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2013 MTS/IEEE OCEANS - Bergen最新文献

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Cross-polarizations in sea surface infrared reflectivity 海面红外反射率的交叉极化
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-09-26 DOI: 10.1109/OCEANS-BERGEN.2013.6608092
Hongkun Li, N. Pinel, C. Bourlier
{"title":"Cross-polarizations in sea surface infrared reflectivity","authors":"Hongkun Li, N. Pinel, C. Bourlier","doi":"10.1109/OCEANS-BERGEN.2013.6608092","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608092","url":null,"abstract":"This paper analytically calculates the infrared reflectivity of sea surfaces with one surface reflection by taking shadowing effect into account. The cross-polarization effect is studied. It is shown that the co-polarization reflectivity is dominant for large zenith angles θ. Cross-polarizations do not occur along the horizontal direction of the global specular reflection direction.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122593590","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
Archaeology and biology in the deep sea: The Ormen Lange marine archaeology project 深海考古与生物学:奥尔门兰格海洋考古项目
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6607945
F. Søreide, T. Bakken, M. E. Jasinski
{"title":"Archaeology and biology in the deep sea: The Ormen Lange marine archaeology project","authors":"F. Søreide, T. Bakken, M. E. Jasinski","doi":"10.1109/OCEANS-BERGEN.2013.6607945","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6607945","url":null,"abstract":"This paper presents the results and conclusions of a biological sampling project on the Ormen Lange deep-water shipwreck site.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115382571","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
Development of seabed walking robot CR200 海底行走机器人CR200的研制
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608164
B. Jun, H. Shim, Bang-hyun Kim, Jin-Yeong Park, H. Baek, S. Yoo, Pan-Mook Lee
{"title":"Development of seabed walking robot CR200","authors":"B. Jun, H. Shim, Bang-hyun Kim, Jin-Yeong Park, H. Baek, S. Yoo, Pan-Mook Lee","doi":"10.1109/OCEANS-BERGEN.2013.6608164","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608164","url":null,"abstract":"This paper describes the development result of an underwater walking robot CR200. The CR200 is 6-legged seabed walking robot designed to work in high current and low visibility environment. The along sectional shape of the body is streamlined to improve the hydrodynamic characteristics. In order to detect the disturbance from the current, we installed an acoustic Doppler current profiler (ADCP), an attitude heading reference system (AHRS) on the body and a contact force sensor on each foot. Acoustic camera and scanning sonar were installed for the inspection of the low visibility environment. The pressure canister and electric-driven six legs/arms guarantee the 200m pressure-resistant and watertight performance. The main frame was made of carbon fiber reinforced plastic (CFRP) in order to reduce the total weight. In this paper, we introduce the results of manufacturing and verify the design concept.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115429132","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: 36
Sound pressure field focused by doublet with acrylic plano-concave lens and silicon-rubber Fresnel lens 亚克力平凹透镜和硅橡胶菲涅耳透镜双透镜聚焦声压场
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608023
Toshiaki Nakamura, Yuji Sato, H. Ogasawara, K. Mizutani
{"title":"Sound pressure field focused by doublet with acrylic plano-concave lens and silicon-rubber Fresnel lens","authors":"Toshiaki Nakamura, Yuji Sato, H. Ogasawara, K. Mizutani","doi":"10.1109/OCEANS-BERGEN.2013.6608023","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608023","url":null,"abstract":"Aplanatic lens can correct both spherical and coma aberrations. In this report, an aplanatic doublet with acrylic plano-concave lens as a cover and room temperature vulcanizing (RTV) silicon-rubber Fresnel lens was designed using optical ray theory to obtain light weight and better characteristics than the previous aplanatic lenses. Convergence characteristics of the doublet were evaluated by using a ray tracing diagram and two-dimensional finite difference time domain (FDTD) method, and compared with two Fresnel lenses which are aplanatic Fresnel lens without cover and with cover of uniform thickness. Newly designed aplanatic doublet showed larger power and narrower beam width than the previous Fresnel lens with cover. These predictions of the characteristics for the doublet by the FDTD simulation were confirmed by the experiments in water tank. As a result, experimental convergence characteristics of the doublet agreed well with the results of the FDTD simulation except the focal length. Difference of the focal length between simulation and experiment was discussed in the point of view of the variation of the sound source distance and sound velocity.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124429535","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
Low cost AUV in multiple deployment configurations for oceanographic research 用于海洋研究的多种部署配置的低成本AUV
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608133
J. Busquets, J. Busquets, Federico Zilic, F. Pérez, Francinet Gonzalez, Claudio Aron, G. Tampier, C. Lazo, Ricardo Manzoliz, Esteban Patroni, Francisco Almonacid, O. Parra, D. Tudela, Rodolfo Boetcher, J. Busquets-Carbonell, J. Gilabert
{"title":"Low cost AUV in multiple deployment configurations for oceanographic research","authors":"J. Busquets, J. Busquets, Federico Zilic, F. Pérez, Francinet Gonzalez, Claudio Aron, G. Tampier, C. Lazo, Ricardo Manzoliz, Esteban Patroni, Francisco Almonacid, O. Parra, D. Tudela, Rodolfo Boetcher, J. Busquets-Carbonell, J. Gilabert","doi":"10.1109/OCEANS-BERGEN.2013.6608133","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608133","url":null,"abstract":"AUVs are self-propelled and able to navigate at an acceptable speed, but they need an electric motor and batteries that are limited in autonomy. Multivehicle fleet deployment can provide an adequate platform for conducting long term surveillance. Unexpected event detection can be more easily conducted if a set of vehicles in idle mode are expecting the occurrence of this event. Long term and high persistence are very interesting characteristics that a collaborative fleet of different vehicles can provide. However, the problem is the high cost of such kind of vehicles. The possibility of performing adequate tasks by using low cost underwater vehicle could multiply the number of agents in the area and therefore, providing high persistence and wide survey area capabilities. This paper progresses in the definition of the requirements needed to be applied on these kind of vehicles considering the low cost of construction and operation as one of the main goals. A more technological advanced and better equipped ASV as communication and coordination station in the area in combination with a fleet of robust Low Cost AUVs in collaborative schema seems to be an interesting platform for providing good results.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"82 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120990796","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
Mathematical model of the Guanay II AUV Guanay II水下航行器的数学模型
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608056
Julian Gonzalez-Agudelo, I. Masmitja, Spartacus Gomariz-Castro, C. Batlle, David Sarria-Gandul, J. del-Rio-Fernandez
{"title":"Mathematical model of the Guanay II AUV","authors":"Julian Gonzalez-Agudelo, I. Masmitja, Spartacus Gomariz-Castro, C. Batlle, David Sarria-Gandul, J. del-Rio-Fernandez","doi":"10.1109/OCEANS-BERGEN.2013.6608056","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608056","url":null,"abstract":"This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile, which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127262306","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: 9
Power cepstra measured in shallow water environments 在浅水环境中测量的功率倒频
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608044
Yujin Gao
{"title":"Power cepstra measured in shallow water environments","authors":"Yujin Gao","doi":"10.1109/OCEANS-BERGEN.2013.6608044","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608044","url":null,"abstract":"In this paper power cepstra measured in shallow waters are derived theoretically to show how a sound source propagating via different paths interferes. From the derivation several useful properties of the power ceptra are revealed, which could be used to classify rahmonic tracks generated by different paths and mechanisms. Sea trial data measured in a shallow water bay are analyzed to verify the properties of the power cepstra.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"45 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123255736","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
Line following for an autonomous sailboat using potential fields method 基于势场法的自主帆船线路跟踪
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6607961
F. Plumet, Hadi Saoud, Minh-Duc Hua
{"title":"Line following for an autonomous sailboat using potential fields method","authors":"F. Plumet, Hadi Saoud, Minh-Duc Hua","doi":"10.1109/OCEANS-BERGEN.2013.6607961","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6607961","url":null,"abstract":"Artificial potential fields method is a widely used algorithm for path planning of autonomous terrestrial robots. In this paper, this method is applied for the local path planning of an autonomous sailboat robot. Environment and specific sailboat navigation constraints (upwind and downwind no-go zones) are represented by local potentials built around the boat location and periodically updated to take into account changes of the wind direction and obstacles' position. A line of sight (LOS) based potential is used to guarantee that the vehicle stays inside a band around the direct route between two consecutive way points. A new repulsive potential with a speed-dependent component is also presented in order to get smoother obstacle avoidance trajectories.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123588343","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: 13
Single cluster PHD SLAM: Application to autonomous underwater vehicles using stereo vision 单集群PHD SLAM:立体视觉在自主水下航行器中的应用
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608107
S. Nagappa, N. Palomeras, Chee Sing Lee, N. Gracias, Daniel E. Clark, J. Salvi
{"title":"Single cluster PHD SLAM: Application to autonomous underwater vehicles using stereo vision","authors":"S. Nagappa, N. Palomeras, Chee Sing Lee, N. Gracias, Daniel E. Clark, J. Salvi","doi":"10.1109/OCEANS-BERGEN.2013.6608107","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608107","url":null,"abstract":"This paper considers the application of feature-based simultaneous localisation and mapping (SLAM) using a random finite sets (RFS) framework for an autonomous underwater vehicle. SLAM allows for reduction in localisation error by tracking features which provide a fixed external reference. The SLAM problem is addressed here using a single-cluster probability hypothesis density (PHD) filter. The filter uses a particle approximation for the vehicle position with a conditional Gaussian mixture PHD for the feature map. Map features are selected as unique point features generated from a stereo camera on-board the vehicle. We demonstrate the improvement in localisation applying the algorithm to a dataset obtained in an indoor test tank.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115249493","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: 11
Towards innovative approaches of team-oriented mission planning and mission languages for multiple unmanned marine vehicles in event-driven mission 面向团队的多艘无人船任务规划与任务语言创新方法研究
2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608065
Sebastian Eckstein, T. Glotzbach, C. Ament
{"title":"Towards innovative approaches of team-oriented mission planning and mission languages for multiple unmanned marine vehicles in event-driven mission","authors":"Sebastian Eckstein, T. Glotzbach, C. Ament","doi":"10.1109/OCEANS-BERGEN.2013.6608065","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608065","url":null,"abstract":"This paper provides an overview on possibilities to design a common mission language for mission planning of heterogeneous autonomous marine robots that have to perform challenging mission scenarios as parts of a larger group over unstructured terrain. The required concept must therefore be suited for event-driven behavior of the vehicles and allow for high flexibility online. Also, in order to be suited for the usage within the research project MORPH, it must be adaptable to heterogeneous marine robots from a large group of different providers. Furthermore, the mission plans shall be readable by a human operator. In this paper, we will discuss these issues and present the results of the specification phase of the mentioned research project.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122390772","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
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