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

{"title":"Observation of aquatic biota in eutrophied pond using stationary acoustic monitoring system","authors":"K. Mizuno, K. Abukawa, T. Kashima, A. Asada, T. Ura, Y. Fujimoto, T. Shimada","doi":"10.1109/UT.2013.6519813","DOIUrl":"https://doi.org/10.1109/UT.2013.6519813","url":null,"abstract":"Active acoustic monitoring system using a dual frequency identification sonar (DIDSON) is applied for the follow-up observation of aquatic biota after Hydrilla verticillata planting. The field experiment was performed in a small pond adjacent to Lake Izunuma (northern latitude of 38.43 degrees and east longitude of 141.04 degrees; surface area, 1,584 m2), and 24 Hydrilla verticillata were prepared and planted at the pond bottom. The DIDSON unit was mounted on an original frame with a 3 degree concentrator lens. The data were collected at 1.8 MHz (high-frequency mode) and at a maximum range of 3.0 m from the imaging sonar. The frame rate was 2 fps and the recording time was about 20 hours. Successfully, we found out the cause of plants disappearance by the acoustic imaging data. All Hydrilla verticillata were disappeared in a day and strongly affected by the predation pressure of crayfish, and whole scene of feeding was recorded. Other aquatic creatures, such as snail, frog, and several species of fish, were also appeared in the acoustic images. Then, we have originally developed an image processing program and quantified the biological features of the aquatic creatures for the better understanding of aquatic biota in freshwater environment.","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":"122484100","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":"Toward wide seafloor surveys using multiple autonomous underwater vehicles","authors":"T. Matsuda, T. Maki, T. Sakamaki, T. Ura","doi":"10.1109/UT.2013.6519889","DOIUrl":"https://doi.org/10.1109/UT.2013.6519889","url":null,"abstract":"In this paper, we report experimental results of the navigation method of multiple Autonomous Underwater Vehicles (AUVs) for wide seafloor surveys, which we had proposed in the previous reports. Moving AUVs estimate their states (horizontal position and heading angle) based on AUVs remaining stationary on the seafloor (landmark AUVs). Moving AUVs land on the seafloor and transmit their information about the estimated states to landmark AUVs after completing tasks around landmark AUVs. This information is derived from \"particle clustering\" to reduce the required communication data size because typical data rates of acoustic communications in underwater environments are too small to transmit the large information within a reasonable time period. In order to verify the performance of this method, sea trials were carried out using the AUV Tri-Dog1 (TD) and a Dummy AUV (DA). TD successfully navigated around DA. TD and DA alternatively estimated the states using the information of the states transmitted by the other vehicle. TD and DA also mutually controlled the navigation role, the moving role and the landmark role by acoustic communication. As a result, TD and DA alternated the roles 10 times while sharing the information of the states estimated by the other vehicle. Standard deviations of the states were found to be suppressed to be about 0.2 m in the horizontal position and about 1.0 deg in the heading angle. Positioning errors were estimated to be about 0.5 m in X direction, 0.8 m in Y direction, and 2.5 deg in heading angle after 90 minute navigation. Therefore the method was successful in stable positioning while alternating between the moving role and the landmark role. Future works include the verification of the method using two AUVs in sea environment.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"44 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":"128305618","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":"New type of plug-in electric boat “RAICHO-S”","authors":"T. Hazuku, T. Takamasa, T. Oode, E. Shimizu, H. Kifune, S. Takeda","doi":"10.1109/UT.2013.6519853","DOIUrl":"https://doi.org/10.1109/UT.2013.6519853","url":null,"abstract":"The university has created a new type of electric boat \"RAICHO-S\" in 2011. The craft has some special and unique features that set it apart from existing electric boats or battery-powered boats. \"RAICHO-S\" utilizes a lithium-ion battery with a rapid charging system and a water jet propulsion system driven by electric motor. In addition, \"RAICHO-S\" has a waterproof wired remote control system with a control knob that can be moved through 360 degrees to steer the boat in any direction. Its special features and advantages such as low noise, low vibration, high environmental advantages, highly-safe and highly-functional operation are expected to be useful in a wide range of areas which require underwater works. In order to evaluate the effectiveness of \"RAICHO-S\", measurement of an underwater noise and an underwater test for the waterproof wired remote control system were performed. The paper briefly introduces the design features of “RAICHO-S”, and presents the results of the measurement of underwater noise and the underwater operation test.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"25 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":"121333400","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":"Off-line observation system based on acoustic video camera for understanding behavior of underwater life","authors":"M. Mochizuki, A. Asada, T. Ura, M. Yamamuro, M. Fortes, L. Jimenez","doi":"10.1109/UT.2013.6519828","DOIUrl":"https://doi.org/10.1109/UT.2013.6519828","url":null,"abstract":"We have developed an off-line acoustic video camera system for observation of underwater lives. This system consists of acoustic video camera “DIDSON”, power control unit and frame unit. DIDSON is commercially available acoustic lens-based imaging sonar. It can work even in turbid or dark water where optical systems fail. The power control unit was newly developed. It controls power supply to DIDSON and allows DIDSON to work in stand-alone mode at seafloor. This acoustic video camera system was used in order to observe behaviors of dugongs living in coastal area of Mindanao Island, Philippines, as its first field trial. Though the acoustic video camera system could not capture the images of dugongs due to limitation of observation period, quality of the captured images was good enough to indicate that the off-line acoustic video camera system has a practical use.","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":"131189417","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":"Automated acoustic detection of fin whale calls off Kushiro-Tokachi at the deep sea floor observatory","authors":"I. Matsuo, T. Akamatsu, R. Iwase, K. Kawaguchi","doi":"10.1109/UT.2013.6519867","DOIUrl":"https://doi.org/10.1109/UT.2013.6519867","url":null,"abstract":"Automatic acoustic detection and tracking were useful methods for understanding the behavior and population of marine animals. The seismometer and hydrophones were set in the ocean bottom off Kushiro in Japan. The acoustic data were recorded at a sampling frequency of 100 samples per second by 4 ocean bottom hydrophones. The fin whale calls, consisting a frequency down sweep in the range 20-15 Hz with duration of about 1 second, were recorded at these data. In this paper, the fin whales calls were automatically detected by extracting such down sweep signals from the acoustic data at 1457 days, ranging from 2009 to 2012. The acoustic data were transformed into the spectrogram by using short FFT. The fin whale calls were detected by computing the correlation between the measured spectrogram and the criterion spectrogram, which was computed from the typical fin whale call, at each time. It was demonstrated that the call detections increased from October to February. In addition, the movements of the fin whales could be estimated by temporal changes of time differences between calls detected at two hydrophones.","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":"131224031","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 long range color imaging for wide area 3D reconstructions of the seafloor","authors":"A. Bodenmann, B. Thornton, T. Ura","doi":"10.1109/UT.2013.6519824","DOIUrl":"https://doi.org/10.1109/UT.2013.6519824","url":null,"abstract":"3D visual mapping of the seafloor has found applications ranging from environment monitoring and survey of marine minerals to underwater archeology and inspection of modern man-made structures. However, the attenuation of light is significantly more pronounced in water than in air or in space, and so in order to obtain underwater images in color, it is typically necessary to be within 2 to 3 m of the seafloor. In addition to the high risk of collision when operating underwater vehicles at such low altitudes, the limited area of the seafloor covered in each image means large area surveys require a huge investment of time. In this research, we aim to increase the efficiency of mapping large areas of the seafloor by developing an underwater imaging system that can take color images at ranges of up to 13 m, so that each image can cover a larger area, together with the necessary algorithms to automatically process the data it obtains. The system was deployed to map artificial hydrothermal vents in Iheya North Knoll using the ROV Hyper-Dolphin in October 2012. In this paper, we describe the instrument and the methods used to process the data it obtains, and present wide area 3D reconstructions of habitats surrounding artificial hydrothermal vents.","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":"130043993","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":"Field test of a practical test model of maintenance examination system for mooring facilities and additional installation of chain grasping frame in the vehicle","authors":"T. Tanaka, M. Yoshie","doi":"10.1109/UT.2013.6519862","DOIUrl":"https://doi.org/10.1109/UT.2013.6519862","url":null,"abstract":"The program of GPS wave gauge deployment by the Ministry of Land, Infrastructure, Transport and Tourism (MLIT), for offshore wave monitoring to improve port and harbor facilities, includes inspections essential for sound mid- to long-term instrument operation but does not yet include mooring-line inspection, in part because of design allowances. For the GPS wave gauge buoys, in addition, severe weather and sea conditions tend to hamper diving operations and the size of the buoys and mooring lines render their removal to land impracticable. In this light, the authors are engaged in development of a system for unmanned underwater inspection of the mooring lines of deployed GPS wave gauges, to enable in situ inspection and thus obviate the need for removal to land. In March 2010 we performed in situ trials with a first practical test model (Test Model 1). Here we report on the development and water-tank testing of a new version (Test Model 2) designed for enhanced operational and measurement integrity with newly developed component systems, including a four-arm clinch assembly for steadying movement on the mooring chain during image measurement and an automatic image-measurement mode incorporating automatic chain-edge detection.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"147 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":"116386268","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 positioning system integrated LBL and SSBL using seafloor acoustic mirror transponder","authors":"T. Kashima, A. Asada, T. Ura","doi":"10.1109/UT.2013.6519901","DOIUrl":"https://doi.org/10.1109/UT.2013.6519901","url":null,"abstract":"Utilization of autonomous underwater vehicle (AUV) and remotely operated vehicle (ROV) is absolutely necessary when we explore and develop submarine resources. Positioning of underwater vehicle is one of the keys to the development of submarine resources. Many researchers have been seeking the method to locate a position of underwater vehicle with high accuracy for many years. Then, we designed the positioning system integrated long base line (LBL) navigation system and super short base line (SSBL) navigation system using seafloor acoustic reference station: acoustic mirror transponder (MT)[1]. The positioning system consists of seafloor and on-board units. The seafloor unit is set of a MTs. MTs are deployed on the seafloor and serve as seafloor reference points for subsea positioning. The onboard unit, which should be mounted on the underwater vehicle, consists of a ring laser gyro (RLG) which gives the unit's attitude and the positioning system integrated LBL and SSBL, and so on. LBL system uses more than three MTs to measure distances. Meanwhile, SSBL system uses a MT to measure distance and direction. We conducted a performance test of the positioning system in Tateyama bay in November 2012. The purpose of this test is to evaluate the accuracy of the positioning based on units of LBL and SSBL of the positioning system. Three sets of the reference seafloor MT were installed on the seafloor. The positioning system was mounted on the surface platform. We had towed the surface platform along designed traverse lines. During the sea trials, the positions of the platform are estimated with ranging and direction data from the LBL and SSBL units. RLG measures the attitude of the platform. The attitude of platform is necessary to change platform's relative coordinate system to absolute coordinate system. Positions of the platform are also measured with a GPS system. We will evaluate newly developed positioning system by comparing between these two sets of the positions. Then, we developed the essential part in the system integrated LBL and SSBL.","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":"132952344","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":"Modular building blocks for the development of AUVs — from MARES to TriMARES","authors":"N. Cruz, A. Matos, B. Ferreira","doi":"10.1109/UT.2013.6519897","DOIUrl":"https://doi.org/10.1109/UT.2013.6519897","url":null,"abstract":"The design of an Autonomous Underwater Vehicle (AUV) is governed by a complex tradeoff between mission performance and required payload sensors, and taking into account possible constraints in fabrication, assembly and operational logistics. On a commercial level, the technology is relatively mature, with several companies offering off-the-shelf AUV solutions in a wide range of sizes and performance levels, for a wide variety of operational scenarios. However, to ensure proper performance in specific applications, such broad-range systems require factory customization, with the consequent impact in time and cost. This paper describes a program for the development of underwater vehicles based on modular building blocks. In this case, modularity encompasses both physical parts and also software and control systems. These modules can be rearranged, replaced or individually redesigned to yield a great variety of AUV configurations in a relatively short time. The paper describes the development of MARES, a small hovering AUV, and also TriMARES, a custom 3-body hybrid AUV/ROV, built from the same modules in little over 6 months.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"68 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":"133564715","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 efficient sidescan sonar image denoising method based on a new roughness entropy fractal dimension","authors":"Hsiao-Wen Tin, S. Leu, C. Wen, Shun-Hsyung Chang","doi":"10.1109/UT.2013.6519840","DOIUrl":"https://doi.org/10.1109/UT.2013.6519840","url":null,"abstract":"This paper proposed a fractal-wavelet (FW) denoising alternative based on applying texture analysis technique to the fractal matching process. Texture has been regarded as a similarity grouping in an image. Roughness is a perceived property to describe the structural texture. This paper applies the roughness entropy fractal dimension (REFD) algorithm to FW coding process, as the REFD FW algorithm, in finding each range subtree for the optimal matched domain subtree according to the best possible minimal differential of texture similarity measurements. It is believed that such measurement would well capture the texture similarity. The REFD FW algorithm denoises a side-scan sonar image in such a way that the parts of noise-free image have to be approximated as well as possible whereas the noisy parts are discarded. The best possible minimal distance between the two REFD values of domain-range subtrees is used to determine which the best approximation is. The minimal similarity distance quantifies the degree of texture similarity between domain-range subtrees. The REFD FW algorithm have been applied to two side-scan sonar images, one is the wreck of M.V. Sea Angel which is taken by the Polaris, Taiwan, and the wreck of a sailing schooner from MSTL, in different configurations to investigate the corresponding quality of the images using two error criteria: mean square error (MSE) and the peak signal to noise ratio (PSNR). The experimental results indicate that the REFD is appropriate as the criteria of determining range-domain matching in FW coder to well approximate the images. We conclude that the REFD FW algorithm is adaptable in denoising side-scan sonar image and that the images are more appealing visually.","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":"133353089","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}