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ULTRAMOOR: a 5-year current meter mooring ULTRAMOOR:一个5年的海流计系泊
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881749
D. Frye, D. Peters, N. Hogg, C. Wunsch
The prototype ULTRAMOOR design is a subsurface mooring that supports 10 (or more) discrete acoustic current meters. Travel time and acoustic Doppler sensors are being evaluated. Each current sensor is equipped with a small, low power acoustic transmitter that transfers compressed data from the instrument to a receiver located below the euphotic zone (nominally at 500-m depth). The acoustic receiver forwards these data to an array of up to 10 expendable data capsules. In a typical scenario a capsule would release every 6 months over a 5-year deployment interval. Each capsule contains 4 Mbytes of solid-state memory and an Orbcomm transceiver, which transfers the data via satellite as the capsule drifts away from the mooring. The initial deep ocean test of the ULTRAMOOR prototype will be conducted from July to November 2000 offshore Bermuda. This paper describes the overall system design and discusses its scientific applications.
ULTRAMOOR原型设计是一个地下系泊系统,可支持10个(或更多)离散声学电流计。飞行时间和声波多普勒传感器正在评估中。每个电流传感器都配备了一个小的、低功率的声波发射器,它将压缩数据从仪器传输到位于光区以下的接收器(名义上在500米深)。声波接收器将这些数据转发到多达10个可消耗的数据胶囊阵列。在一个典型的场景中,胶囊将在5年的部署间隔中每6个月发布一次。每个太空舱包含4mb的固态存储器和一个Orbcomm收发器,当太空舱漂离系泊处时,该收发器通过卫星传输数据。ULTRAMOOR原型机的首次深海测试将于2000年7月至11月在百慕大近海进行。本文介绍了系统的总体设计,并讨论了系统的科学应用。
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引用次数: 6
"EZ-Gram" sonar display tools: applying interactive data visualization and analysis to undersea environments “EZ-Gram”声呐显示工具:在海底环境中应用交互式数据可视化和分析
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881374
R. J. Barton, R. J. Rowland, L.M. Encamacao
Today's sonar operator is overloaded with an extraordinary amount of processed acoustic sensor data to search through and analyze. Technological advances in sensors, signal processing, and computational power allow sonar operators to collect an overwhelming amount of data, generating highly cluttered displays. Consequently, operators are burdened with the need for more training and experience to achieve the desired level of performance. The sonar system itself is traditionally designed to maximize signals in the presence of noise, while the operator must use training and experience to efficiently detect and classify objects of interest. In this paper we present an ongoing effort to develop and evaluate revolutionary acoustic assessment aids and analysis tools designed to tremendously simplify the acoustic tactical picture while guiding the sonar operator in picking the "wheat from the chaff" in a sonar display.
如今的声纳操作员需要处理大量的声学传感器数据来进行搜索和分析。传感器、信号处理和计算能力方面的技术进步使声纳操作员能够收集大量数据,产生高度杂乱的显示。因此,操作人员需要更多的培训和经验才能达到预期的性能水平。传统上,声纳系统本身的设计是为了在存在噪声的情况下最大化信号,而操作员必须通过训练和经验来有效地检测和分类感兴趣的物体。在本文中,我们提出了一项正在进行的努力,以开发和评估革命性的声学评估辅助工具和分析工具,旨在极大地简化声学战术图像,同时指导声纳操作员在声纳显示中“从谷壳中挑选小麦”。
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引用次数: 7
Robotic ocean vehicles for marine science applications: the European ASIMOV project 用于海洋科学应用的海洋机器人:欧洲ASIMOV项目
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881293
A. Pascoal, P. Oliveira, C. Silvestre, L. Sebastião, Manuel Rufino, V. Barroso, J. Gomes, G. Ayela, P. Coince, M. Cardew, A. Ryan, H. Braithwaite, N. Cardew, J. Trepte, N. Seube, J. Champeau, P. Dhaussy, V. Sauce, R. Moitié, R. S. Santos, F. Cardigos, M. Brussieux, P. Dando
The key objective of the ASIMOV project is the development and integration of advanced technological systems to achieve coordinated operation of an Autonomous Surface Craft (ASC) and an Autonomous Underwater Vehicle (AUV) while ensuring a fast communication link between the two vehicles. The ASC/AUV ensemble is being used to study the extent of shallow water hydrothermalism and to determine the patterns of community diversity at vents in the D. Joao de Castro (DJC) bank in the Azores.
ASIMOV项目的关键目标是开发和集成先进的技术系统,以实现自主水面艇(ASC)和自主水下航行器(AUV)的协调操作,同时确保两者之间的快速通信链路。ASC/AUV组合被用于研究亚速尔群岛D. Joao de Castro (DJC)河岸浅水热液作用的程度,并确定喷口的群落多样性模式。
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引用次数: 160
Adaptive calibration of an autonomous underwater vehicle navigation system 自主水下航行器导航系统的自适应标定
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881777
C.M. De Angelis, J. Whitney
There continues to exist the problem of long-term accurate position estimation for autonomous underwater vehicles (AUVs). In current operations, the AUVs positional fix is initially obtained on the surface from a global positioning system (GPS) receiver. The AUV then submerges to perform the desired mission. While submerged, location/navigation is performed using, at a minimum, an inertial navigation system (INS). Depending on the sophistication of the AUV, Doppler velocity sonar (DVS) might be combined with a multi-state Kalman filter (KF) to perform position estimation. The estimates from the INS and the DVS/Kalman filter estimator are combined to provide a robust estimate of location. Because the KF is model based, there is a likelihood that over time the divergence of the KF may increase since the true motion of the AUV does not match the modeled motion. At that point the AUV must surface to obtain another set of absolute position coordinates from the GPS before being able to continue its mission. Depending on the duration of the mission, this process may need to be repeated several times, which unnecessarily uses battery/power resources. By combining a database which contains sonargrammetric, terrain matching, and image registration information, with the standard navigation instrument suite, the accuracy of positional estimates could be maintained over a longer duration. This would allow the AUV to remain submerged for longer periods of time, thus minimizing the drain on the limited power resources.
自主水下航行器(auv)的长期精确位置估计问题一直存在。在目前的操作中,auv的定位最初是通过全球定位系统(GPS)接收器在水面上获得的。然后AUV潜入水中执行所需的任务。在水下时,定位/导航至少使用惯性导航系统(INS)。根据水下航行器的复杂程度,多普勒声纳(DVS)可以与多状态卡尔曼滤波器(KF)相结合来进行位置估计。从INS估计和DVS/卡尔曼滤波估计相结合,以提供一个鲁棒的位置估计。由于KF是基于模型的,随着时间的推移,由于AUV的真实运动与模型运动不匹配,KF的散度可能会增加。此时,AUV必须浮出水面,从GPS获得另一组绝对位置坐标,才能继续执行任务。根据任务的持续时间,这一过程可能需要重复多次,这不必要地使用了电池/电力资源。通过将包含声纳测量、地形匹配和图像配准信息的数据库与标准导航仪器套件相结合,可以在更长的时间内保持位置估计的准确性。这将允许AUV在水下停留更长的时间,从而最大限度地减少对有限电力资源的消耗。
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引用次数: 7
Acoustic modem unit 声学调制解调器
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881350
E. Hobart, G. Allsup, D. Hosom, T. Baldasarre
This paper will describe a device for transmitting data using a ships hull or frame as the acoustic path. This device is called a "HullCom" Acoustic Modem Unit (AMU). The initial purpose for the development was wireless data transmission on Volunteer Observing Ships (VOS). VOS offer a very attractive platform for meteorological and oceanographic measurements over much of the global oceans. Many VOS are fast container ships whose operators seek minimal time in port. There is not enough time to install cables and in addition, these ships are sold frequently in order to match the ship capability to contracted loads (thereby making cables unusable). In addition, installing cables on ships can be more expensive than the cost of the custom electronics described in this paper. The device consists of two sets of equipment, a local AMU (AMU-L) in an accessible place such as the main deck and a remote AMU (AMU-R) in a non-accessible place such as a sea surface temperature instrument mounted inside the hull near the waterline. Each AMU consists of an acoustic transducer, acoustic transmit and receive electronics, battery power and a controller. The acoustic portions of the AMU were designed and fabricated by Harris Acoustic Products and the controller was designed at the Woods Hole Oceanographic Institution. The acoustic portions of the AMU are based on early work by SeaBeam Instruments Inc on a "Hull Phone". The "Hull Phone" uses a voice modulated carrier frequency to provide communications in ships that do not have working standard communications due to damage or other circumstance. The translation from voice to a digital frequency shift key data signal is straight forward. Establishing an acoustic protocol that can tolerate the many reflections and noise interference was not straight forward. The final result is a 20 baud modem.
本文将描述一种利用船体或框架作为声路传输数据的装置。这种设备被称为“HullCom”声学调制解调器单元(AMU)。开发的最初目的是在志愿观测船上(VOS)进行无线数据传输。VOS为全球大部分海洋的气象和海洋学测量提供了一个非常有吸引力的平台。许多集装箱船是快速集装箱船,其运营商寻求最短的在港时间。没有足够的时间来安装电缆,此外,为了使船舶的能力与合同载荷相匹配(从而使电缆无法使用),这些船舶经常被出售。此外,在船上安装电缆可能比本文中描述的定制电子设备的成本更昂贵。该装置由两套设备组成,一套本地AMU (AMU- l)位于可到达的地方,如主甲板,另一套远程AMU (AMU- r)位于不可到达的地方,如安装在船体内靠近吃水线的海面温度仪。每个AMU由声学换能器、声学发射和接收电子设备、电池电源和控制器组成。AMU的声学部分由Harris acoustic Products公司设计和制造,控制器由伍兹霍尔海洋研究所设计。AMU的声学部分是基于SeaBeam Instruments公司在“船体电话”上的早期工作。“船体电话”使用语音调制载波频率,在由于损坏或其他情况而没有工作标准通信的船舶上提供通信。从语音到数字频移键数据信号的转换是直接的。建立一种能够承受多种反射和噪声干扰的声学协议并非易事。最后的结果是一个20波特调制解调器。
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引用次数: 13
The McLane moored profiler: an autonomous platform for oceanographic measurements 麦克莱恩系泊剖面仪:一个自主的海洋测量平台
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881284
A. Morrison, J. D. Billings, K. Doherty
The McLane Moored Profiler (MMP) is an autonomous profiling instrument platform developed through a collaboration between the McLane Research Laboratories, Inc. (MRL) and the Advanced Engineering Laboratory and the Department of Physical Oceanography of the Woods Hole Oceanographic Institution (WHOI). The authors' goal is to make moored profiler technology both available and useful to a broad cross-section of the oceanographic community. The platform and software are designed for ease of operation and maintenance. The baseline instrument suite includes both a CTD and an acoustic current meter. Provisions have been made in the design for a variety of additional instruments, including commonly available bio-optical and chemical sensors. The engineering development is largely complete, and the first commercial units have been delivered. Laboratory, dockside, and open ocean tests are ongoing.
McLane系泊剖面仪(MMP)是由McLane研究实验室公司(MRL)与高级工程实验室和伍兹霍尔海洋研究所(WHOI)物理海洋学部门合作开发的自主剖面仪器平台。作者的目标是使系泊剖面仪技术对海洋学社区的广泛横截面既可用又有用。该平台和软件的设计便于操作和维护。基线仪器套件包括CTD和声学电流计。在设计中对各种附加仪器作出了规定,包括常用的生物光学和化学传感器。工程开发已基本完成,首批商用机组已交付使用。正在进行实验室、码头和远洋测试。
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引用次数: 22
Evaluation of wave measurements with an acoustic Doppler current profiler 用声学多普勒电流剖面仪评价波浪测量值
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881761
K. Rorbäk, H. Andersen
Routine monitoring of waves and currents in the nearshore region is of great interest both scientifically and to the general public because of its role in coastline erosion and its impact on recreational activities. Historically, the technology for measuring these quantities has required separate instrumentation for each, but within the last year or two, it has been shown that it is possible in shallow water to estimate both the wave height, wave direction, and current from a conventional bottom mounted, upward-looking acoustic Doppler current profiler (ADCP). Software for converting wave orbital velocity measurements from ADCPs into wave frequency and directional spectra is now becoming commercially available. The authors have taken the opportunity to evaluate the WAVES software from RD Instruments, USA, by establishing an intercomparison between wave measurements obtained with a permanently deployed 1200 kHz ADCP, an electromagnetic current meter/pressure sensor and a heave/pitch/roll buoy. They have compared the wave surface elevation and frequency-direction spectra derived from the different measurement/analyze principles and we have analyzed the inherent software limitations due to the measurement principles.
对近岸地区的波浪和海流进行例行监测,在科学界和公众中都引起了极大的兴趣,因为它在海岸线侵蚀中起着重要作用,并对娱乐活动产生影响。从历史上看,测量这些量的技术需要单独的仪器,但在过去的一两年里,已经证明,在浅水中,通过传统的底部安装、向上看的声学多普勒电流分析器(ADCP)来估计波高、波方向和电流是可能的。将波轨道速度测量值从ADCPs转换为波频率和方向谱的软件现在已经商业化。作者借此机会对美国RD Instruments公司的WAVES软件进行了评估,将永久部署的1200 kHz ADCP、电磁电流计/压力传感器和升沉/俯仰/翻滚浮标所获得的波浪测量结果进行了对比。他们比较了不同测量/分析原理得到的波面高程和频率方向谱,我们分析了由于测量原理而产生的固有软件限制。
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引用次数: 14
Building and sustaining marine technology partnerships 建立和维持海洋技术伙伴关系
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881333
C. R. Nichols
This paper defines a marine technology partnership and presents the fundamental mechanics for sustaining a viable partnership. Partnerships follow a natural life cycle and should be formally structured to share costs and be inclusive, i.e., promoting broad participation. By understanding partnership principles and studying currently operating partnerships, one can become equipped to use a partnership strategy to meet marine technology challenges. Inventive planning and formal accountability provide the key mechanisms for broadening the partnership and adapting it to changing societal needs. Critical steps that sustain a viable partnership include operational principles that extend from initiating a partnership agreement to conducting meaningful evaluation. Marine technology partnerships should enable participants to integrate multidisciplinary resources to support key oceanographic, meteorological, engineering, and marine operations. Several federal initiatives such as the Small Business Technology Transfer program and the National Ocean Partnership Program now exist to facilitate collaborative research. These programs have contributed to the development of productive business-industry-academic partnerships.
本文定义了海洋技术伙伴关系,并提出了维持一个可行的伙伴关系的基本机制。伙伴关系遵循自然的生命周期,其结构应正式,以分担成本并具有包容性,即促进广泛参与。通过了解伙伴关系原则和研究目前正在运营的伙伴关系,人们可以准备好使用伙伴关系战略来应对海洋技术挑战。创造性规划和正式问责制是扩大伙伴关系并使其适应不断变化的社会需求的关键机制。维持可行的伙伴关系的关键步骤包括从发起伙伴关系协议到进行有意义的评估的业务原则。海洋技术伙伴关系应使参与者能够整合多学科资源,以支持关键的海洋学、气象、工程和海洋业务。一些联邦倡议,如小企业技术转让计划和国家海洋伙伴计划,现在存在,以促进合作研究。这些项目促进了富有成效的商业-工业-学术伙伴关系的发展。
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引用次数: 0
Two dimensional thermal imaging arrays-a low visibility navigation aid 二维热成像阵列——一种低能见度导航辅助设备
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.882161
A. Amin
Infrared imaging in the medium wavelength range (10-14 /spl mu/m), corresponding to the thermal blackbody maximum near room temperature and to the atmospheric window, is desirable for a wide range of applications. Night vision, target recognition, reconnaissance, driving aids, and navigation in foggy and poor visibility weather are among the applications of this technology. Recent advances in pyroelectric imaging have made it possible to produce compact, low-cost, uncooled infrared cameras that are capable of delivering television quality images.
红外成像在中等波长范围内(10-14 /spl μ m),对应于热黑体在室温附近的最大值和大气窗口,是广泛应用的理想选择。夜视、目标识别、侦察、驾驶辅助以及雾天和低能见度天气下的导航都是这项技术的应用。热释电成像技术的最新进展使生产出能够提供电视质量图像的紧凑、低成本、非冷却的红外摄像机成为可能。
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引用次数: 0
Wireline quality underwater wireless communication using high speed acoustic modems 使用高速声学调制解调器的有线质量水下无线通信
Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881294
Xiaolong Yu
The paper introduces LinkQuest Inc.'s cutting-edge high speed underwater acoustic modems. LinkQuest Inc. combined advances in high speed digital communication with broadband underwater acoustics in the development of the high speed modems. Advanced broadband spread spectrum technology results in dramatically increased data rate and robustness and decrease in power consumption. The modems are proven to perform at high data rate with virtually no communication errors under ambient noise, ship noise from small powerboats and large DP vessels and offshore drilling noise. The paper describes the working principles and architectures of the advanced modems and their interface to underwater instruments such as acoustic Doppler current profilers. Performance results from various customer deployments such as real-time monitoring of current profiles from Shell's Ocean Worker Platform are presented.
本文介绍了LinkQuest公司的尖端高速水声调制解调器。LinkQuest公司在高速调制解调器的开发中结合了高速数字通信和宽带水下声学的进步。先进的宽带扩频技术大大提高了数据速率和鲁棒性,降低了功耗。事实证明,调制解调器在环境噪声、小型动力艇和大型DP船的船舶噪声以及海上钻井噪声下,能够以高数据速率运行,几乎没有通信错误。本文介绍了先进调制解调器的工作原理、结构及其与多普勒测流仪等水下仪器的接口。展示了各种客户部署的性能结果,例如壳牌海洋工人平台对当前剖面的实时监控。
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引用次数: 31
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