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

{"title":"Automatic Detection and Classification of Man-made Targets in Side Scan Sonar Images","authors":"A. L. Chew, Poh Bee Tong, C. S. Chia","doi":"10.1109/UT.2007.370841","DOIUrl":"https://doi.org/10.1109/UT.2007.370841","url":null,"abstract":"The automatic detection of man-made targets in side scan sonar images is of great interest in a variety of applications ranging from the detection of illegal waste disposal by passing ships to the detection of mine-like objects in military applications. The standard solution is to perform image segmentation (highlight and shadow pixels are distinguished from background pixels) followed by classification based on feature extraction. One of the problems faced during image segmentation is the need for an adaptive threshold due to the varying illumination often found in side scan sonar images. Dark and bright bands are a frequent occurrence in these images. This paper introduces a novel way to improve the contrast of a side scan sonar image and at the same time, balance the illumination throughout the image, thus eliminating the need for adaptive thresholding. The self-adaptive power filtering technique will be discussed and the interesting results from this technique will be presented. The simplicity of this technique also makes it a suitable candidate for real-time processing. Besides the usual features (e.g. size) extracted for classification, we will also be introducing contour-specific features to differentiate between objects with regular outlines (i.e. man-made objects) and those with irregular outlines (e.g. rocks). Our classification uses a divide-and-conquer approach. Highlight and shadow regions are first evaluated separately. This will allow simple features to be used more effectively. The remaining regions are then merged and new features are derived from the merged regions to further reduce the false alarm rate. Sand ripples are a source of high false alarm rate. Also, they may distort the shape of targets which may lead to a high false rejection rate. Thus ripple detection was useful. In this paper, we highlight an interesting phenomenon observed in the 2D Fourier transforms of side scan sonar images with ripples. This observation enabled us to successfully detect ripples with a high success rate.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"242 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":"133100425","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":"Efficient Data Delivery with Packet Cloning for Underwater Sensor Networks","authors":"Peng Sun, W. Seah, P.W.Q. Lee","doi":"10.1109/UT.2007.370944","DOIUrl":"https://doi.org/10.1109/UT.2007.370944","url":null,"abstract":"Underwater sensor networks (UWSNs) promises new opportunities for exploration of the oceans which cover more than 70% of the earth's surface. Researchers envision the deployment of dense networks of untethered sensors underwater for data acquisition to better understand the underwater environment, while military and security forces see the great potential of using this technology for mine reconnaissance, intrusion detection and surveillance. However, the underwater environment is extremely harsh and acoustic communications is currently the only physical layer technique considered viable. This presents a wireless channel that is totally different from the radio frequency channel that terrestrial wireless sensor networks technology has been designed for. Key challenges include the long propagation delay of the acoustic signal and the extremely volatile link quality. In this paper, we present a data delivery scheme that exploits nodes' proximity and their ability to overhear one another's transmissions to enhance packet delivery by selectively cloning packets as they are forwarded. Unlike directed or controlled flooding, our scheme is able to control the number of packet clones according to channel conditions and link quality to improve delivery while minimizing contention and energy expenditure.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"8 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":"115366640","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":"Self-Organizing Decision-Making System for AUV","authors":"S. Nishida, K. Ishii, T. Furukawa","doi":"10.1109/UT.2007.370774","DOIUrl":"https://doi.org/10.1109/UT.2007.370774","url":null,"abstract":"Autonomous underwater vehicles (AUVs) have great advantages for activities in deep oceans, and are expected as the attractive tool for near future underwater development or investigation. However, AUVs have various problems which should be solved for motion control, acquisition of sensors' information, behavioral decision, navigation without collision, self-localization and so on. In order to realize the useful and practical robots which can work in the ocean, underwater vehicles should take their action by judging the changing condition from their own sensors and actuators, and are desirable to make their behaviors with limited efforts of the operators, because of the features caused by the working environment. Therefore, the AUVs should be autonomous and have adaptive function to their environment. AUVs have non-liner coupled dynamics in six degrees of freedom, and the changes of the equipments of robots have influence on the control system. In this paper, a new control system for AUVs using modular network SOM (mnSOM) proposed by Tokunaga et al. is described. The mnSOM is an extension of the conventional SOM in which each vector unit is replaced by function modules such as NN and SOM, and has both characteristic of NN (supervised learning, non-linear mapping, etc.) and SOM (interpolation, topology preservation, etc.). The proposed system has two maps (forward model map and controller map) using recurrent type NN mnSOM. A forward model map (FMM) expresses the relationship between control force and states variables, and is used to estimate a current dynamics of an AUV. A controller map (CM) expresses suitable controllers corresponding to the FMM. The efficiency of the system is investigated through the simulations and experiments.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"78 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":"123632848","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":"1000 Dives by the Shinkai 6500 in 18 Years","authors":"T. Komuku, K. Matsumoto, Y. Imai, T. Sakurai, K. Ito","doi":"10.1109/UT.2007.370833","DOIUrl":"https://doi.org/10.1109/UT.2007.370833","url":null,"abstract":"Manned deep submersible \"Shinkai 6500\", which has a depth capability of 6500 m, was developed in 1989 by JAMSTEC. She is the deepest manned submersible in the world. Since the operation started in 1990, she contributed to science investigation over 18 years. The Shinkai 6500 achieved 1000th dive in March 2008. She made dives in the trench area around Japan, in the Eastern Pacific Ocean, in the Indian Ocean, in the Atlantic Ocean, and etc. Various investigations on deep sea biology and microbiology in extreme environment, earthquake or volcanic activity etc. have been carried out using the advantage of her depth capability. In this report, the history and the operation of \"Shinkai 6500\" will be introduced.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"8 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":"123672717","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":"Development of Simple Holding Device with Net Chain Applying to Wave-dissipating Blocks, Floats and Sinking Objects of Various Shapes","authors":"H. Noguchi","doi":"10.1109/UT.2007.370836","DOIUrl":"https://doi.org/10.1109/UT.2007.370836","url":null,"abstract":"A device for transferring wave-dissipating blocks was developed using net chains to allow for automation and labor saving. The device spreads net chains over a block and then tightens the net chains using a wire rope connected to a crane to lift the block. A model device was used to conduct a transfer experiment under several visibility conditions. A practical device was produced, and transfer work was done. The results showed that by adjusting work conditions, the working time efficiency under good visibility situations is 3 min./piece and that for poor visibility situations is about 4-6 min./piece. The cost for transferring a block is about 1/3 of the conventional manual method. This device can be used for blocks buried in sand and things of various shape.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"39 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":"127325694","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":"Earthquake Accompanied by Mudflow Observed by a Cabled Observatory off Hatsushima Island in Sagami Bay in April 2006","authors":"R. Iwase, T. Goto, T. Kikuchi, K. Mizutani","doi":"10.1109/UT.2007.370765","DOIUrl":"https://doi.org/10.1109/UT.2007.370765","url":null,"abstract":"Mudflow associated with an earthquake of magnitude 5.5 was detected with a cabled observatory on deep seafloor off Hatsushima Island in Sagami Bay in April 2006. Environmental fluctuations associated with the mudflow were observed. Water current 12m above the seafloor observed by ADCP was 27 cm/s at maximum and several millimeter sedimentation was recognized by video images. The fluctuation of electric potential difference between submarine cable ends indicates motional induction caused by the mudflow on the slope west of the observatory.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"42 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":"126958563","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":"Micro-Optical Sensors for Underwater Velocity Measurement","authors":"D. Modarress, P. Svitek, K. Modarress, D. Wilson","doi":"10.1109/UT.2007.370801","DOIUrl":"https://doi.org/10.1109/UT.2007.370801","url":null,"abstract":"This manuscript describes recent progress in the development and fielding of optical MEMS-based Mini-and Micro-sensors for surface and underwater applications. The non-intrusive sensors have been developed to measure vehicle speed, boundary layer velocity profile, and skin friction. The MiniLDVTM and Micro velocimeters have been used as a speed sensor in torpedoes, scaled submarines, and surface vessels at sea and in tow tanks. The same instruments have also been used for boundary layer profilometry at variety of Reynolds numbers. MicroSTM shear stress sensors have been used for drag reduction studies in full-scale sea trials. The small size and integrated electronics of the micro-sensors make them especially appropriate for applications in UUV and AUV. In all cases, particles present in the ocean water were found to be adequate both in concentration and size as scattering sources for the measurement. The building blocks for MEMS-based optical sensors are described and examples of sea trials are presented.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"40 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":"123016216","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":"Development and Experiment of a Hovering AUV Tested-bed for Underwater Exploration","authors":"Seung-Woo Byun, Joon-Young Kim","doi":"10.1109/UT.2007.370795","DOIUrl":"https://doi.org/10.1109/UT.2007.370795","url":null,"abstract":"This paper describes the design and development of a hovering AUV constructed at Cheju National University and analyses the dynamic performance of the vehicle using simulation program. The main purpose of this AUV is to carry out fundamental tests on its station keeping, attitude control, and desired position tracking. Its configuration is similar to the general ROV appearance for underwater works and its dimensions are 0.75 m times 0.5 m times 0.5 m. It has 4 thrusters of 450 watts for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an ideal environment for developing various algorithms needed for developing and advancing hovering AUV.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"25 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":"121197387","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":"Pruning Local Schedules for Efficient Swarm Communication","authors":"F. Schill, U. Zimmer","doi":"10.1109/UT.2007.370781","DOIUrl":"https://doi.org/10.1109/UT.2007.370781","url":null,"abstract":"Reliable wireless communication underwater is a precondition for swarming technologies. This paper discusses a time division multiple access (TDMA) algorithm suitable for dynamic multi-hop wireless networks, which offers quick all-to-all information exchange (Omnicast), dense local schedules and predictable latencies. The algorithm is based on an earlier algorithm published by the authors in [Schill F., et al., 2006]. This paper presents an improved and simplified algorithm to calculate the local schedules, and uses a new mapping function for logical time slots to actual time slots, which balances sending frequencies between nodes. An extension of this algorithm is then presented which employs a technique to reduce the average degree of the connection graph as seen by the scheduling algorithm. It is explained how this reduction of degree can be achieved without causing communication collisions. The results of experiments performed in a real time simulation show the performance of the algorithm, and the performance gain achieved by local reduction of the degree.","PeriodicalId":345403,"journal":{"name":"2007 Symposium on Underwater Technology and Workshop on Scientific Use of Submarine Cables and Related Technologies","volume":"17 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":"121220916","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":"Development of an Open Architecture Controller for a Commercial AUV","authors":"S. Ji, Y. Jung, B. Lee, J. S. Woo, Y. Joo","doi":"10.1109/UT.2007.370777","DOIUrl":"https://doi.org/10.1109/UT.2007.370777","url":null,"abstract":"AUVs are essential to reduce the difficulty in building up flexible exploring and working systems in the water. However it is hard to integrate sub-modules or control algorithms into an AUV because AUV makers have developed control architectures and communication protocols of their own. So we develop an open architecture for AUV controller that integrates ready-made sub-modules to a reconfigurable and fault tolerant AUV. And we apply this open architecture to the cruising AUV.","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":"124853754","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}