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OCEANS 2019 MTS/IEEE SEATTLE最新文献

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Drone Craft For Dual Flight and Subsea Operations: Polar Adaption and Trials 双重飞行和水下作业的无人机工艺:极地适应和试验
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962855
N. Wright, H. Chan
{"title":"Drone Craft For Dual Flight and Subsea Operations: Polar Adaption and Trials","authors":"N. Wright, H. Chan","doi":"10.23919/OCEANS40490.2019.8962855","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962855","url":null,"abstract":"This paper presents trials of a novel drone craft that can both fly and also submerge itself and operate subsea or on the surface. It is designed for missions to make ocean science measurements close to shore (within 25km) and a relatively low sea-depth (less than 150m). It can carry a sensor payload to make ocean measurements or a camera system. Trials were undertaken in the arctic to investigate the suitability of such a craft for polar operation and to determine any necessary modifications.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130615319","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
Fishbots: Bio-Inspired Marine Robots Give Students a Hands-On Introduction to Fluid Mechanics 鱼机器人:仿生海洋机器人给学生一个动手介绍流体力学
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962580
T. Consi, Dixia Fan, G. Jodin
{"title":"Fishbots: Bio-Inspired Marine Robots Give Students a Hands-On Introduction to Fluid Mechanics","authors":"T. Consi, Dixia Fan, G. Jodin","doi":"10.23919/OCEANS40490.2019.8962580","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962580","url":null,"abstract":"Simple biomimetic marine robots were used as teaching tools to introduce students to concepts in fluid mechanics and how they are applied to understanding swimming in fish and other marine animals. These robots, termed FishBots, were used in two educational situations. The first was a project for two undergraduate summer interns at MIT Sea Grant. This experience proved that such robots could be developed by students under the time constraints of a one month internship. Building on that success we used FishBots successfully in an undergraduate freshman seminar class at MIT. In one semester 29 students build 15 FishBots, all were tested in the water and 13 successfully swam. These educational experiences are described in this paper along with the design of several of the student-build FishBots. The paper concludes with future educational paths for the FishBot idea.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130213051","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
Machine Learning based Dolphin Whistle Tranceiver for Bio-inspired Underwater Covert Communication 基于机器学习的海豚哨声收发器，用于仿生水下隐蔽通信
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962557
Jongmin Ahn, Hojun Lee, Yongcheol Kim, Jeahak Chung, SanKug Lee
{"title":"Machine Learning based Dolphin Whistle Tranceiver for Bio-inspired Underwater Covert Communication","authors":"Jongmin Ahn, Hojun Lee, Yongcheol Kim, Jeahak Chung, SanKug Lee","doi":"10.23919/OCEANS40490.2019.8962557","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962557","url":null,"abstract":"This paper proposes an underwater covert communication method using variety dolphin whistle patterns. The proposed method classifies dolphin whistles into G groups, and binary information is allocated to every consecutive different dolphin whistle. Received dolphin whistles are decoded by the random forest method and the transient probability of consecutive dolphin whistles. Computer simulation demonstrates that the BER performance of the proposed method is better than that of random forest method.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125429203","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
Chemical Plume Tracing using an AUV based on POMDP Source Mapping and A-star Path Planning 基于POMDP源映射和a星路径规划的水下航行器化学羽流追踪
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962795
Lingxiao Wang, S. Pang
{"title":"Chemical Plume Tracing using an AUV based on POMDP Source Mapping and A-star Path Planning","authors":"Lingxiao Wang, S. Pang","doi":"10.23919/OCEANS40490.2019.8962795","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962795","url":null,"abstract":"This paper presents an engineering-based chemical plume tracing (CPT) method for using on an autonomous under-water vehicle (AUV) to locate a chemical source in an underwater environment with obstacles. Fundamental steps of the proposed method are twofold. Firstly, the estimated source location is obtained by a source likelihood map, which is generated based on a partially observable Markov decision process (POMDP). Secondly, after the estimated source location is determined, the A-star path planning algorithm is used to generate the shortest path toward the target while avoiding obstacles. Simulation results validate the proposed method in environments with either laminar or turbulent flow conditions. Comparing with other chemical source mapping algorithms, such as the hidden Markov model (HMM) based method, the POMDP-based source mapping algorithm converges to the correct chemical source location in a faster rate. Besides, the A-star path planning algorithm enables the AUV to avoid obstacles and the local minima issue in the traditional path planning algorithm, such as the artificial potential field.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"6 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126930819","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: 8
Current Turbine Array Placement in Quasigeostrophic Flows Over Bottom Topography 底部地形上的准地转流中当前涡轮阵列的布置
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962717
V. M. Miglietta, M. Dhanak
{"title":"Current Turbine Array Placement in Quasigeostrophic Flows Over Bottom Topography","authors":"V. M. Miglietta, M. Dhanak","doi":"10.23919/OCEANS40490.2019.8962717","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962717","url":null,"abstract":"The Coriolis force in the ocean at mid to high latitudes leads to significant deviation of flow over bottom topography such as seamounts, including formation of Taylor columns. Direct oceanic measurements ([2], [3]) have verified the flow deviations and the presence of Taylor columns over seamounts in the ocean. In this study we consider how this quasigeostrophic flow can be exploited to enhance the performance of an underwater tidal turbine array. For small Rossby numbers, Johnson [1] provides to leading order in Rossby number, analytical solutions for inviscid quasigeostrophic flow over isolated elongated elliptical topography. These solutions are used in our study to predict and explore the characteristics of the flow under flow currents corresponding to various tidal conditions. The results are used to consider a potential design for a layout of turbine arrays that could take advantage of the Coriolis force to enhance tidal current power production.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125738722","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
Applying Blind Source Separation to Magnetic Anomaly Detection Algorithms 盲源分离在磁异常检测中的应用
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962565
E. Nieves, P. Beaujean, M. Dhanak
{"title":"Applying Blind Source Separation to Magnetic Anomaly Detection Algorithms","authors":"E. Nieves, P. Beaujean, M. Dhanak","doi":"10.23919/OCEANS40490.2019.8962565","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962565","url":null,"abstract":"Magnetic anomaly detection (MAD) is highly effective for detecting unexploded ordnance in marine environments. There is a need to localize multiple targets simultaneously when their magnetic signatures mix. Independent component analysis (ICA) has been used as a method for blind source separation in biomedical fields to separate various electrical and magnetic field signals associated with the human body. By using multiple magnetometers on single or multiple vehicles, ICA can be adapted to separate out the overlapping signals for a magnetic survey. However, due to scaling and permutation ambiguities associated with the ICA process, the separation step results in errors during the localization step. These issues are mitigated so that successful signal separation and localization becomes possible. According to simulations, the ICA algorithm combined with a genetic algorithm (GA) is able to produce localizations for two magnetic targets on the ocean floor within 1 to 2 meters of accuracy.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115825461","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
Heuristics-based Adaptive Biased Random Walk Algorithm for Chemical Source Localization using AUVs 基于启发式自适应有偏随机游走算法的auv化学源定位
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962882
Shubham Garg, A. Pascoal, S. Afzulpurkar
{"title":"Heuristics-based Adaptive Biased Random Walk Algorithm for Chemical Source Localization using AUVs","authors":"Shubham Garg, A. Pascoal, S. Afzulpurkar","doi":"10.23919/OCEANS40490.2019.8962882","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962882","url":null,"abstract":"We draw inspiration from the behavior of single-celled organisms to present a chemotaxis-inspired Adaptive Biased Random Walk (ABRW) guidance-control law for an Autonomous Underwater Vehicle (AUV). We build on previous results available in the literature to derive a random-walk based guidance-control law for an AUV to track-in and localize a potential chemical source in a turbulence-dominated environment. The ABRW-Strategy makes use of common plume-tracking and heuristic schemes for real-time path planning of the AUV. We further draw out a more comprehensive study of the guidance-strategy and extend the work for implementation in the Medusa class of vehicles that are developed in-house by Instituto Superior Tecnico (IST). The performance of the system is assessed via Hardware-in-the-loop (HIL) simulations to illustrate the viability of using random-walk for chemical source localization. The results obtained are encouraging for in-water tests with an autonomous vehicle of the Medusa class aiming at the validation of the proposed guidance-strategy in real-time experiments.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"289 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114004077","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
Waypoints on the Voyage to Autonomous Ships 自动驾驶船舶航行中的航路点
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962579
J. Manley
{"title":"Waypoints on the Voyage to Autonomous Ships","authors":"J. Manley","doi":"10.23919/OCEANS40490.2019.8962579","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962579","url":null,"abstract":"The technology, business, and policy dynamics around the development of unmanned surface vehicles (USVs) have evolved significantly in recent years. These foreshadow the development of fully autonomous large-scale vessels. This paper provides a concise summary of the current trends in unmanned surface vehicles for academic, government and industry readers seeking a baseline understanding of the field. Technology developments that enable unmanned vessels include machine learning and artificial intelligence, sensors for situational awareness, sensors and systems for vehicle self-awareness and control and telemetry and tools for operator oversight. Notable demonstrations of USVs include long-endurance demonstrations by platforms such as the Wave Glider, trials of naval platforms such as the Sea Hunter USV. The industry dynamics driving the interest in unmanned ships include significant end users, market requirements and opportunities, and ecosystem participants from startups to large corporations. Key projects shaping the market such as Norway's Yara Birkland project highlight the intersection of new technology with market needs. The policy and regulatory environment of unmanned vessels is also important. This important consideration for unmanned vessels has not yet been fully revolved but progress is being made.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122524461","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
Asymmetric Propulsion: Thrust and Maneuverability from a Single Degree of Freedom 不对称推进:单自由度的推力和机动性
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962639
J. Kaeli, R. Littlefield, F. Jaffré
{"title":"Asymmetric Propulsion: Thrust and Maneuverability from a Single Degree of Freedom","authors":"J. Kaeli, R. Littlefield, F. Jaffré","doi":"10.23919/OCEANS40490.2019.8962639","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962639","url":null,"abstract":"We present ongoing work on an asymmetric propulsion system capable of simultaneously generating both forward thrust as well as a turning moment from a single degree of freedom. By a single degree of freedom, we mean a single rotating propeller powered by a single motor, absent of additional mechanisms such as fins or actuators. This is accomplished by actively controlling the instantaneous rotational velocity of a propeller whose blades are distributed asymmetrically around the axis of rotation. Due to the nonlinear relationship between velocity and thrust, the mean thrust vector produced over the course of a rotation will be shifted away from the this axis of rotation. This shift induces a turning moment whose strength and orientation can be controlled to provide lateral maneuverability in addition to forward or reverse thrust. We demonstrate how this can be used to control and maneuver an underwater robot and discuss its advantages and applications to autonomous underwater vehicle (AUV) design and operation.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132006147","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
Improving AUV Localization Accuracy by Combining Ultra-Short-Baseline and Long-Baseline Measurements Systems in a Post-Processing Extended Kalman Filter 基于后处理扩展卡尔曼滤波的超短基线和长基线联合测量系统提高水下航行器定位精度
OCEANS 2019 MTS/IEEE SEATTLE Pub Date : 2019-10-01 DOI: 10.23919/OCEANS40490.2019.8962683
E. Wolbrecht, Dave Pick, J. Canning, D. Edwards
{"title":"Improving AUV Localization Accuracy by Combining Ultra-Short-Baseline and Long-Baseline Measurements Systems in a Post-Processing Extended Kalman Filter","authors":"E. Wolbrecht, Dave Pick, J. Canning, D. Edwards","doi":"10.23919/OCEANS40490.2019.8962683","DOIUrl":"https://doi.org/10.23919/OCEANS40490.2019.8962683","url":null,"abstract":"This paper presents and evaluates an approach for combining ultra-short-baseline (USBL) and long-baseline localization data in a post-processing extended Kalman filter. The goal is to improve localization accuracy and reduce localization uncertainty for autonomous underwater vehicles (AUVs) performing oceanographic survey measurements. The method was evaluated using logged LBL navigation data from field testing and simulated USBL data. Localization accuracy was evaluated by comparing state uncertainties of the independent and combined systems. Uncertainties of USBL localization data were estimated using a Monte-Carlo simulation at each AUV position. The results indicate that combining USBL data improves localization accuracy, especially when the USBL data includes depth telemetry measurements. Although this approach was evaluated by adding USBL data to logged LBL field-testing data, it could be applied to any navigation approach, including dead-reckoning.","PeriodicalId":208102,"journal":{"name":"OCEANS 2019 MTS/IEEE SEATTLE","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134236837","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
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