2013 IEEE International Underwater Technology Symposium (UT)最新文献

{"title":"Preliminary study of long endurance moorless non-drifting buoy","authors":"J. S. Lee, Son-cheol Yu","doi":"10.1109/UT.2013.6519822","DOIUrl":"https://doi.org/10.1109/UT.2013.6519822","url":null,"abstract":"In this paper we propose a novel buoy concept. In order to maintain its station without the use of anchoring hardware, the buoy autonomously patrols a position. In emergency condition such as typhoon, the buoy submerges to a depth for its safety. We examined the possibility of integrating the patrol performance and the depth control abilities. A preliminary analysis on the hybridization process is performed.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134555214","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":"Ocean bottom measurements of the Earth's electric field using long cable installed by ROV","authors":"H. Utada, K. Baba, H. Shimizu, H. Shiobara, N. Tada","doi":"10.1109/UT.2013.6519814","DOIUrl":"https://doi.org/10.1109/UT.2013.6519814","url":null,"abstract":"The materials in Earth's crust and mantle are classified as semiconductor in terms of electrical property. Therefore essential information to understand various kinds of geodynamic processes can be provided from measurements of the electric field of the Earth as well as the measurements of the magnetic field. Recently, we have developed a geophysical instrument for accurate measurement of Earth's electric field, named as EFOS (Earth's electric field observation system), which is installed by using ROV (remotely operated underwater vehicle). It is shown by recent experiments to provide data of much higher quality than conventional instrument, OBEM (ocean bottom electro-magnetometer).","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130964255","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 numerical study for relationship between coastal tsunami and bottom pressure fluctuation in the ocean generated from near-field earthquake","authors":"T. Baba, N. Takahashi, Y. Kaneda","doi":"10.1109/UT.2013.6519837","DOIUrl":"https://doi.org/10.1109/UT.2013.6519837","url":null,"abstract":"We investigated correlation between coastal and offshore tsunami height for our observational array of ocean-bottom pressure gauges, DONET, in the Nankai trough. But it is not easy to know correct sea surface fluctuation generated from near-field earthquakes in static bottom pressure changes. This is because the seafloor is simultaneously displaced in case of great near-field earthquakes occurred. In order to avoid the problem, we made the averaged waveforms of the absolute values of ocean-bottom pressure fluctuations during tsunami. Many tsunami calculations were executed by changing slip models on the plate interface. We checked the correlation between the average absolute of ocean bottom pressure and tsunami height at the coast. A clear correlation can be seen between the two values. This result indicates a possibility of more accurate real-time predicting of tsunami height by using arrayed ocean-bottom pressure gauge data.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115586487","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":"An analysis of a hybrid-driven underwater glider motion control system based on neuroendocrine controller algorithm","authors":"K. Isa, M. Arshad","doi":"10.1109/UT.2013.6519912","DOIUrl":"https://doi.org/10.1109/UT.2013.6519912","url":null,"abstract":"This paper presents a neuroendocrine controller algorithm, which controls the motion of a hybrid-driven underwater glider. The controller is designed by combining an artificial neural network (ANN) and endocrine system (AES). The neural network predictive control based on the feedforward architecture is designed as the backbone of the controller. On the other hand, a gland cell of the AES is designed as the weight tuning factor of the ANN. The design objective is to obtain better control performance over the glider motion with the presence of disturbance as well as having adaptive behaviour. We have simulated the algorithm by using Matlab, and the results demonstrated that the neuroendocrine controller produced better control performance than the neural network controller. The cost function or performance index is reduced by 26.8%.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124274515","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":"Limitations in measurements of acoustic scattering from fish at rather high frequencies","authors":"M. Furusawa","doi":"10.1109/UT.2013.6519829","DOIUrl":"https://doi.org/10.1109/UT.2013.6519829","url":null,"abstract":"Recent years, the frequencies used in quantitative echo sounders have become multiplicative for the purposes of fish species identification, simultaneous observation of fish and plankton, etc. For example, frequencies of 18, 38, 70, 120, 200, and 364 kHz are used. At frequencies above 100 kHz, however, the absorption attenuation increases, and therefore the signal-to-noise ratio (SNR) becomes small and the complete correction of the attenuation is difficult to result in sometimes a large measurement error. This paper elucidates the SNR and the error and clarifies the limitations and cautions of the high frequency measurements. From the viewpoint of the SNR, a measurement of fish at 200 m depth is possible at up to 200 kHz, but a correction of the absorption becomes abruptly difficult above 70 kHz. Therefore fish scattering measurements at high frequencies need the absorption coefficients matched to environment.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122095887","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":"Implementation of machine learning algorism to autonomous surface vehicle for tracking and navigating AUV","authors":"J. Osaku, A. Asada, F. Maeda, Y. Yamagata, T. Kanamaru","doi":"10.1109/UT.2013.6519900","DOIUrl":"https://doi.org/10.1109/UT.2013.6519900","url":null,"abstract":"On the construction of Kanda port in Fukuoka prefecture, many harmful chemical bombs have been discovered beneath the sea bottom and they are needed to be dug up carefully and quickly as possible. So our group is trying to develop a new sub-bottom interferometric synthetic aperture imaging sonar (sub-bottom interferometric SAS) system to recognize chemical bombs as centimeters-resolution 3D-sub-bottom acoustic image. In this R&D study, it is the reasonable methodology to use an autonomous underwater vehicle (AUV) which can survey the seafloor with sub-bottom interferometric SAS transmitter and receiver at a constant height. To accomplish this R&D goal, positioning AUV accurately is needed, so we are trying to develop the technique which minimizes the error of positioning, using autonomous surface vehicle (ASV) which tracks AUV and surveys its absolute position by super short-baseline (SSBL) method. In development of tracking ASV, it is important to develop the controlling algorism which orders ASV to steer stably and control adequately its velocity according to the result of SSBL positioning of the AUV. Based on machine learning method, we are trying to develop an algorism which infers appropriate control of ASV from precious controlling log. Implementation of this algorism will improve the precision of underwater positioning. This paper reports the development status of our ASV and controlling algorism.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117153574","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 DONET2 — Off Kii chanel observatory network","authors":"K. Kawaguchi, E. Araki, Y. Kogure, N. Takahashi, T. Katayama, K. Hishiki, N. Fujiwara, N. Iida, Y. Kaneda","doi":"10.1109/UT.2013.6519844","DOIUrl":"https://doi.org/10.1109/UT.2013.6519844","url":null,"abstract":"DONET is a flexible and expandable submarine cabled seafloor observation infrastructure for mega-thrust earthquake research and disaster prevention. The system which consists of a backbone looped submarine cable system, five science nodes and 20 set of state of art earthquake and tsunami observatories was developed and constructed in the program started from 2006 and fully in operation from 2011 at the hypothesis region of To-Nankai earthquake. Simultaneously with the construction of original DONET, the development and deployment of second DONET system (DONET2) was planned and started in 2010 to subject for the hypothesis region of Nankai earthquake. Since this region spreads out in the wide area about 2 times rather than the region of the To-Nankai earthquake, deployment of a large-scale observation network system is required. Expansion of scale of observatory means the increase of power distribution capacity and the confliction of network topology, it will need to solve the several engineering subject to expand the design of original DONET to large scale system DONET2. This paper describe several indispensable technologies of submarine cabled seafloor observation system DONET (power consumption control, power blanching and time synchronization), then introduce the novel engineering approach for high voltage power distribution control and large scale network topology management for DONET2 off Kii channel observatory network.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128265723","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":"Energy efficient signaling strategies for tracking mobile underwater vehicles","authors":"Diba Mirza, P. Roberts, Jinwang Yi, C. Schurgers, R. Kastner, J. Jaffe","doi":"10.1109/UT.2013.6519841","DOIUrl":"https://doi.org/10.1109/UT.2013.6519841","url":null,"abstract":"Positioning is a crucial requirement for mobile underwater systems. Since GPS is not available underwater the position of vehicles has to be estimated over time. Underwater navigation techniques often rely on acoustic communication with reference beacons that know their location. These beacons in effect act as GPS satellites for underwater vehicles. The beacons may be buoys or vehicles on the surface with access to GPS or they may be deployed on the sea floor at known locations. Since both the beacons and underwater vehicles are battery operated, energy is a key constraint. This is further aggravated by the fact that the energy required to acoustically communicate underwater is high even over moderate distances. Since the acoustic signaling required for tracking vehicles is a recurring cost, we propose to minimize the energy consumption by optimizing the extent of signaling used for localization. Localization techniques that exclusively rely on estimates of time of flight (or time difference of arrivals) require transmissions from beacons to be nearly concurrent. This allows position to be estimated at each point in time based on geometric constraints alone, neglecting vehicle motion between transmissions. Alternatively if vehicles have some knowledge about their motion either from models or from direct measurements of their acceleration and heading as obtained from an on-board inertial measurement unit (IMU), other techniques can take this information into account. The extended Kalman filter, particle filters or factor-graph based Maximum Likelihood (ML) trajectory estimation methods effectively combine IMU measurements with geometric constraints obtained from acoustic time of flight measurements. One of the advantages of such an approach is that beacon transmissions no longer have to be concurrent. In this paper we use the Maximum Likelihood (factor-graph based) tracking method to find the best schedule for beacon transmissions for a fixed signaling rate (or average power consumption). We explore a number of possible transmission schemes and evaluate their performance as a function of relevant system parameters, specifically, the type of motion measurements available, the accuracy of these measurements and the number of beacons. We also evaluate our proposed schemes on experimental data obtained from sea trials that were conducted off the coast of San Diego. Our experimental and simulation results show that even if coarse information is available about the vehicle's motion, the localization performance can be improved for a fixed signaling rate by appropriately lagging transmissions from reference beacons.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127144051","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":"Underwater electromagnetics and its application to unmanned underwater platforms","authors":"H. Yoshida","doi":"10.1109/UT.2013.6519886","DOIUrl":"https://doi.org/10.1109/UT.2013.6519886","url":null,"abstract":"Electromagnetic wave (EMW) has improved human life and is then essential technology for mankind, but it is basically useless in the sea. Although acoustic wave is the most effective means for underwater applications, it has disadvantages of long propagation delay and narrow bandwidth. Meanwhile, evolution of electronics and information technology improves ocean platforms such as buoys, landers, unmanned surface vehicles, and unmanned underwater vehicles as well as sensors. The upgrading of ocean platforms leads us to improve efficiency and reduce the cost of ocean research. To achieve practical unmanned platforms, we should build a seamless land-to-underwater wireless network for monitoring all platforms. Since 2002, we have restudied underwater EMW propagation and its applications for surface-to-sea communication, sea-to-sea communication, and underwater telemetry. The work includes the basic study of medium frequency (MF) to high frequency (HF) wave underwater propagation, the basic study of deep-sea optics, and the application study of underwater laser. Some test results show that there might be a low damping mode of HF wave propagation in the sea. It was determined that a few watt class blue-green laser propagates underwater up to hundreds meters. A laser ranging system was prototyped and carried sea trials. In the conference, we would like to report on progress of the studies including some test results and show examples of their application to underwater platforms in the future.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130174322","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":"Accurate altitude control of Autonomous Underwater Vehicle","authors":"C. Wang, Y. Lin, H. H. Chen","doi":"10.1109/UT.2013.6519890","DOIUrl":"https://doi.org/10.1109/UT.2013.6519890","url":null,"abstract":"Autonomous Underwater Vehicle (AUV) is a good instrument platform for carrying out various ocean and underwater explorations. One of the applications is to mount laser scanner on the platform to perform seafloor roughness measurement. The altitude of the AUV needs to be very close to the seafloor and very stable as well. In other words, to maintain very accurate and stable altitude, the vertical thrusters will operate around the zero point, and the direction of the propellers change frequently. Since the altitude needs to be very stable, the AUV will not experience abrupt changes. The command sent to the thrusters is minute such that the operation of the electric motor falls into so called \"dead zone\". Within the dead zone the actual output is null even though the commands is not. Once the command is large enough, getting away from the dead zone, the motor will suddenly rotates. This type of non-linearity is difficult to overcome just like backlash in a gear train. In this paper, we introduce the concept of virtual buoyancy to provide a condition in which the thrusters always operate out side of the dead zone. the idea is to configure two thrusters to work together as a pair. One thruster pushes downwards with a constant force while the other acts like a regular normal thruster. The former creates an adjustable buoyancy, the latter counter-acts the virtual buoyancy in addition to the commanding force requested by the controller. With this setting, both thrusters work out side of the dead zone, and accurate altitude control is achieved. The effectiveness of the design is both studied by simulation and experiments. The results prove that a small-weight AUV can maintain its altitude in 30 cm with errors less than 1 cm.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132432667","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}