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

{"title":"A compact and high-performance INS for underwater vehicle developed with homegrown technology","authors":"S. Ishibashi","doi":"10.1109/UT.2013.6519895","DOIUrl":"https://doi.org/10.1109/UT.2013.6519895","url":null,"abstract":"Generally, an autonomous under vehicle (AUV) is equipped with some navigation devices to know its own position and motion. One of them is an inertial navigation system (INS). The INS calculates its own absolute position and attitude using just internal sensors in real time. And the position accuracy depends strongly on precision of inertial sensors. In particular, the precision of optical gyroscopes strongly influences the position and attitude accuracy. And moreover, the precision depends on the size of them. In fact, it is necessary that the size of INS becomes large in order to improve the position accuracy. Based on that, Japan Agency for Marine-Earth Science and Technology (JAMSTEC) developed a compact and high-performance INS which can be installed easily into a small AUV and output accurate position and attitude. It was developed with homegrown technology which is caused by JAMSTEC's knowledge and the technical capabilities of a domestic manufactures. In this paper, its schema, specifications and functions are described.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"450 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":"116179081","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":"Mapping the Bayonnaise knoll caldera and the Hakurei hydrothermal deposit with autonomous underwater vehicle using side-scan and multi-beam sonars","authors":"C. Honsho, T. Ura, A. Asada","doi":"10.1109/UT.2013.6519848","DOIUrl":"https://doi.org/10.1109/UT.2013.6519848","url":null,"abstract":"We conducted autonomous underwater vehicle (AUV) surveys of a large-scale hydrothermal deposit called the Hakurei site located in the Bayonnaise knoll caldera of the Izu-Ogasawara island arc during the YK11-11 research cruise of the R/V Yokosuka in December 2011. Two dives of the AUV Urashima, a vehicle developed by the Japan Agency for Marine-Earth Science and Technology (JAMSTEC), were devoted to collecting side-scan and multi-beam acoustic data from the southern part of the caldera, including the location of the hydrothermal site. We made detailed corrections for the vehicle's position data and obtained a high-resolution multi-beam bathymetric map. After radiometric corrections, side-scan and multi-beam backscatter mosaics were created by using the corrected position data. These mosaics commonly show lower backscatter intensities on the caldera floor, suggesting that ponded sediments cover the seafloor. On the other hand, they show stronger backscattering on the central cone, probably because it is exposed volcanic rocks with little sediment cover. An elongated zone of a distinctive, scaly pattern of strong backscattering was identified in the side-scan image of the southwestern caldera floor. However, this remarkable pattern appears rather modestly in the bathymetric map and in the multi-beam image. It implies that this pattern is not the result of topographic relief but rather reflects different materials on the seafloor, possibly representing erupted volcanic rocks with a little sediment cover. The side-scan image of the Hakurei hydrothermal site is characterized by short-wavelength alternation of strong and weak backscattering with high contrast, which probably represents rugged topography associated with sulfide chimneys and mounds. These different characteristics of the seafloor were quantitatively classified by means of the side-scan image. The Hakurei site was marked by a distinctive spotty pattern in the multi-beam image, a different expression by the side-scan image. This spotty pattern was utilized to characterize the hydrothermal site and to delineate other areas that have similar characteristics. The resulting distribution is generally in good agreement with the classification result from the side-scan image. We suggest that hydrothermal activity at various scales would occur in several places in the caldera.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"9 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":"120946385","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":"Detection of deep-sea current associated with tsunami and possible biogenic acoustic signals — Several topics of multidisciplinary observation with JAMSTEC cabled observatory","authors":"R. Iwase, I. Takahashi","doi":"10.1109/UT.2013.6519899","DOIUrl":"https://doi.org/10.1109/UT.2013.6519899","url":null,"abstract":"On the occasion of “Off the Pacific Coast of Tohoku Earthquake” in 2011, water current changes in deep sea associated with tsunami were detected through the analysis at cabled observatories off Kushiro-Tokachi in Hokkaido and off Hatsushima Island in Sagami Bay, while it is usually difficult to detected them because they are usually much smaller than other oceanic events, such as tidal current, and some fluctuations after the earthquake in long-term gamma-ray observation data on deep seafloor in Sagami Bay were reported. In the “excavation” of possible biogenic and other episodic acoustic signals in a huge amount of legacy data accumulated for almost 20 years for the purpose of obtaining basic data for the development of species identification technologies for marine organisms. Peculiar low frequency signals were found which might possibly be biogenic, though more detailed research is necessary.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"27 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":"121268260","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":"Assessment of yearly available days for wind turbine installation in the western sea of Taiwan","authors":"Hsiang‐Chih Chan, Meng Chang, Ai-Tsz Liu, C. Chung, C. H. Cheng, F. Chiu","doi":"10.1109/UT.2013.6519875","DOIUrl":"https://doi.org/10.1109/UT.2013.6519875","url":null,"abstract":"Offshore wind farm is a renewable energy that has been commercially operated in Europe over 3.8 GW capacities in 2011 and will be targeted upon 150 GW in 2030. Taiwan also plans to install 3 GW offshore wind farms in 2030. Thus, a number of condition assessments and engineering designs are being studied, such as the site selection, the wind turbines layout, the environmental impact assessment, the maritime engineering, the installation and maintenance fleets. In this paper, we carried out the winds and waves as the critical conditions of sea status for the installation of offshore wind turbines. The winds and waves data were collected by a data buoy which was deployed near the entrance of Taichung Harbor. The wind speeds were measured at 15 m above the sea surface. In the case study, we assumed a jack-up vessel will be used for installation of wind turbines. Then, some benchmarking conditions are filled into the assessment. For example, the conditions for operated criteria were suggested as wind speeds below 15 m/s and significant wave heights below 1.5 m in a water depth of 30 m. Moreover, a continuous working duration is considered as 15 hours for installation of a wind turbine from a tower, a nacelle, and blades. Eventually, the yearly available days for the wind turbine installation were assessed about 175 days. Different working modes, such as piling, cable laying, and maintenance, were discussed those yearly available days as well. From the operation and maintenance (O&M) supporting vessels working days (260 days), an offshore wind farm owned 50 wind turbines and each needs maintenance of 260 hours every year that was a benchmark scenario. The supporting vessels require 6 at least that had been estimated.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"6 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":"125419173","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 precise navigation using multiple sensor fusion","authors":"Kihun Kim, Hyun-Taek Choi, Chong-moo Lee","doi":"10.1109/UT.2013.6519855","DOIUrl":"https://doi.org/10.1109/UT.2013.6519855","url":null,"abstract":"This paper introduces the implementation of a precise underwater navigation solution using multi-sensor fusion technique, which is based on USBL, DGPS, DVL and AHRS measurements. To realize the accurate, precise and frequent update rate underwater navigation solution, three strategies are chosen. The first one is the heading angle calibration to enhance the performance of standalone dead-reckoning algorithm. The second one is introduction of effective outlier rejection algorithm. The third one is that absolute position is fused timely to prevent error accumulation of dead-reckoning, where the absolute position can be acquired from USBL or DGPS measurements considering predefined finite state machine. The performance of the developed algorithm is verified with experimental data of UUV(Unmanned underwater vehicle) at Sea with various operation scenario.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"36 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":"129169750","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 low cost PVDF pressure sensors for sensing the motion of a robot fish","authors":"Sheng-wei Huang, Jui-yi Wang, Hao-hsuan Liu, Po-Wei Wu, E. Chen, F. Chiu, Jenhwa Guo","doi":"10.1109/UT.2013.6519907","DOIUrl":"https://doi.org/10.1109/UT.2013.6519907","url":null,"abstract":"This study aims to develop a low cost pressure sensor for a robot fish to sense its environmental features. Tiny pressure changes surrounding a robot fish need to be understood for the robot to dodge and or to react. A design which is based on Polyvinylidene Fluoride, PVDF, film and a small charge amplifier circuit is proposed in this work. Compared to piezo ceramic, PVDF has lower acoustic impedance and higher sensitivity. The capacitor of the charge amplifier plays an important factor of the design of the sensor sensitivity and the cut-off frequency. The charge source is from compressive stress of PVDF. Experimental results show that the sensitivity of the PVDF sensor were 0.071mV/pa with 10 pF capacitor. A robot fish of 80 cm body length with flexible tail swimming in a water tank was used as a vibrating pressure source. The tail motion can be detected and the tail position can be located by the PVDF pressure sensors in a range of 25cm when the tail oscillated at a fixed frequency.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"102 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":"134640832","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":"Deep sea qualification of remotely operable vehicle (ROSUB 6000)","authors":"D. Sathianarayanan, R. Ramesh, A. Subramanian, G. Harikrishnan, D. Muthukumaran, M. Murugesan, E. Chandresekaran, S. Elangovan, V. D. Prakash, A. Vadivelan, M. Radhakrishnan, S. Ramesh, G. Ramadass, M. Atmanand, S. Sukonkin, A. Alexey","doi":"10.1109/UT.2013.6519872","DOIUrl":"https://doi.org/10.1109/UT.2013.6519872","url":null,"abstract":"A deepwater work class remotely operable vehicle (ROV) namely ROSUB 6000 is developed at National Institute of ocean technology, Chennai, India. ROSUB6000 is an unmanned, free swimming underwater vehicle that has six degrees of freedom. ROUSB 6000 system is controlled from a technology demonstration vessel (TDV) Sagar Nidhi. Launching and retrieval system, power house and control console containers, umbilical cable and direction changing pulley arrangement are parts of the ROSUB 6000 deck system. ROSUB 6000 subsea system comprises Tether management system, propulsion system, communication system, navigation equipments, control system, scientific sensors, robotic manipulators, cameras, lights and sampling devices as its subsystems. Deep sea qualification trials of ROSUB 6000 system were conducted at 12 & 13° N and 80 ° E during October 2009 to qualify the system for deep sea exploration and intervention tasks. Four dives at depths of 2004 (m), 2244 (m), 3044 (m) and 3050 (m) were carried out during the trials. Deep sea qualification of ROSUB 6000 system was completed successfully overcoming various challenges like umbilical cable damage, Termination hose failure etc... up to a maximum water depth of 3050 m. System performance feedback, in-situ oceanological parameters such as dissolved oxygen profiles and subsea images were recorded during trials. Push coring and dropping of Indian flag were successfully done. This paper presents in detail the challenges encountered and outcome of deep-sea qualification trial of ROSUB 6000 system.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"140 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":"123053314","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":"Japan Trench earthquake and tsunami monitoring network of cable-linked 150 ocean bottom observatories and its impact to earth disaster science","authors":"T. Kanazawa","doi":"10.1109/UT.2013.6519911","DOIUrl":"https://doi.org/10.1109/UT.2013.6519911","url":null,"abstract":"The big project is an undertaking to construct a large-scale ocean-bottom network of cable-linked 150 observatories along the Japan Trench. It is currently in progress in Japan. NIED (National Research Institute for Earth Science and Disaster Prevention) takes in charge of the project which is supported by MEXT (the Ministry of Education, Culture, Sports, Science and Technology) financially. The network is for earthquake, tsunami and vertical crustal deformation. The major purpose of the network is to provide the in-situ and real-time geophysical data which will be used for disaster prevention. Such real-time data from the ocean-bottom observations make it possible to forecast the next-generation early tsunami warning which could precisely predict coastal tsunami height. Also the data may make it possible to forecast an earthquake warning much earlier than the present system. The project started in November, 2011 with an area of the 2011 off the Pacific coast of Tohoku earthquake (Mw 9.0) as the catalyst to move this project forward. The 2011 off the Pacific coast of Tohoku earthquake occurred off the northeastern Japan coast along the Japan Trench on 11th of March in 2011 and a devastating tsunami over 10 m in height hit the Pacific coastal area of the northeastern Japan and severely damaged the communities and infrastructures in and around this area. There were several offshore tsunami observatories such as cabled seafloor hydro-pressure gauges and GPS tsunami buoys in the sea at the time of the occurrence of the 2011 off the Pacific coast of Tohoku earthquake. The offshore tsunami observatories caught the tsunami registering at 5 meters high about 10 minutes before the tsunami arrival at the coast. The tsunami warning, which was emitted by the JMA based on the land seismic observatories data, under-estimated the tsunami height to hit the coast. In the case of the 2011 off the Pacific coast of Tohoku earthquake, the offshore tsunami observed data were not effectively utilized for the tsunami height estimation and the under-estimated tsunami height caused severe casualties (about 20,000 people). We urge this development of the next-generation tsunami warning utilizing the real-time data from the NIED seafloor network along the Japan Trench. 150 seafloor observatories are connected by fiber optic cables of 5,800km in total length. Each observatory is an earthquake and tsunami observatory. Seismometers of several types are equipped to cover a dynamic range of 4G in acceleration and a frequency range of 0.05 Hz to 30 Hz. As a tsunami meter two hydro-pressure gauges of the same type are equipped for redundancy. The resolution of the pressure gauge is a few millimeters in a water column. The NIED seafloor network estimate completion in FY 2014.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"116 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":"115276736","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":"Customizing an Autonomous Underwater Vehicle and developing a launch and recovery system","authors":"E. Hayashi, H. Kimura, C. Tam, J. Ferguson, J. Laframboise, G. Miller, C. Kaminski, A. Johnson","doi":"10.1109/UT.2013.6519831","DOIUrl":"https://doi.org/10.1109/UT.2013.6519831","url":null,"abstract":"In October 2012, International Submarine Engineering Ltd. (ISE) delivered an Explorer Autonomous Underwater Vehicle (AUV) to Fukada Salvage and Marine Works Co. Ltd. of Japan for marine salvage and ocean resource exploration. This vehicle is based on the standard 3000 m depth rated Explorer AUV design and was customized to meet the customer's needs. The Fukada Salvage Explorer AUV (named “Deep 1”) is equipped with a multibeam echosounder, sidescan sonar, sub-bottom profiler, Doppler Velocity Log/Acoustic Doppler Current Profiler (DVL/ADCP), sound velocity sensor, and Conductivity Temperature Depth (CTD) sensor. This vehicle is very similar to the two deep AUVs which ISE is currently building for the Japan Coast Guard. For ocean mining exploration operations, the Deep 1 vehicle will be outfitted with a 3-axis flux-gate magnetometer, nephelometer, pH sensor, and self-potential sensor. The modularity of the Explorer AUV will allow these sensors to be easily integrated without changing the basic design of the vehicle. Several items were custom-designed for the Fukada Salvage Explorer AUV: an obstacle avoidance system, a ramp style Launch and Recovery System (LARS), and a belly pack remote control for use with the LARS. The forward looking obstacle avoidance system was developed as a lightweight and low cost alternative to commercially available obstacle avoidance systems. This system utilizes three Imagenex singlebeam echosounders and ISE-developed control algorithms to allow the Explorer to avoid obstacles in front of the vehicle. ISE and Hawboldt Industries Ltd. of Chester, NS, developed a ramp LARS, which allows the vehicle to be launched and recovered without use of a ship's crane in up to sea state 4. The LARS greatly reduces the number of personnel required for launch and recovery operations, and is safer for personnel and the vehicle. A belly pack was developed, which allows the operator to control the vehicle while on deck. In this paper, we discuss the features of the Explorer AUV and the integration of the sensors for the Fukada Salvage Explorer AUV. We also discuss the development of the Obstacle Avoidance System and Launch and Recovery System.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"45 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":"128175764","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":"Long-term monitoring at C0002 seafloor borehole in Nankai Trough seismogenic zone","authors":"K. Kitada, E. Araki, T. Kimura, Masataka Kinoshita, Achim J Kopf, D. Saffer","doi":"10.1109/UT.2013.6519882","DOIUrl":"https://doi.org/10.1109/UT.2013.6519882","url":null,"abstract":"The C0002 long-term borehole observatory installed during IODP Expedition 332 in December 2010 have been successfully connected to the Dense Oceanfloor Network System for Earthquakes and Tsunamis (DONET) this January 2013 during the KY13-02 cruise by the R/V Kaiyo. We confirmed from the DONET landing station that all the borehole instruments was properly functioning and finally started long-term borehole monitoring at Site C0002 in Nankai Trough seismogenic zone.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"11 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":"125137139","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}