2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies最新文献

{"title":"Design and Fabrication of a Small Test-bed Aimed for Basin Experiment of Underwater Multi-agent System","authors":"K. Watanabe","doi":"10.1109/UT.2007.370778","DOIUrl":"https://doi.org/10.1109/UT.2007.370778","url":null,"abstract":"The underwater multi-agent technology using many types of underwater robot has great potential for various underwater activities in the near future. To realize the underwater multi-agent system, we must experience many situations and problems to be solved in that development by using real systems as well as the computer simulations. So we are now building basic systems of basin experiment for the development of AUV multi-agent behavior. In this paper I will introduce our concept of the underwater multi-agent application in the near future and the hardware/software design of our laboratory's AUV small test-bed, precise ultrasound ranging system and LBL coordinate detection system now we are developing. We designed a small thruster which is composed of a 4.5W coreless motor with planetary gear and a rotary encoder. We designed and fabricated the magnet coupling for watertight seal of the thruster to reduce the production cost. The total weight in air is about 3kgf. So the total size is small (0.4m[L]_ 0.4m[B] _0.2m[H]) that we can handle it easily and many robots can swim in our basin(6m[L]_3m[B]_3m[H]). The hull is designed to bear the pressure at least 10m water depth. We selected Lithium ion battery for power supply and the total capacity is 450Wh. By power consumption calculation we may use it about 2 hours with one full charge of the batteries. The main PC is PC104 module (Advantech PCM3350) of which MPU is NS-Geode 300MHz and 64MB RAM. I implemented the Linux based program system in 1GB compact flash card from which the system boots. It controls the total system through PIC based subsystems. An electric compass TCM2 is used to detect the heading angle and roll, pitch. Each device like electric compass has its own PIC and all serial communication line is multi-dropped using RS232 through the communication interface PIC. The 6 underwater connector are attached for ultrasound transducers, thrusters, power supply and ethernet. As we mounted a wireless CCD camera inside, we can see the underwater image as far as the robot is near water surface.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115326161","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":"Acoustical surveys of Methane plumes using the quantitative echo sounder in Japan Sea","authors":"C. Aoyama, R. Matsumoto, A. Hiruta, O. Ishizaki, H. Machiyama, H. Numanami, M. Hiromatsu, G. Snyder","doi":"10.1109/UT.2007.370804","DOIUrl":"https://doi.org/10.1109/UT.2007.370804","url":null,"abstract":"R&T/V Umitaka-maru(Tokyo Univ. of Marine Science and Technology) and R/V Natsushima(JAMSTEC) sailed to the methane seep area on a small ridge in the Naoetsu Basin, in the eastern margin of the Sea of Japan in 2004,2005 and 2006 to survey the ocean floor gas hydrate and related acoustic signatures of methane plumes by using a quantitative echo sounder and a multi beam SONER [1]. Detailed bathymetric profiles have revealed a number of mounds, pockmarks and collapse structures within 3 km times 4 km on the ridge at the water depth of 910 m to 980 m. We mapped minutely methane plumes by using a quantitative echo sounder with positioning data from GPS. We also measured averaged echo intensity from the methane plumes and sea bottoms both in every 100 m range and very one minute by the echo integrator. We obtained the following results from the present echo-sounder and SONER surveys. 1) We measured the averaged volume backscattering strength (SV) of each methane plume. The strongest SV, -33dB, of the plumes was stronger than SV of fish school. 2) Averaged SV of each methane plume tend to be related to the water temperature and the water pressure. 3) We recovered several fist-sized chunks of methane hydrate by piston coring at the area where we observed the methane plumes. 4) Using this method, we detected methane bubbles floating up points and revealed that the hydrate bubbles float upward until they reach warm waters at 300 m depth. 5) We revealed the hydrate bubbles in the conic container on the sea bottom. Because of results this acoustical method was effective to know the behaviors of the methane hydrate under water and to monitor the area of the methane seep. As a following up project, we are planning 1) to measure SV of methane hydrate bubbles and methane hydrate floating in water columns in situ, 2) to make a trial calculation of amount of floating methane bubbles and methane hydrates and 3) to study how to sample the acoustical data of methane plumes using the side scanning SONAR, called SeaBat.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"334 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116125092","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":"Low altitude tracking of rugged seafloors for autonomous visual observation","authors":"T. Maki, T. Ura, H. Mizushima, H. Kondo, T. Sakamaki, M. Yanagisawa","doi":"10.1109/UT.2007.370771","DOIUrl":"https://doi.org/10.1109/UT.2007.370771","url":null,"abstract":"While visual observation is an ideal method for detailed survey of seafloors, it is still difficult for an autonomous underwater vehicle (AUV) to track rugged terrains at low altitudes of ideal 1 to 2 meters. This paper proposes a real-time navigation architecture for hovering class AUVs equipped with perceptional sensors looking forwards, sideways and downward, to operate under such conditions. The method controls vertical motion while placing almost no restrictions on motion in the horizontal plane, achieving high compatibility with existing navigation scheme. The algorithm is a hybrid of sensor and map based approaches where the vehicle continually updates a local geometrical map of hazard areas using its perceptional measurements while performing conventional auto-altitude tracking. If the vehicle enters any of the hazard areas, sensor based control is invoked with depth as the control reference to elevate the AUV until it passes the hazard area. The method was verified through tank experiments using the AUV Tri-Dog 1. The AUV successfully followed a lawn-mower trajectory over a rugged terrain consisting of knolls and slopes while maintaining an extremely low altitude of 1.2 meters.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122675832","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":"A Detection Algorithm of a Test-bed AUV, SNUUV-II","authors":"D.C. Seo, G. Jo, H.S. Choi","doi":"10.1109/UT.2007.370792","DOIUrl":"https://doi.org/10.1109/UT.2007.370792","url":null,"abstract":"A vision system of unmanned vehicles has been developed for high autonomous operations. With the help of a high performance of embedded computers, a vision system can be economically used for underwater vehicles. The low-cost vision system is applied to a test-bed AUV, named as SNUUV-II (Seoul National University Underwater Vehicle II). In this paper, a detection algorithm based on pattern matching is developed for SNUUV-II. Finally, the algorithm is examined for detecting a specific target from the background disturbances.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117035918","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":"Sensor Network Infrastructure: Moorings, Mobile Platforms, and Integrated Acoustics","authors":"Bruce M. Howe","doi":"10.1109/UT.2007.370946","DOIUrl":"https://doi.org/10.1109/UT.2007.370946","url":null,"abstract":"Much of the cost and effort of new ocean observatories will be in the infrastructure that directly supports sensors, such as moorings and mobile platforms, which in turn connect to a \"backbone\" infrastructure, such as cabled seafloor nodes. Three elements of this sensor network infrastructure are in various stages of development: a cable-connected mooring system with a profiler under real-time control with inductive battery charging; a glider with integrated acoustic communications and broadband receiving capability; and integrated acoustic navigation, communications, and tomography, and ambient sound recording on various scales.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128427380","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":"High-frequency Acoustic Recording Package (HARP) for broad-band, long-term marine mammal monitoring","authors":"S. Wiggins, J. Hildebrand","doi":"10.1109/UT.2007.370760","DOIUrl":"https://doi.org/10.1109/UT.2007.370760","url":null,"abstract":"Advancements in low-power and high-data-capacity consumer computer technology during the past decade have been adapted to autonomously record sounds from marine mammals over long periods. Acoustic monitoring has advantages over traditional visual surveys including greater detection ranges, continuous long-term monitoring in remote locations under various weather conditions and independent of daylight, and lower cost. However, until recently, the technology required to autonomously record whale sounds over long durations has been limited to low-frequency (< 1000 Hz) baleen whales. The need for a broader-band, higher-data capacity system capable of autonomously recording toothed whales and other marine mammals for long periods has prompted the development of a High-frequency acoustic recording package (HARP) capable of sample rates up to 200 kHz. Currently, HARPs accumulate data at a rate of almost 2 TB per instrument deployment which creates challenges for processing these large data sets. One method we employ to address some of these challenges is a spectral averaging algorithm in which the data are compressed and viewed as long duration spectrograms. These spectrograms provide the ability to view large amounts of data quickly for events of interest, and they provide a link for quickly accessing the short time-scale data for more detailed analysis. HARPs are currently in use worldwide to acoustically monitor marine mammals for behavioral and ecological long-term studies. The HARP design is described and data analysis strategies along with software tools are discussed using examples of broad-band recorded data.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123591394","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":"The European Seafloor Observatory Network Implementation Model: Towards a model for European Observatory Implementation","authors":"M. Gillooly, G. Nolan, N. O'neill, O. Pfannkuche, J. Rolin, G. Waterworth, L.G. Priede, C. O'rourke, P. Lee, P. Hall","doi":"10.1109/UT.2007.370958","DOIUrl":"https://doi.org/10.1109/UT.2007.370958","url":null,"abstract":"ESONIM seeks to facilitate the establishment of a European Seafloor Observatory Network (ESONET) by providing EU Member State Governments with the technical, legal and financial models and arguments to establish one or more pilot cabled seafloor observatories. The scientific case for establishing seafloor observatories in European waters has been made by the ESONET project. Therefore, ESONIM focuses on detailing the technical specification of a model observatory (the proposed CeltNet site west of Ireland), the financial model required to fund the initial capital purchase of the observatory elements and the ongoing operating expenditure on a year to year basis and legal implications and obligations associated with developing a seafloor observatory. ESONIM has developed a financial model of capital and current expenditure and revenue for an observatory so that different funding scenarios can be considered (e.g. full state funding, partial state funding with industry or EU project support). This model is presented as a software-based tool to examine different funding scenarios for ocean observatories. The outputs of ESONIM will feed into the recently funded ESONET Network of Excellence Implementation work package. It is anticipated that ESONIM will provide a comprehensive guide on how to implement observatories in European waters and further afield.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124301063","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":"Maximum Likelihood Approach to Bottom Detection in Deep Water MultiBeam Echo Sounders","authors":"G. Yufit, E. Maillard, L. D. Pedersen","doi":"10.1109/UT.2007.370846","DOIUrl":"https://doi.org/10.1109/UT.2007.370846","url":null,"abstract":"The maximum likelihood method (MLM) of bottom detection allows substantial reduction in the minimum acceptable SNR in outer beams and, as a result, widening of the survey swath in deep water multi-beam echo sounder (MBES) applications. In this discussion, the arrays are installed in a Mills Cross configuration, with the transmit array oriented along-track and the receive array oriented across-track. The statistics consist of amplitude time samples and samples of phase differences between the two halves of the receive array. Transition to Cartesian coordinates allows for obtaining the inverse of the correlation matrix and, consequently, expression of the normal statistical distribution for the output of the two sub-arrays. Maximizing this distribution by depth (or by depth and surface slope) leads to finding the optimal position of bottom response in range or in time. The location of the signal peak determines the optimal estimate of range and gives bottom depth. Implementation of MLM gives the gain in SNR equal to ~3 -4 dB and up to a 15% increase in swath. The MLM approach is illustrated by data recorded in deep water in South China Sea during a trial of SeaBat 8150 MBES.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122214734","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":"Sea Floor Mapping using the Data of Forward Looking Sonar and Side-Scan Sonar around the Hydrothermal Sites, South Mariana Trough","authors":"M. Joshima, K. Kisimoto, K. Nishimura","doi":"10.1109/UT.2007.370825","DOIUrl":"https://doi.org/10.1109/UT.2007.370825","url":null,"abstract":"Processed data of the mesotech 971 forward looking sonar was successfully plotted on a map and compared with side-scan-sonar (SSS) data and color image of original forward sea floor record. The accuracy of positions by LBL acoustic system is insufficient to process the sea-floor mapping. The accuracy and density of positions controls, in other saying, decides the quality of mapped seafloor images.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115894739","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":"Study on the Deployment of Accelerometers in Reflection Seismic Surveys","authors":"H. Takahashi, E. Asakawa, Y. Kawai, Y. Ogasawara, T. Saeki","doi":"10.1109/UT.2007.370764","DOIUrl":"https://doi.org/10.1109/UT.2007.370764","url":null,"abstract":"The RSCS (Real-time Seismic Cable System) is an optical submarine cable system employing a series of 3 axial component velocity type sensors (geophones) mounted in a pressure resistant case capable of withstanding hydraulic pressures up to 800 atmospheres (78.4 MPa). Spreads consisting of several of geophones, spaced at 50 meters interval, have been deployed during actual offshore reflection seismic survey. The resulting data quality with RSCS showed that this system was effective for multi-component reflection seismic survey [1]. In this paper, application of acceleration type sensors (accelerometer) in RSCS was studied. For comparison, a system equipped with 3 component geophones and a 3-axis accelerometer was deployed during reflection seismic survey in an area with a water depth of about 1000 m. The data acquired with both types of sensors have excellent quality and it can be concluded that RSCS equipped with accelerometer is also effective for reflection seismic surveys. This result shows the possibility to reduce the size of RSCS unit, because accelerometer does not need the gimbal mechanism necessary for geophones.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130423728","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}