2017 IEEE Underwater Technology (UT)最新文献

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Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling 自主水下航行器自适应姿态控制器设计的重点是解耦问题
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890325
Xin-yu Liu, Yi-Ping Li, Shun Yan, Xisheng Feng
{"title":"Adaptive attitude controller design of autonomous underwater vehicle focus on decoupling","authors":"Xin-yu Liu, Yi-Ping Li, Shun Yan, Xisheng Feng","doi":"10.1109/UT.2017.7890325","DOIUrl":"https://doi.org/10.1109/UT.2017.7890325","url":null,"abstract":"This paper describes a method to design adaptive attitude controller of autonomous underwater vehicle (AUV). The main purpose of this design is to adapt to the error caused by coupling between different controls channels as time-varying errors. In this paper, system identification method is not used to get the dynamic model directly, but to simplify the hydrodynamic model and quantize the effect caused by coupling as error of parameters. Computational-fluid-dynamics (CFD) method is used to build a hydrodynamic model to increase the experiment data and simulate the effect of coupling. And on this basis, An C1 adaptive controller can get enough resources to be build. In the final simulation, the acquired controller reveals better performance than an elaborately tuned PID controller. The C1 adaptive controller can handle the coupling better. The output of the controlled system can follow a response of a given transfer function, which benefits the controller design in outer loop.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130564119","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}
引用次数: 2
Autonomous navigation based on iSAM and GPS filter for AUV 基于iSAM和GPS滤波的水下航行器自主导航
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890279
Pengfei Lv, Jia Guo, Yan Song, Q. Sha, Jingtao Jiang, Xiaokai Mu, T. Yan, B. He
{"title":"Autonomous navigation based on iSAM and GPS filter for AUV","authors":"Pengfei Lv, Jia Guo, Yan Song, Q. Sha, Jingtao Jiang, Xiaokai Mu, T. Yan, B. He","doi":"10.1109/UT.2017.7890279","DOIUrl":"https://doi.org/10.1109/UT.2017.7890279","url":null,"abstract":"As we all known, autonomous navigation system is the basic of AUV movement, besides, accurate position estimation and reliable measurement are the keys of it. In order to avoid accumulating position errors in the long voyage by using navigation algorithm, we can depend on GPS. Due to the influence of diving and floating process, GPS data would slip. The slips affect the accuracy of navigation seriously and cause errors for AUV in path planning. Little slips can be accepted, while we can't tolerate large slips up to several hundred meters. This paper proposed the GPS filter algorithm, which combined with navigation algorithm such as DR, EKF and iSAM (incremental smoothing and mapping). In order to verify the validity and feasibility of the combination of navigation algorithm and the proposed algorithm, Sea trials were carried out on the high seas of the Yellow Sea. Experimental results and analysis show that the autonomous navigation approach combined GPS filter with navigation algorithm improves the accuracy of navigation compared with conventional method, at the same time iSAM has a higher accuracy than the other two algorithms.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"4 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114018672","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}
引用次数: 3
Performance comparison of FFT-based and GCC-PHAT time delay estimation schemes for target azimuth angle estimation in a passive SONAR array 被动声呐阵列目标方位角估计中基于fft和gc - phat时延估计方案的性能比较
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890280
Sunho Kim, Baeksan On, S. Im, S. Kim
{"title":"Performance comparison of FFT-based and GCC-PHAT time delay estimation schemes for target azimuth angle estimation in a passive SONAR array","authors":"Sunho Kim, Baeksan On, S. Im, S. Kim","doi":"10.1109/UT.2017.7890280","DOIUrl":"https://doi.org/10.1109/UT.2017.7890280","url":null,"abstract":"Target object detection and azimuth angle estimation are very important issues in the passive SONAR array systems. However, in coastal areas due to cost and efficiency issues, there are cases where a proximity sensor with relatively low sensitivity to reception is employed than a high-performance array sensor. In these cases, it is desirable to use low-complexity signal processing techniques for efficiently exploiting received signals. In this paper, we compare the performance of GCC-PHAT and low-complexity FFT-based time delay estimation techniques to efficiently estimate the target azimuth angle in a passive SONAR array. It is observed that the performance of the time delay estimation methods is dependent upon the underwater environment.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124224726","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}
引用次数: 7
Recognition of the light buoy for scan the code mission in 2016 Maritime RobotX Challenge 2016海事机器人x挑战赛扫码任务光浮标的识别
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890288
Woohyun Jung, Joohyun Woo, Nakwan Kim
{"title":"Recognition of the light buoy for scan the code mission in 2016 Maritime RobotX Challenge","authors":"Woohyun Jung, Joohyun Woo, Nakwan Kim","doi":"10.1109/UT.2017.7890288","DOIUrl":"https://doi.org/10.1109/UT.2017.7890288","url":null,"abstract":"This paper describes about the team SNU MACRO'S strategy for scan the code mission in Maritime RobotX Challenge. Before describing the specific algorithm for scan the code mission, our vehicle system which was developed for completing each mission for the competition is outlined briefly. To recognize the LED color of the buoy, image processing algorithm is divided into three step, including preprocessing, extraction and recognition. In preprocessing step, color space conversion is conducted. And then, it extracts the candidate region that's the location of light buoy in whole image using LiDAR information. Finally, recognize the current LED's color using the mean value of hue component. The field experiments and competition's result validate the performance of the proposed approach.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117046639","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}
引用次数: 0
Model of adaptive navigation and communication protocol for the organization of AUV group operation 水下航行器群作业组织的自适应导航模型及通信协议
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890331
A. Rodionov, P. Unru, A. Kulik, F. Dubrovin
{"title":"Model of adaptive navigation and communication protocol for the organization of AUV group operation","authors":"A. Rodionov, P. Unru, A. Kulik, F. Dubrovin","doi":"10.1109/UT.2017.7890331","DOIUrl":"https://doi.org/10.1109/UT.2017.7890331","url":null,"abstract":"Newest achievements in underwater acoustic communications (UAC) open fresh possibilities for designing of more and more complex and larger scale underwater acoustics networks (UAN), which consist of bottom, moored and surface stations; autonomous underwater and surface vehicles (AUV and ASV); remotely controlled and manned vehicles. The process of UAN designing goes through stages of i) UAC physical layer development; ii) development of media access control protocol (MAC-protocol) regulating the way of channel time and frequency resources utilization as well as procedure and method of confirmation of successful data transmission between nodes and/or request of corrupted message retransmission. The aims of presented work are the development of MAC-protocol for group control, communication and navigation for AUV/ASV and the analysis of existing solutions in this area. The development of the protocol was based on analysis of scientific works in the field of MAC-protocols for UANs.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117164353","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}
引用次数: 2
Underwater noise measurement and simulation for offshore wind farm in Taiwan 台湾海上风电场水下噪声测量与模拟
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890320
Chih-Hao Wu, Wei-Chieh Wang, Yao-Sung Hsu, Dai-Hua Liu, Chi-Fang Chen, Wei-Chun Hu, Nai-Chang Chen, Sheng-Fong Lin, W. Hwang, Yen-Hsiang Huang, Wei-Lun Li
{"title":"Underwater noise measurement and simulation for offshore wind farm in Taiwan","authors":"Chih-Hao Wu, Wei-Chieh Wang, Yao-Sung Hsu, Dai-Hua Liu, Chi-Fang Chen, Wei-Chun Hu, Nai-Chang Chen, Sheng-Fong Lin, W. Hwang, Yen-Hsiang Huang, Wei-Lun Li","doi":"10.1109/UT.2017.7890320","DOIUrl":"https://doi.org/10.1109/UT.2017.7890320","url":null,"abstract":"Because of the potential of offshore wind energy in the Taiwan Strait, the development of offshore wind farm is feasible and cost-effective. With the global trends in green energy, Taiwan are actively promoting the “Thousand Wind Turbines” Project from 2012. Up to now, there are three met masts in different offshore demonstration wind farms established in 2015 and two mono-pile foundations completed in 2016. The objective is to install about 800 offshore wind turbines, and 450 onshore wind turbines prior to the year of 20-0. However, the planned location for potential offshore wind farms is close to the habitat of the Sousa chinensis (also called Indo-Pacific Humpback Dolphin or Chinese White Dolphin). Pile driving noise or operation noise have shown to cause behavioural disturbance or auditory damage to marine mammals. At a distance that is considered safe from PTS and TTS, noises from impact or vibratory pile driver are still high enough to disturb the behavior of marine mammals. In this study, underwater ambient noise measurements are shown to enhance the understanding of the soundscapes of the planned location for potential offshore wind farms. In the meantime, pile-driving noise measurements of two mono-pile foundations are made in 2016. For noise impact assessment, Range-dependent Acoustic Model (RAM-PE) is applied to calculate the range of noise impact zone with the sound speed profiles produced by POM-based Taiwan Coastal Ocean Nowcast/Forecast System (TCONFS). This work is supported by Ministry of Science and Technology of Taiwan, Taiwan Generations Corporation and Swancor Ind. Co., Ltd.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126528812","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}
引用次数: 3
Sound scattering of double concentric elastic spherical shell with multilayered medium cloak 多层介质斗篷双同心弹性球壳的声散射
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890281
Yaofei Li, Mingsheng Wang, Wei Li
{"title":"Sound scattering of double concentric elastic spherical shell with multilayered medium cloak","authors":"Yaofei Li, Mingsheng Wang, Wei Li","doi":"10.1109/UT.2017.7890281","DOIUrl":"https://doi.org/10.1109/UT.2017.7890281","url":null,"abstract":"A three-dimensional spherical acoustic cloak with homogeneous isotropic materials is designed based on the effective medium approximated theory. The analytical solution of the scattering field from underwater double concentric elastic spherical shell covered with multilayered medium is formulated using the partial waves series expressions (PWSE). The acoustic scattered fields and backscattering form functions of the spherical shells covered and uncovered with multilayered medium have been computed. It could be demonstrated that the propagating direction of the acoustic wave could be changed in the multilayered medium. At low frequency range, the cloak performs quite well to hide the objects under the illumination by an acoustic beam. The present study may be helpful to design acoustic cloak for the acoustic waves in the different incidence directions.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126617146","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}
引用次数: 4
Introduction of balloon census for acoustic and visual census of the Ganges river dolphins (Platanista gangetica) that inhabit in a long tract of the Ganges river system 引入气球普查,以声学和视觉普查恒河海豚(Platanista gangetica),栖息在恒河系统的一长段
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890318
H. Sugimatsu, J. Kojima, Wataru Hori, T. Ura, R. Bahl, Vivek Sheel Sagar, R. Chauhan
{"title":"Introduction of balloon census for acoustic and visual census of the Ganges river dolphins (Platanista gangetica) that inhabit in a long tract of the Ganges river system","authors":"H. Sugimatsu, J. Kojima, Wataru Hori, T. Ura, R. Bahl, Vivek Sheel Sagar, R. Chauhan","doi":"10.1109/UT.2017.7890318","DOIUrl":"https://doi.org/10.1109/UT.2017.7890318","url":null,"abstract":"For increasing the accuracy of quantitative analysis of the census data of Ganges river dolphins that inhabit and migrate over a long tract of the river stretches in the Ganges river system, a balloon with a video camera system was developed for supporting the census using fusion of acoustic and visual census which was previously proposed by authors [1]. The developed balloon with the camera system was tested on the ground in October 2016. Followed by the test, targeting the groups of Ganges river dolphin (adults, juveniles and calves) that were estimated to inhabit a 24-km stretch, i.e. a part of the entire 200km river-stretch from Bhitora to Allahabad in India, the initial census using the balloon with a video camera system and fusion of acoustic and visual census has been conducted for three days from 21 to 23 November 2016. Even though the coverage range was limited, its potential use for supporting the fusion census for the acoustic and visual census was well demonstrated from the results of the initial balloon census.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114298109","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}
引用次数: 3
Nonlinear path following of autonomous underwater vehicle considering uncertainty 考虑不确定性的自主水下航行器非线性路径跟踪
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890302
Shaomin Wang, Yue Shen, Q. Sha, Guangliang Li, Jingtao Jiang, Junhe Wan, T. Yan, B. He
{"title":"Nonlinear path following of autonomous underwater vehicle considering uncertainty","authors":"Shaomin Wang, Yue Shen, Q. Sha, Guangliang Li, Jingtao Jiang, Junhe Wan, T. Yan, B. He","doi":"10.1109/UT.2017.7890302","DOIUrl":"https://doi.org/10.1109/UT.2017.7890302","url":null,"abstract":"In order to complete nonlinear path following smoothly and accurately, this paper proposes a method utilizing the Serret-Frenet Line-of-Sight (LOS) guidance with adaptive compensation in the horizontal plane. All regular paths are feasible. Our method takes three steps to accomplish the path following. First, the guidance law calculates the desired yaw angle. Then an adaptive compensation is added on the desired yaw which considering uncertainty and input saturation. Last, the PID controller is extended to cope with the yaw tracking and velocity control. Simulations and outfield experiments are conducted to verify the feasibility and superiority of the novel approach.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122482156","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}
引用次数: 3
Development and performance test of an underwater sound transmission system for an ROV ROV水声传输系统研制与性能测试
2017 IEEE Underwater Technology (UT) Pub Date : 1900-01-01 DOI: 10.1109/UT.2017.7890295
Sea-moon Kim, S. Byun, Kihun Kim, Hyun-Taek Choi, Chong-moo Lee
{"title":"Development and performance test of an underwater sound transmission system for an ROV","authors":"Sea-moon Kim, S. Byun, Kihun Kim, Hyun-Taek Choi, Chong-moo Lee","doi":"10.1109/UT.2017.7890295","DOIUrl":"https://doi.org/10.1109/UT.2017.7890295","url":null,"abstract":"Recently Korea Research Institute of Ships and Ocean Engineering has developed an underwater sound transmission system (USTS) for a light-work class ROV. Its main purposes are not only to measure underwater sound using two hydrophones and replay it for ROV operators on the surface vessel but also to identify source direction. The subsea unit of the system is composed of amplifiers, filters, an ADC, and a controller. In order to minimize self-noise effect a digital bandpass filter was implemented using an FPGA. The surface unit of the system estimates source direction using a beamforming algorithm and generate sound using stereo speakers. At the moment the conventional delay-and-sum beamforming algorithm has been implemented. Its performance was verified by using a simulator, which generates receiver array signals constructed by plane waves. The implemented beamforming algorithm will be substituted by other, such as frequency-difference beamforming to improve the source direction finding performance. Its mathematical derivation is briefly described and numerical simulation shows that it can effectively eliminate the aliasing effect for a system with large sensor spacing.","PeriodicalId":145963,"journal":{"name":"2017 IEEE Underwater Technology (UT)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132582644","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}
引用次数: 1
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