的图像进行海洋监测[2]，[3]。利用水下航行器获得的水下图像，可以制作高质量的海底三维模型，对区域内各种物种的丰度进行分类和统计。然而，开发成本仍然很高，并且需要专家来操作车辆。此外，水下航行器系统通常使用单眼或立体摄像机进行观测，因此观测的覆盖范围不广。
{"title":"Development of a Towed Optical Camera Array System (SSS: Speedy Sea Scanner) for Sea Environmental Monitoring","authors":"K. Mizuno, S. Tabeta, Yoshino Matsumoto, Shingo Sakamoto, Yusuke Sugimoto, Toshihiro Ogawa, Kenichi Sugimoto, L. Jimenez, Kei Terayama, H. Fukami, M. Sakagami, M. Deki, Akihiro Kawakubo","doi":"10.1109/OCEANSKOBE.2018.8558885","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8558885","url":null,"abstract":"Various methods have been developed and used for monitoring marine benthic habitats, such as coral reefs and seagrass meadows. Basically, field transects, such as Line Intercept Transect (LIT), Photo Line Intercept Transect (PLIT), and Video Transect (VT), are the most widely used methods as it is easy and simple to conduct as well as less costly [1]. However, these in-situ visual method requires long sampling time due to the small coverage of the methods. In addition, 3D information of the seabed cannot be obtained. On the other hand, marine biologists and ecologists have increasingly relied on imagery from platforms such as autonomous underwater vehicles (AUVs) for marine monitoring [2], [3]. The underwater imagery obtained by AUVs can be used to make high quality 3D model of seabed, classify and count the abundance of various species in an area. However, the cost for development is still high and expert is necessary for the operation of vehicles. In addition, the AUV systems usually use mono or stereo cameras for the observation, therefore, the coverage of the observation is not wide.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"2 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":"130993313","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.2018.8559171
Feihu Zhang, Chensheng Cheng, Can Wang, Li-e Gao
Recently, the developments of tracking systems have been significantly improved for ships tracking. Traditional approaches adopts a divide-and-conquer strategy, in which data association becomes quite challenging to collect right measurements in high density clutter environments. In this paper, a novel approach using Probability Hypothesis Density (PHD) filter is proposed for ships tracking, in which targets states are estimated based on set-valued measurements. Furthermore, the proposed solution also avoids the requirements of the prior parameters in the PHD filter, with respect to the birth intensities. During the tracking phase, the point matching method is also utilized to distinguish the ships and non-interested targets between consecutive frames, where the unchanged topology information is then utilized to initialize the birth intensities in the PHD filter.
{"title":"Multi-Ships Tracking Based on Probability Hypothesis Density Filter with Unknown Birth Intensities","authors":"Feihu Zhang, Chensheng Cheng, Can Wang, Li-e Gao","doi":"10.1109/OCEANSKOBE.2018.8559171","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559171","url":null,"abstract":"Recently, the developments of tracking systems have been significantly improved for ships tracking. Traditional approaches adopts a divide-and-conquer strategy, in which data association becomes quite challenging to collect right measurements in high density clutter environments. In this paper, a novel approach using Probability Hypothesis Density (PHD) filter is proposed for ships tracking, in which targets states are estimated based on set-valued measurements. Furthermore, the proposed solution also avoids the requirements of the prior parameters in the PHD filter, with respect to the birth intensities. During the tracking phase, the point matching method is also utilized to distinguish the ships and non-interested targets between consecutive frames, where the unchanged topology information is then utilized to initialize the birth intensities in the PHD filter.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"18 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":"115149942","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.2018.8558892
Byeongjin Kim, Hyeonwoo Cho, Hangil Joe, Son-cheol Yu
An imaging sonar loses information of elevation angle while a mapping process. To overcome this limitation, the motion of the autonomous underwater vehicle (AUV) can be used to obtain 3D information using the imaging sonar. In this paper, we propose a two-stage mapping strategy for accurately generating underwater 3D maps based on an imaging sonar. It consists of searching and scanning stage. In the scanning stage, multi-directional scanning is performed on an object. To process 3D point cloud data obtained by multi-directional scanning, we propose a polygonal approximation method. This method reduces the uncertainty of 3D point cloud data by extracting intersection area of multiple data groups. To verify the feasibility of proposed strategies, we conducted indoor tank experiments using a hovering-type AUV ‘Cyclops’ and acoustic lens-based multibeam sonar (ALMS) ‘DIDSON’.
{"title":"Optimal Strategy for Seabed 3D Mapping of AUV Based on Imaging Sonar","authors":"Byeongjin Kim, Hyeonwoo Cho, Hangil Joe, Son-cheol Yu","doi":"10.1109/OCEANSKOBE.2018.8558892","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8558892","url":null,"abstract":"An imaging sonar loses information of elevation angle while a mapping process. To overcome this limitation, the motion of the autonomous underwater vehicle (AUV) can be used to obtain 3D information using the imaging sonar. In this paper, we propose a two-stage mapping strategy for accurately generating underwater 3D maps based on an imaging sonar. It consists of searching and scanning stage. In the scanning stage, multi-directional scanning is performed on an object. To process 3D point cloud data obtained by multi-directional scanning, we propose a polygonal approximation method. This method reduces the uncertainty of 3D point cloud data by extracting intersection area of multiple data groups. To verify the feasibility of proposed strategies, we conducted indoor tank experiments using a hovering-type AUV ‘Cyclops’ and acoustic lens-based multibeam sonar (ALMS) ‘DIDSON’.","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":"123167438","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.2018.8559126
Seokyong Song, Byeongjin Kim, Juhwan Kim, Son-cheol Yu
We propose a method of evaluating reliability of optical image and acoustic image for localization of AUV in real time. Some studies about SLAM using vision or an imaging sonar have been suggested, but both sensors have their own advantageous cases. Using proposed method, AUV switches the utilizing sensor in appropriate case in real time, and always navigates with the most useful sensor. We defined each reliability value of optical and acoustic images using the number of features. We acquired image pairs in seawater and water tank with AUV Cyclops. Using linear discriminant analysis, the parameters to compare their reliability values were found. We compared the results depending on the experiment conditions, and then checked the processing time.
{"title":"Real-Time Reliability Evaluation of Optical and Acoustic Images for Feature-Based Localization of AUV","authors":"Seokyong Song, Byeongjin Kim, Juhwan Kim, Son-cheol Yu","doi":"10.1109/OCEANSKOBE.2018.8559126","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559126","url":null,"abstract":"We propose a method of evaluating reliability of optical image and acoustic image for localization of AUV in real time. Some studies about SLAM using vision or an imaging sonar have been suggested, but both sensors have their own advantageous cases. Using proposed method, AUV switches the utilizing sensor in appropriate case in real time, and always navigates with the most useful sensor. We defined each reliability value of optical and acoustic images using the number of features. We acquired image pairs in seawater and water tank with AUV Cyclops. Using linear discriminant analysis, the parameters to compare their reliability values were found. We compared the results depending on the experiment conditions, and then checked the processing time.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"70 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":"131060146","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.2018.8559240
Hong Liu, Kunde Yang, Yuanliang Ma, Qiulong Yang, Liya Xu
Inversion based on modal characteristics is an effective method to estimate shallow water bottom parameters. The precision of dispersion curve extraction has a significant impact on inversion result. In this paper, a method of combination of warping transform and synchrosqueezing transform is introduced to extract mode dispersion curves. It is applied to process an air-gun impulsive signal during a shallow water sound propagation experiment in the winter. According to the normal mode theory, the arrival time difference of propagation modes computed by dispersion curves are used to invert bottom parameters. Genetic algorithm is used for inversion. In addition, the reliability of inversion result is verified by in suit measurement and a posteriori probability statistics.
{"title":"Wideband Geoacoustic Inversion Using Synchrosqueezing Transform","authors":"Hong Liu, Kunde Yang, Yuanliang Ma, Qiulong Yang, Liya Xu","doi":"10.1109/OCEANSKOBE.2018.8559240","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559240","url":null,"abstract":"Inversion based on modal characteristics is an effective method to estimate shallow water bottom parameters. The precision of dispersion curve extraction has a significant impact on inversion result. In this paper, a method of combination of warping transform and synchrosqueezing transform is introduced to extract mode dispersion curves. It is applied to process an air-gun impulsive signal during a shallow water sound propagation experiment in the winter. According to the normal mode theory, the arrival time difference of propagation modes computed by dispersion curves are used to invert bottom parameters. Genetic algorithm is used for inversion. In addition, the reliability of inversion result is verified by in suit measurement and a posteriori probability statistics.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"52 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":"127100077","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.2018.8559349
Y. Nakajima, J. Yamamoto, Tomoko Takahashi, B. Thornton, Gjergj Dodbiba, T. Fujita
This paper describes experimental works to apply Laser-Induced Breakdown Spectroscopy (LIBS) for in-situ measurement of the metal grade of ore particles handled in seafloor mineral processing system for seafloor massive sulfides. LIBS measurements of ore particles containing metallic elements in slurry were performed, where ore slurry was circulated through a chamber mounted on the optical probe of a LIBS device. The chamber was positioned to set the focal point of laser from the LIBS device at the center of the tubular space in the chamber, where the slurry runs. Analytically useful LIBS spectra were obtained from the slurry with enough slurry concentration. While relatively strong LIBS signals assigned to major elements appeared in many spectra, sharp LIBS signals assigned to minor elements appeared in a spectrum. Individual ore particles are not homogeneous even though they are prepared from single ore. The results suggest that multiple measurements are required to assess the metal grade in the seafloor mineral processing system.
{"title":"Measurement of Metal Grade of Ore Particles in Slurry Using Laser-Induced Breakdown Spectroscopy","authors":"Y. Nakajima, J. Yamamoto, Tomoko Takahashi, B. Thornton, Gjergj Dodbiba, T. Fujita","doi":"10.1109/OCEANSKOBE.2018.8559349","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559349","url":null,"abstract":"This paper describes experimental works to apply Laser-Induced Breakdown Spectroscopy (LIBS) for in-situ measurement of the metal grade of ore particles handled in seafloor mineral processing system for seafloor massive sulfides. LIBS measurements of ore particles containing metallic elements in slurry were performed, where ore slurry was circulated through a chamber mounted on the optical probe of a LIBS device. The chamber was positioned to set the focal point of laser from the LIBS device at the center of the tubular space in the chamber, where the slurry runs. Analytically useful LIBS spectra were obtained from the slurry with enough slurry concentration. While relatively strong LIBS signals assigned to major elements appeared in many spectra, sharp LIBS signals assigned to minor elements appeared in a spectrum. Individual ore particles are not homogeneous even though they are prepared from single ore. The results suggest that multiple measurements are required to assess the metal grade in the seafloor mineral processing system.","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":"129893968","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：