2022 International Conference on Ocean Studies (ICOS)最新文献_第2页

System for Identifying Target Objects to Perform Manipulative Operations by Unmanned Underwater Vehicles 无人潜航器识别目标物体执行操纵操作系统

2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/ICOS55803.2022.10033396

A. Konoplin, A. Yurmanov, N. Krasavin, P. Piatavin, Maxim Panchuk, Roman Vasilenko

{"title":"System for Identifying Target Objects to Perform Manipulative Operations by Unmanned Underwater Vehicles","authors":"A. Konoplin, A. Yurmanov, N. Krasavin, P. Piatavin, Maxim Panchuk, Roman Vasilenko","doi":"10.1109/ICOS55803.2022.10033396","DOIUrl":"https://doi.org/10.1109/ICOS55803.2022.10033396","url":null,"abstract":"The paper proposes a system for identifying target objects to perform manipulative operations by unmanned underwater vehicles (UUV) equipped with multi-link manipulators (MM). This system processes point clouds received from technical vision systems (TVS) mounted on UUV, and provides high-precision identification of the location and shape of target objects relative to the UUV. Then, the specified trajectories of the MM working tool are translated on the determined surface of the target object, taking into account the possible silting, fouling and deformation of this object. The developed system is implemented in the C++ programming language on the NVIDIA Jetson TX2 on-board computer. The results of recognition of underwater objects using a Zed2 stereo camera placed in a sealed box, calibrated in an aquatic environment using the OpenCV library method, are presented. The experimental data obtained were used to simulate the process of manipulation operation performed by the manipulator of the UUV in the software packages CoppeliaSim and Matlab/Simulink. The research results confirmed the operability and high efficiency of the proposed system.","PeriodicalId":263531,"journal":{"name":"2022 International Conference on Ocean Studies (ICOS)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125370234","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

A Software Suite for the Automated Tethered Profiler Winchi Winchi自动系绳分析器软件套件

2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/ICOS55803.2022.10033343

O. Kochetov, Sergey V. Volkov, A. Ostrovskii

引用次数: 0

Methane and hydrogen sulfide in bottom sediments at the sites of dredging and underwater storage of soils in the Sea of Azov 亚速海土壤疏浚和水下储存地点底部沉积物中的甲烷和硫化氢

2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/ICOS55803.2022.10033387

D. Gar'kusha, Y. Fedorov

{"title":"Methane and hydrogen sulfide in bottom sediments at the sites of dredging and underwater storage of soils in the Sea of Azov","authors":"D. Gar'kusha, Y. Fedorov","doi":"10.1109/ICOS55803.2022.10033387","DOIUrl":"https://doi.org/10.1109/ICOS55803.2022.10033387","url":null,"abstract":"The results of expedition studies aimed at studying the distribution of concentrations of methane and hydrogen sulfide in bottom sediments at the sites of dredging and underwater storage of soils in the Taganrog Bay of the Sea of Azov are considered. It is shown that the deposits to be developed in the seaport of Taganrog, Taganrog approach and Azov-Don sea channels are characterized by high concentrations of methane (1.9–47.4$mu$g/g) and hydrogen sulfide (0.194–2.24mg/g), by an order of magnitude or more exceeding their values in nearby areas located outside navigable channels and underwater dumps of soil. The percentage of methane from the sum of the studied reduced gases (methanization coefficient) in the bottom sediments, depending on the sampling station, varies in the range of 0.014–15.08%, with the maximum values of the methanization coefficient in the sediments of the Taganrog approach channel. The minimum values of the methanization coefficient are observed in the sediments of the “background” sites, which indicates a significant dominance of the process of sulfate reduction over the process of methanogenesis during the decomposition of organic substances in the upper horizons of bottom sediments unaffected by dredging. There was no clear relationship between the concentrations of methane and hydrogen sulfide in the sediments of navigable channels and underwater dumps of soil, which, along with relatively high values of the methanization coefficient, may indicate in general the absence of an inhibitory effect of the sulfate reduction process on the formation of methane.","PeriodicalId":263531,"journal":{"name":"2022 International Conference on Ocean Studies (ICOS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115260866","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

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2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/icos55803.2022.10033378

引用次数: 0

Position/force control system for unmanned underwater vehicles with manipulators in the hovering mode 机器人悬停模式下无人潜航器位置/力控制系统

2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/ICOS55803.2022.10033349

A. Konoplin, N. Krasavin

{"title":"Position/force control system for unmanned underwater vehicles with manipulators in the hovering mode","authors":"A. Konoplin, N. Krasavin","doi":"10.1109/ICOS55803.2022.10033349","DOIUrl":"https://doi.org/10.1109/ICOS55803.2022.10033349","url":null,"abstract":"The paper proposes a control system for unmanned underwater vehicles (UUV) equipped with multilink manipulators (MM) to perform contact (position-force) operations in the hover mode over objects. This system is built on the basis of methods for ensuring the stabilization of the UUV at a given point in water with the help of thrusts created by the propellers of the vehicle. Unavoidable errors in the stabilization of the UUV emerge due to force contact of the MM working tool (WT) with the object of work. These errors are compensated by additional correction of the trajectory and orientation of the tool. As a result, the MM changes its configuration and continues to move along the surface of the object. For operations that require control of the created force, a method is additionally implemented that allows real-time creation of forces and moments by the propellers of the UUV. These forces and moments are necessary for performing manipulation operations. At the same time, the force effects of the object on the MM WT are calculated using observers in its electric drives, without requiring the installation of force-torque sensors on this tool and at the point of attachment of the MM to the UUV. Due to the simultaneous formation of force effects of MM and UUV, contact operations are ensured. The operability and efficiency of the system were confirmed using numerical simulation in Matlab/Simulink with visualization in the CoppeliaSim simulator.","PeriodicalId":263531,"journal":{"name":"2022 International Conference on Ocean Studies (ICOS)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123617070","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

The Effect of Feeding Conditions on Micronutrient Content in Pacific Salmon 饲养条件对太平洋鲑鱼微量营养素含量的影响

2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/ICOS55803.2022.10033370

N. Khristoforova, A. Litvinenko, M. Kovalchuk, V. Tsygankov

{"title":"The Effect of Feeding Conditions on Micronutrient Content in Pacific Salmon","authors":"N. Khristoforova, A. Litvinenko, M. Kovalchuk, V. Tsygankov","doi":"10.1109/ICOS55803.2022.10033370","DOIUrl":"https://doi.org/10.1109/ICOS55803.2022.10033370","url":null,"abstract":"Three of the most widespread species of Pacific salmon in the Sakhalin-Kuril region were studied for the content of microelements in organs and tissues. Depending on where the fish were feeding and migrating, there was a significant difference in the content of essential (Zn, Cu, Fe) and nonessential (Ni, Pb, Cd) metals. Sakhalin pink salmon from the Sea of Okhotsk, which was feeding in the waters of the northwestern part of Pacific near the Kuril Islands, had a significantly higher content of all studied metals in organs and tissues, except for Zn, compared to masu salmon characterized by sea feeding. Chum salmon from Primorye, similar to the Sakhalin masu salmon that came to spawn in the Bahura River, differed markedly in large concentrations of Zn and Ni in organs and tissues. The high level of iron content in the liver of the Primorsky chum salmon indicates a large terrigenous load on the Sea of Japan. At the same time, in all the studied organs and tissues of the masu salmon, which does not make long migrations to the ocean, the concentration of lead and cadmium is noticeably lower than in the Sakhalin and Kuril chum, which crosses the impact geochemical zone several times in its life during oceanic migrations and feeding.","PeriodicalId":263531,"journal":{"name":"2022 International Conference on Ocean Studies (ICOS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127978333","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

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2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/icos55803.2022.10033373

引用次数: 0

Comparison Study of Different Types of Setting Reference Movements for Mechatronic Objects by Parametric Splines 基于参数样条的不同类型机电一体化目标设定参考运动的比较研究

2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/ICOS55803.2022.10033330

A. Gubankov, I. Gornostaev

引用次数: 1

The Features of Formation of the Spatial Structure of the Vector-Scalar Sound Field in the shelf zone of the Sea of Japan 日本海陆架区矢量-标量声场空间结构的形成特征

2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/ICOS55803.2022.10033356

D. Strobykin, Y. Morgunov, A. Golov, E. Voytenko

{"title":"The Features of Formation of the Spatial Structure of the Vector-Scalar Sound Field in the shelf zone of the Sea of Japan","authors":"D. Strobykin, Y. Morgunov, A. Golov, E. Voytenko","doi":"10.1109/ICOS55803.2022.10033356","DOIUrl":"https://doi.org/10.1109/ICOS55803.2022.10033356","url":null,"abstract":"In this paper we discuss the findings of experimental studies on spatial structures of the acoustic vector-scalar field that were generated with the help of a towed low frequency sound source in a shallow water area in the Sea of Japan. The emission of the 134 Hz tone signal was provided by towing the acoustic source. The depth of towing was 20 meters for all tracks in both experiments with a maximum distance between the source and the combined receiver (CR) of 10 kilometers. The CR consists of an omnidirectional hydrophone and three perpendicular vector receivers of acceleration oscillatory vectors. Special emphasis was given to the study of formation of vector and scalar fields interference structure under monitorable vertical distribution of temperature and salinity in water column. The features of interference structure at different tracks are described. Of great interest are the results of comparison of the horizontal and vertical field components of the vector-scalar fields, which made it possible to identify significant (hundreds of meters) shifts of the minima and maxima of the signals in the PXY channels relative to the Z channel on some tacks. The possibility of practical implementation of the findings is discussed.","PeriodicalId":263531,"journal":{"name":"2022 International Conference on Ocean Studies (ICOS)","volume":"378 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127225453","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

Comparative Analysis of Model and Experimental Characteristics of the MT-3500 AUV Dynamics MT-3500水下航行器动力学模型与实验特性对比分析

2022 International Conference on Ocean Studies (ICOS) Pub Date : 2022-10-05 DOI: 10.1109/ICOS55803.2022.10033389

L. Kiselev, V. Kostenko, A. Medvedev

引用次数: 0