2013 MTS/IEEE OCEANS - Bergen最新文献_第5页

Adaptive Space Time - Time Division Multiple Access (AST-TDMA) protocol for an underwater swarm of AUV's 水下AUV群的自适应空时时分多址(AST-TDMA)协议

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608031

Gunilla E. Burrowes, Jason Brown, J. Khan

{"title":"Adaptive Space Time - Time Division Multiple Access (AST-TDMA) protocol for an underwater swarm of AUV's","authors":"Gunilla E. Burrowes, Jason Brown, J. Khan","doi":"10.1109/OCEANS-BERGEN.2013.6608031","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608031","url":null,"abstract":"This paper presents a new MAC protocol: Adaptive Space Time - TDMA (AST-TDMA) for Autonomous Underwater Vehicles (AUV) operating as a swarm in the open ocean. The aim of the protocol is to allow the dissemination of navigational information amongst the vehicles as quickly as possible such that they may operate as a group in a swarm like fashion. The proposed new protocol incorporates a method to handle the unique channel characteristics experienced underwater, in particular low bandwidths and long propagation delays and is designed to operate in a single channel broadcast acoustic environment. The protocol is based on a TDMA approach where vehicles are allocated a slot in a cycle. In AST-TDMA however, the slot size is not fixed but will adaptively change, from slot-toslot and cycle-to-cycle, due to the changes in range and therefore propagation delay resulting from vehicles position in the swarm and the swarm movement. As slot size varies, so will the cycle time for the exchange of each vehicles' information. AST-TDMA has significant advantages over other time-based protocols as it avoids both the need for guard times and time synchronization, which are both major drawbacks in time based protocols. It also works with the spatial-temporal diversity created in long propagation delay environments to allow `non exclusive channel access' in a single channel, while maintaining the collision avoidance benefit of contention free protocols. This is demonstrated through simulation. A new metric, NCCP, was developed to test the new MAC protocol for swarm operational effectiveness. It has been shown through simulations that the AST-TDMA protocol outperforms TDMA for swarm operations in its ability to disseminate information in a timely manner and with higher channel utilization. Using AST-TDMA also allows a much higher density of vehicles to operate in a swarm like network.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"1 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":"130506541","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: 10

Bathymetry estimation from wave motion with optical imagery: Influence of acquisition parameters 基于光学图像的波浪测深估计:获取参数的影响

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608068

C. Danilo, R. Binet

引用次数: 10

Constrained MPC design for heave disturbance attenuation in offshore drilling systems 海上钻井系统中扰动抑制的约束MPC设计

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608196

A. Nikoofard, T. Johansen, Hessam Mahdianfar, A. Pavlov

引用次数: 23

Station keeping of an Autonomous Surface Vehicle in surf zone 自主水面航行器在冲浪区的站位保持

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608160

E. Chen, Sheng-wei Huang, Yu-Cheng Lin, Jenhwa Guo

{"title":"Station keeping of an Autonomous Surface Vehicle in surf zone","authors":"E. Chen, Sheng-wei Huang, Yu-Cheng Lin, Jenhwa Guo","doi":"10.1109/OCEANS-BERGEN.2013.6608160","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608160","url":null,"abstract":"A small-size Autonomous Surface Vehicle (ASV) is designed to perform autonomous survey missions mainly in river and coastal areas. To do station keeping in surf zone areas, the ASV is designed to have a good heading performance in a specific range of tidal currents period. GPS signals are utilized to navigate the ASV into a way-point area, and then a wave crest measurement system using stereo cameras on the ASV are developed to monitor the wave fields surrounding the ASV. To facilitate the wave field monitoring, stereo images were calibrated and rectified. The corresponding epipolar lines become collinear and parallel to the image scanning lines. CIALAB and k-means techniques are adopted to find the wave crest shadow. Wave fronts are found by the Hough transform from the images. Normalized cross correlation is then used to find the correspondence between left and right images. Stereo visions of the wave crest are then transformed by the space relation to the coordinate of the ASV. Information of sea wave crest is taken into account for the ASV as the vehicle is inside the way-point area drifting with currents. Finally, the wave crest detection and the navigation strategies are verified by experimental data using the ASV station-kept in a coastal surf zone area. The feasibility to reduce ASV drifting rate considering the wave drifting effect as the vehicle is under station keeping mode in the way-point area are discussed.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"136 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":"123259116","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

Whisker-like geometries and their force reduction properties 晶须状几何形状及其减力特性

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608113

H. Hans, J. Miao, G. Weymouth, M. Triantafyllou

{"title":"Whisker-like geometries and their force reduction properties","authors":"H. Hans, J. Miao, G. Weymouth, M. Triantafyllou","doi":"10.1109/OCEANS-BERGEN.2013.6608113","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608113","url":null,"abstract":"This paper studies the effects of geometrical features on harbor seal whiskers on its force reduction ability. Each feature in the seal whisker is sequentially stripped from the original whisker shape. Four whisker-like geometries are created from such methodology. 3D simulations of flow around the structures are performed and the resulting forces on the structures are non-dimensionalized. The lift and drag coefficients of these structures are compared to the real whisker case. The undulations on minor and major axes are found to be necessary in reducing the lift forces. Existence of only one of the undulations fails to weaken the flow and break the vortex tubes and braids in the wake. The offset angle between leading edge and trailing edge are found to have slight effects on the lift and drag coefficients. The reduction in drag coefficient is found to be dependent on the existence of undulations in minor axis. The force responses of whisker-like geometries with undulations on one of their axes are found to be periodic. When the force response on whisker-like geometries with both undulations are found to be chaotic. Vortex shedding frequency of the structure is observed to decrease considerably when no offset angle is introduced into the geometry. This may result in longer lifespan of the structure.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"54 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":"123285543","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: 26

Cooperative AUV motion planning using terrain information 基于地形信息的协同AUV运动规划

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608137

Andreas J. Hausler, A. Saccon, A. Pascoal, J. Hauser, Antonio Pedro Aguiar

{"title":"Cooperative AUV motion planning using terrain information","authors":"Andreas J. Hausler, A. Saccon, A. Pascoal, J. Hauser, Antonio Pedro Aguiar","doi":"10.1109/OCEANS-BERGEN.2013.6608137","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608137","url":null,"abstract":"There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes.","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":"122199750","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: 12

Testing polyester fiber rope for six change-in-length properties (6 CILP) 聚酯纤维绳六种长度变化特性测试(6 CILP)

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6607951

J. Flory, Vidar Åhjem

引用次数: 6

A systematic method for dynamic modeling and identification of a small-sized autonomous surface vehicle using simulated annealing techniques 基于模拟退火技术的小型自主地面车辆动力学建模与辨识方法

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608101

G. Ferri, A. Manzi, F. Fornai, F. Ciuchi, C. Laschi

{"title":"A systematic method for dynamic modeling and identification of a small-sized autonomous surface vehicle using simulated annealing techniques","authors":"G. Ferri, A. Manzi, F. Fornai, F. Ciuchi, C. Laschi","doi":"10.1109/OCEANS-BERGEN.2013.6608101","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6608101","url":null,"abstract":"This paper presents and validates a method for the dynamic modeling and identification of an Autonomous Surface Vehicle (ASV) taking into account the performance of the sensors usually installed in relatively low-cost surface vehicles. For the estimate of the parameters of the adopted model we propose an onboard sensor-based, off-line identification procedure based on Simulated Annealing. The method is systematic and was successfully applied to produce a nonlinear model of a robotic catamaran belonging to the HydroNet ASV class [1]. The used sensors consisted of a compass measuring the heading angle and a paddle wheel speed sensor to measure the robot surge speed: GPS data were not used during the identification to loose the need of a relatively expensive GPS receiver to produce an accurate model. Extended experiments at sea showed our approach is effective in producing a dynamic model of the ASV. It uses data produced by inexpensive sensors in sea trials without needing costly facilities such as tow-tanks or planar motion mechanisms. The resulting model proved sufficiently accurate to be a valid support to simulation and control law design.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"65 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":"116582385","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

Application of ICT and automatic resource estimation for coastal fishery using real-time fishery information 基于实时渔业信息的信息通信技术在沿海渔业资源自动估算中的应用

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6607983

R. Saville, K. Hatanaka, M. Sano, M. Wada, M. Okamoto

{"title":"Application of ICT and automatic resource estimation for coastal fishery using real-time fishery information","authors":"R. Saville, K. Hatanaka, M. Sano, M. Wada, M. Okamoto","doi":"10.1109/OCEANS-BERGEN.2013.6607983","DOIUrl":"https://doi.org/10.1109/OCEANS-BERGEN.2013.6607983","url":null,"abstract":"An automatic method to compute resources estimation for coastal fishery was proposed by applying Information and Communication Technology (ICT) using real-time fishery information. The real-time fishery information used in the study is the location data of fishing vessels and the record of a catch in each operation. The network platform developed by the authors is introduced to the fishing vessel which connected to GPS for collecting location data every ten seconds and to send them to the database (DB) server via email. A record of the catch of a fishing operation including the vessel's ID, date, starting and ending times of the operation is transmitted to the DB by a special iOS App, so called the digital diary, on fisherman's iPad. The information collected by the digital diary is utilized to estimate the distribution of density of the catch, then the density is used to estimate the initial amount of the fish automatically by the algorithm based on the swept area method. In order to determine the initial density in the fishing ground, the authors divided the fishing area into the fixed grids with the size of 100m times 100m. The present algorithm has been applied to 16 vessels of sea cucumber dredge-net fishing in Rumoi City, on the west coast of Hokkaido, Japan. The system collected information of approximately 2,400 fishing operations in the summer season in 2012. The accuracy of the estimated initial amount of the sea cucumber by the present algorithm is compared to the result computed by manually using GIS. The results show that the difference was less than one percent in both methods and it can be concluded that this automatic algorithm worked well for resources estimation in coastal fishery.","PeriodicalId":224246,"journal":{"name":"2013 MTS/IEEE OCEANS - Bergen","volume":"111 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":"121697835","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

Design and implementation of a low-cost near-shore cabled observatory 低成本近岸有线天文台的设计与实施

2013 MTS/IEEE OCEANS - Bergen Pub Date : 2013-06-10 DOI: 10.1109/OCEANS-BERGEN.2013.6608048

S. Chalmers, A. Jamieson, J. Polanski, I. Priede, P. Bagley

引用次数: 1