2015 IEEE Underwater Technology (UT)最新文献

{"title":"Detailed 3D seafloor imaging of Kagoshima Bay by AUV Tri-TON2","authors":"Yoshiki Sato, T. Maki, T. Matsuda, T. Sakamaki","doi":"10.1109/UT.2015.7108314","DOIUrl":"https://doi.org/10.1109/UT.2015.7108314","url":null,"abstract":"The hovering type AUV Tri-TON 2 was developed by the Institute of Industrial Science, the University of Tokyo in 2013. The AUV was constructed as a test bed for a national project to develop instruments to estimate ore reserves in underwater hydrothermal deposits. The mission of the AUV is seafloor 3D imaging of hydrothermal vent fields. Specifically, the AUV has two wets of imaging instruments: one looking forward and one looking down. The imaging instrument consists of a camera, a sheet laser for light section ranging system, and a flash. In order to estimate its position and orientation in real time, the AUV uses a SBL-based acoustic localization device instead of a conventional inertial navigation system. The AUV estimates its position by mutual acoustic positioning with a seafloor station. In addition, the AUV uses a Doppler velocity log and a fiber optic gyro for dead reckoning. The performance of the AUV was verified through a series of tank and sea experiments. In this paper, the results of seafloor observation by Tri-TON 2 in Uchiura Bay and Kagoshima Bay are described. During the experiment at Uchiura Bay, performance of the self-position estimation was verified. Afterwards, the AUV succeeded in imaging tubeworm colonies in Kagoshima Bay.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123161487","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}

{"title":"Modelling and control of an underwater laboratory glider","authors":"V. Upadhyay, Yogang Singh, V. G. Idichandy","doi":"10.1109/UT.2015.7108311","DOIUrl":"https://doi.org/10.1109/UT.2015.7108311","url":null,"abstract":"Underwater gliders are Autonomous Underwater Vehicles (AUV) which use change in buoyancy and moving internal masses to generate lift and drag forces necessary for gliding through the water column. This paper discusses the mathematical modelling and MATLAB based control simulations of an underwater laboratory glider [3] developed at IIT Madras. The external geometry of the laboratory glider comprises of fixed wings having NACA 0012 profile and a fixed rudder on an ellipsoidal hull. The variable buoyancy arrangement includes a piston cylinder module along with two internal masses designed to operate longitudinally using linear actuators. Force and moment coefficients have been derived using Computational Fluid Dynamics (CFD) study. The equations of motion of the glider have been taken from literature and modified as per the laboratory glider design, ignoring the effect of environmental disturbances. A model validation study has been performed on a reference glider [1] to benchmark the model and has been extrapolated on the laboratory glider to confirm its stability at desired equilibrium states.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117064205","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}

{"title":"Coastal surveillance networks using AVS and blue green lasers","authors":"S. Roul, Arnab Das","doi":"10.1109/UT.2015.7108231","DOIUrl":"https://doi.org/10.1109/UT.2015.7108231","url":null,"abstract":"The current work is based on the original paper [1] on the use of Acoustic Vector Sensors (AVS) in sensor networks for coastal underwater surveillance. However, this paper explores the feasibility of using blue green lasers as an alternate means of underwater communication in sensor networks which is currently limited to the use of underwater acoustics. The aim of this paper is to provide a simplistic view on a conceptual UW AVS based sensor network employing blue-green lasers that could be used for coastal surveillance in the Indian coastline. The paper is based on the underwater sensor network topology previously proposed by the authors in [1]. It is assumed that the reader has the basic knowledge of underwater sound propagation especially in shallow oceans.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116453160","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}

{"title":"Precise estimation of sound velocity profile and its impact on sediment classification in the tropical shallow freshwater reservoirs","authors":"Jyoti A. Sadalage, Arnab Das","doi":"10.1109/UT.2015.7108227","DOIUrl":"https://doi.org/10.1109/UT.2015.7108227","url":null,"abstract":"Tropical regions like India witness concentration of monsoons within three months of the year resulting in high rate of flow during the period. The high rate of flow manifests as high siltation in the reservoirs created for storing water for the long dry spell post monsoon. The incessant siltation during the monsoon period over the years depletes the storage capacity of the reservoirs created at very high cost. The present situation in India is really critical and urgent measures for de-siltation is called for to ensure reasonable availability of water resources for varied applications. De-siltation efforts require precise sediment classification for effective water resource management. The remote sensing followed by image analysis has been the most popular method to undertake such sediment analysis for reservoirs due to convenience. However, such methods have significant limitations in terms of inaccuracies of measurement and analysis of sediments. Acoustic methods can substantially enhance the measurement and analysis accuracies; however these techniques are highly sensitive to the medium properties of the underwater medium. The tropical Indian waters further adds to the challenges due to random fluctuations of the medium characteristics based on diurnal and seasonal variations of surface parameters including temperature, wind, etc. The deployment of acoustic methods could get limited if the medium fluctuations are not compensated and the advantages over the remote sensing methods could be neutralized. The temptation to import acoustic technology could have serious limitations in the absence of detailed study of the local conditions prior deployment. The most basic parameter for any form of acoustic analysis is the sound velocity profile (SVP) that is dependent on the temperature, salinity and pressure of the medium. The equipments used for sediment classification use default empirical equation for the computation of the SVP. These empirical equations have specified limitation of their validity with respect to these parameters like temperature, salinity and pressure. It is well known that tropical waters have typical values for these parameters and also the equations valid in the sea water will not be applicable for freshwater measurements. The work attempts to highlight the variations of the commonly used empirical equations for computation of the SVP and their applicability in the tropical shallow freshwater reservoirs. The shallow water reservoirs in India ensure high multi-path interactions of the acoustic signal with the surface and the bottom, and the tropical condition cause high diurnal and seasonal fluctuations of the surface parameter. The work presents the error bound for the multiple empirical equations available in the literature namely the Wilson's, Medwin, Coppen and Leroy et.al, their validity for sediment classification in the tropical shallow freshwater. The tropical conditions in Khadakwasla lake have been used as a reference","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"295 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114041301","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}

{"title":"Genetic algorithm based intelligent station-keeping for spherical underwater robot","authors":"B. Prasad, A. Agrawal, V. Viswanathan, A. R. Chowdhury, Rajesh Kumar, S. K. Panda","doi":"10.1109/UT.2015.7108295","DOIUrl":"https://doi.org/10.1109/UT.2015.7108295","url":null,"abstract":"In this paper, a spherical underwater robot is proposed that uses six degree of freedom thrust allocator to determine the magnitude and the direction of thrust required for each water-jetted bilge pump thruster to create force and moment equilibrium. However, in order to ensure safe operation of the underwater robot it is equipped with redundant thruster configuration and therefore is over-actuated. Therefore, the choice of a particular solution for thrust allocation is found using an optimization process. In this work, the thrust allocation problem is formulated as an optimization problem, with an objective to minimize the total power consumption of the spherical underwater robot. A set of all physically realizable surge, sway and heave force for the ith thruster is called as its Attainable Thrust Region (ATR). Since the thrust force produced by each thruster is restricted to its ATR, the power consumption of underwater robot is determined by establishing a relationship between the power consumption and the thrust of an individual bilge pump. The formulated optimal thrust allocation problem is solved using Mincon (Sequential Quadratic Programming) and GA (Genetic Algorithm) optimization algorithm. The percentage savings in total power consumption for thruster system using the GA as compared to Mincon method is 33.82 %.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122026389","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}

{"title":"Behavior-based control applied to underwater vehicles to achieve local goals","authors":"Dhrubajit Chowdhury, S. Nandy, R. Ray, S. N. Shome","doi":"10.1109/UT.2015.7108307","DOIUrl":"https://doi.org/10.1109/UT.2015.7108307","url":null,"abstract":"This paper primarily deals with behavior-based control strategy for an autonomous agent to achieve local goal while tracking a desired path/trajectory. The behavior-based control approach addresses multiple control frameworks, which are switched depending on the circumstances, instead of using a uniform control framework. The need to pursue local goals may arise while an autonomous agent e.g., an Autonomous Underwater Vehicle (AUV) follows its path. There is a need to design controllers that would take the AUV to the desired local goal and subsequently allow the AUV to track its original desired path. Rather than using single controller, behavior based controllers are used to achieve the desired tasks utilizing parametric curves for trajectory generation. The new approach seems to be very appropriate for controlling the mobile robotic systems under the varied circumstances. Preliminary results are obtained through a simplified model of autonomous vehicle and presented. Demonstrations of achieving local goals while following circular and lawn-mower paths are presented.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131489468","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}

{"title":"Considering methods of executing work in undersea resources development","authors":"T. Hirabayashi, M. Yoshie, Koji Takahashi, K. Shirai","doi":"10.1109/UT.2015.7108247","DOIUrl":"https://doi.org/10.1109/UT.2015.7108247","url":null,"abstract":"When performing undersea construction, it is important to obtain information during execution of the work. This is also true when excavating seabed resources in deep ocean waters. Many factors restrict undersea execution. It is necessary to study execution methods considering these restrictions and to propose a mobile excavation unit to realize this execution method. The authors believe that it is possible to resolve this problem by linking construction machine technologies for port and harbor executions with remote operation technologies used for disaster restoration. This report proposes a deep water execution method and degree of freedom of excavation machinery to be used to excavate rare earth deposits as a construction machine technology for mining mineral resources at great depths under the sea.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131195527","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}

{"title":"Genetic algorithm based optimization technique for underwater sensor network positioning and deployment","authors":"Sidharth Iyer, D. Vijay Rao","doi":"10.1109/UT.2015.7108229","DOIUrl":"https://doi.org/10.1109/UT.2015.7108229","url":null,"abstract":"Underwater acoustic sensor networks (UWSNs) are crucial for a multitude of underwater applications that require wireless operation. The deployment of sensor nodes in an optimal arrangement while overcoming the unique challenges posed by the surrounding medium and energy constraints on the sensors is a non-trivial task for real-world applications. As these characteristics are anisotropic with respect to change in temperature, salinity, depth, pH, and transmission frequency, they need to be accounted for in a dynamic simulation to preconfigure a stable physical network layout of nodes. A strategy based on computational intelligence techniques that takes into consideration these factors to achieve a viable configuration with the available resources is of prime importance. The proposed methodology uses a genetic algorithm (GA) based optimization technique for the positioning and deployment of UWSN nodes to maximize the coverage provided to protect a high-value asset (HVA) in a military application. In the case of a civil application for ocean monitoring, the proposed technique is used to identify the minimum number of nodes required and their positions for effective communication.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129845528","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}

{"title":"Technology development in India for gas hydrates exploration and extraction feasibility studies","authors":"S. Ramesh, N. Vedachalam, A. Subramanian, D. Sathianarayanan, R. Ramesh, G. Harikrishnan, S. Pranesh, V. Doss Prakash, G. Ramadass, M. Atmanand","doi":"10.1109/UT.2015.7108318","DOIUrl":"https://doi.org/10.1109/UT.2015.7108318","url":null,"abstract":"Gas hydrates are considered to be one of the promising future sources of energy. The amount of methane sequestered in gas hydrates is enormous. Estimates show that the methane stored in the form of gas-hydrates is in the order of ~1900 trillion cubic meters within the Indian Exclusive Economic Zone. Under the aegis of the Ministry of Earth Sciences, Government of India, the National Institute of Ocean Technology (NIOT), Chennai is involved in developing suitable technologies for the exploration and extraction methodologies of Gas hydrates in the marine settings of India. Studies carried out using the 6000 m depth rated work class Remotely Operated Submersible, ROSUB 6000, designed and developed at NIOT, at a selected site in the Krishna Godavari Basin showed chemosynthetic habitat abundance at a depth of 1019 m. As a part of the ground truth validation of the presence of gas hydrates, an Autonomous Coring System is being developed with a depth rating of 3000 m, with a capability to collect 100 m core below the sea floor. Sea trials are under progress involving the ground truth validation, with an in-situ pressure core sampler. Theoretical studies, laboratory experiments and reservoir simulation activities are done, using the TOUGH+HYDRATE tool, to identify feasible techniques for methane gas extraction from fine clay Indian marine settings. The details of the identified extraction methodologies, and the results are also discussed in this paper.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120950980","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}

{"title":"Habitat impact on acoustic bio-sonar characteristics of Irrawaddy dolphins across two distinct habitats","authors":"Chaitali B. Ingale, Sunita Lokhande, Arnab Das","doi":"10.1109/UT.2015.7108261","DOIUrl":"https://doi.org/10.1109/UT.2015.7108261","url":null,"abstract":"Acoustic bio-sonar characteristics of non-marine toothed whales are very critical for any conservation efforts using passive acoustic monitoring. The acoustic surveys have now been recognized as effective methods for freshwater cetaceans monitoring and abundance estimation compared to the traditional visual surveys. These species have been declared as data deficient by the IUCN and acoustic surveys present themselves as the relatively cost-effective approach. Irrawaddy dolphins Orcaella brevirostris referred to as facultative freshwater cetaceans because they occupy both fresh- and near-shore marine waters are among the cetaceans at greatest risk to population extirpation and perhaps extinction. Their vulnerability stems from habitat requirements that are coupled to marine and freshwater habitats subjected to intense human intervention. The bio-sonar characteristics of these species are highly sensitive to their habitat and the Irrawaddy dolphins are spread across varied environments over distant geographic locations. A good understanding of their acoustic bio-sonar characteristics across habitats can potentially provide significant conservation inputs. The two habitats considered in this work are contrasting in their origin and evolution. The first is the rivers systems of the Sundarbans mangrove forest with a deltaic habitat and second is the Chilika Lagoon with rain water and high tide fed habitat. Detailed analysis of the Sundarbans Irrawaddy dolphins were reported in 2013 with well-defined acoustic signal parameters. The authors have applied the same parameters for a comprehensive comparison of the species in the two habitats with a critical review on the correlation of the habitat features and the acoustic bio-sonar characteristics. Long term recording of the dolphin clicks in the Chilika lagoon have been analyzed and compared with the Sunderbans results available in the open literature. The acoustic parameters and their physical correlation with the animal behaviour and the habitat status have been presented. Multiple parameters such as centroid frequency, peak frequency, signal source level, bandwidth, duration of clicks, inter-click interval etc have been considered for the study.","PeriodicalId":221625,"journal":{"name":"2015 IEEE Underwater Technology (UT)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116084321","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}