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

{"title":"New concept of an electromagnetic usage for contactless communication and power transmission in the ocean","authors":"H. Fukuda, N. Kobayashi, K. Shizuno, S. Yoshida, M. Tanomura, Y. Hama","doi":"10.1109/UT.2013.6519896","DOIUrl":"https://doi.org/10.1109/UT.2013.6519896","url":null,"abstract":"We demonstrate a new concept of an electromagnetic usage in the sea. The concept is characterized by sharing one pair of transmitting and receiving antennas for contactless communication and power transmission. The antennas are designed as electromagnetic (EM) high-Q resonators and the lowest resonant frequency is used for power transfer. The higher frequency band is used for signal communications. Using this concept, the efficiency of power transfer can be relatively high and the high transmission rate can be possible. A s a test trial for verifying the above concept, a measurement system is set up and the power transfer and signal quality are evaluated. The results show the power efficiency can be over 40%, and the transmission rate can be 20 Mbps via sea-water of the 5 cm's thickness. The proposed concept can be used to realize a compact and maintenance-free wireless usage between different underwater systems, such as autonomous underwater vehicles (AUVs), remotely-operated vehicles (ROVs) and mother ships.","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":"125950349","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":"Estimation and reduction of effects of sea surface reflection on underwater vertical channel","authors":"L. Chiu, Hwei-Ruy Chen","doi":"10.1109/UT.2013.6519874","DOIUrl":"https://doi.org/10.1109/UT.2013.6519874","url":null,"abstract":"Sea surface wave presents significant challenges for underwater acoustic communication system. Surface waves can cause (1) substantial fluctuations in the delay of the surface scattered signals and (2) obvious wave front focusing, implying doppler spread effect, intersymbol interference, and signal estimation residual error for communication signals. This paper presents the effect of doppler spread and of strong reflected wave caused by sea surface waves, which can be potentially eliminated by passive phase conjugation for a single channel. Results of theoretical analysis and vertical channel impulse response measurement conducted by Taiwan Ocean Research Vessels 3 in Kauping canyon/Zichi-Bay reveal that both effects can be efficiently reduced. This work provides prediction of channel impulse response induced by surface wave and a potential and efficient way to reduce surface wave effects on vertical channel communications or underwater sensor network implemented by surface buoys in deep sea region. This work is supported by National Science Council of Taiwan.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"19 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":"125242758","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":"R&D of the maneuver control techniques for Autonomous Surface Vehicle using \"Dual-extended Kalman filte\" for the actual harbor area surveillance","authors":"F. Maeda, J. Osaku, A. Asada, Y. Yamagata, T. Kanamaru","doi":"10.1109/UT.2013.6519859","DOIUrl":"https://doi.org/10.1109/UT.2013.6519859","url":null,"abstract":"In order to achieve the high-precision underwater exploration using Autonomous Underwater Vehicle (AUV), it is necessary to develop an intelligent Autonomous Surface Vehicle (ASV) which has a highly accurate underwater acoustic positioning system merged with precise GPS. Such ASV equips a localization method of AUV with a USBL positioning system, and collaboration method to control AUV with an acoustic communication system. Moreover, a highly accurate measurement in very-shallow-water, such as dam-lakes and a restricted water zones are difficult to observe by the ship-mounted measurement system manipulated by human. Therefore, it is necessary to develop an ASV that can accomplish the underwater measurements accurately and automatically to the programmed traverse line under the difficult environment such as tidal currents and winds. In such R&Ds, it is important to develop the automatic motion control for ASV which detects the external tidal flow automatically and handles precise ASV control to run on the programmed line. However, the conventional auto-pilot control methods that manipulate only the rudder angle and yawing angle of the course of the survey-way-points, have been difficult to cruise on the measurement line accurately because they don't have a feedback control system between the XY-plane kinematic model and yawing-dynamics model. In this paper, our R&D group proposes about a sophisticated ASV maneuver motion control technique in line with the programmed survey line for the collaborative underwater automatic measurement using ASVs and AUVs. The proposed technique uses two extended Kalman filters (EKFs) individually from motion equations of the plane-dynamics and ship-handling dynamics. The main factor which make difficult to control the rudder angle is the dynamic transverse flow. Our proposed technique estimates these values using EKF model of the plane motion including these flow environments. ASV calculates the drift distance from the survey-line based on planemotion EKF prediction, and also calculates the rudder controlled variables. After the rudder control, these values are estimated and predicted by the yawing-motion EKF and these predictions of heading are used to the plane-motion EKF. We checked our proposed control algorithm by using a simulation, and confirmed that this algorithm can cruise nearby the programmed line. And we developed the prototype ASV in this year, and confirmed that autonomous homing operation is available to the acoustic position data of underwater test towing body from the sea operation test.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"1541 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":"128059445","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 repair method for shunt fault on submarine cable","authors":"T. Yokobiki, R. Iwase, Y. Takahashi, H. Momma","doi":"10.1109/UT.2013.6519893","DOIUrl":"https://doi.org/10.1109/UT.2013.6519893","url":null,"abstract":"Underwater repair method for insulator of the optical submarine cable has been developed and test samples were successfully repaired in deep-sea field tests.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"17 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":"127237839","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":"Inversion of ocean currents using NTU-RAY","authors":"J. C. Wu, Kao-Chao Wu, Chi-Fang Chen","doi":"10.1109/UT.2013.6519866","DOIUrl":"https://doi.org/10.1109/UT.2013.6519866","url":null,"abstract":"Ocean Acoustic Tomography is a well-known technique for acoustic remote sensing of the temperature, water velocity, and current today. This technique makes it possible to probe the ocean where is large scale or difficult to deploy instruments. In this study, we build an inverse method to estimate the ocean current from the travel time perturbation of eigenrays which was calculated by NTU-RAY. NTU-RAY is a numerical model which is included in NTU-GBM (Gaussian Beams Model). The purpose of this study is to estimate the feasibility of an experiment in the north-eastern sea of Taiwan in the future. The method is tested first in an idealized environment, such as Pekeris waveguide, and then applies to the real ocean scenario. Results show that the inverse method works well generally but with limitations. (This work is sponsored by National Science Council of Taiwan under project “Physical Oceanography and Acoustic Applications at the Marine Observatory in the Northeastern Taiwan (MONET) coordination project and subproject 1: Study of Underwater Acoustic Signature Extraction and its Data Base Automation” No. NSC 101-2221-E-002-028-MY2).","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"108 2 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":"130556685","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":"Enhanced passive acoustic localization with an array of non-identical sensors using blind Gauss-Markov estimate","authors":"H. Choudhary, A. Kumar, R. Bahl","doi":"10.1109/UT.2013.6519849","DOIUrl":"https://doi.org/10.1109/UT.2013.6519849","url":null,"abstract":"For a stationary radiating source, the optimum time-delay vector estimation at a receiving sensor array is realized using the Generalized Cross Correlation (GCC) function. The estimates are combined with the correlator error matrix, expressed in terms of the sensor signal spectra and background noise spectra, to obtain a linear minimum variance unbiased estimate of the time delay vector, known as the Gauss-Markov estimate. In this estimation procedure, the signal power spectral density (PSD) is assumed to be the same at the different sensors which will be approximately true for distant sources. This PSD is replaced in practice by the a priori known source PSD. In the absence of a priori information, the PSD is required to be estimated at the sensors of the receiver array. This modified algorithm has been called the “blind” Gauss-Markov estimation algorithm. It provides better estimates of inter-sensor time delay, source range and bearing compared to the respective estimates obtained with the classical correlator system in terms of mean square error (MSE) measure. For a wide-aperture array, the use of PSD estimation based Gauss-Markov algorithm has been proposed earlier by the authors through two algorithms. In the first algorithm, the signal spectrum estimate at the closest sensor is used, while in the second algorithm, the signal spectra estimates at individual sensors are used. These proposed algorithms improve the estimates obtained from the correlator system in MSE terms. For a wide aperture array, the individual sensor PSD based Gauss-Markov estimate is more accurate than the closest sensor PSD based Gauss-Markov estimate as it utilizes the signal amplitude gradient information across the sensors of the array. This paper investigates the use of arrays with non-identical sensors along with the second algorithm in which the signal spectrum estimation is done at the individual sensors. Analytic explanation of the same shall be presented. The algorithm has been implemented and studied for an underwater acoustic experiment based on a three-element, non-uniform, perturbed linear array. It is found to give enhanced parameter estimation compared to the classical Gauss-Markov algorithm that uses constant PSD across the sensors. The proposed algorithm can be useful in providing more accurate localization of radiating underwater sources in applications like underwater robotics, diver guidance system, underwater object handling, and tracking of maneuvering vessels.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"176 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":"134298920","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":"3D forward looking sonar technology for surface ships and AUV: Example of design and bathymetry application","authors":"G. Yufit, E. Maillard","doi":"10.1109/UT.2013.6519888","DOIUrl":"https://doi.org/10.1109/UT.2013.6519888","url":null,"abstract":"Most modern bathymetry systems are using down-looking multi-beam echo-sounders or side-looking sonars with interferometry technology. At the same time a variety of forward-looking sonars (FLS) provides collision-avoidance information and images of the sea floor ahead of vehicle. The example of sonar considered in this paper realizes a combination of all these important functions: forward-looking bathymetry, collision avoidance and imaging (FLBS). The design under consideration includes three linear receiver arrays and one cylindrical transmitter array that illuminates a wide sector ahead of vehicle. Three receiver arrays provide simultaneously range, azimuth and elevation information and as a result it is possible to generate a large number of soundings in each ping. After correction of artifacts caused by motions and vehicle movement, bottom features and seabed topology are extracted using dedicated processes; the resulting soundings are then integrated in a final map. The backscattered signal intensity associated with each sounding is integrated into a mosaic image of the seabed. The specifics of sonar hardware design, processing algorithms and results of field tests are presented in this paper. The FLBS concept operates at high-frequency to provide directivity in a small form-factor; receive and transmit antennas provide a comparatively narrow beam of around 20° in the vertical plane to avoid multiple echoes phenomenon. The small dimensions of the transducer assembly and electronic bottle could allow such a system to fit into the front payload of a modern mid-size AUV.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"21 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":"121255216","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":"Cross-range imaging of a cooperative source using passive inverse synthetic aperture technique","authors":"H. Parmeswaran, R. Bahl, A. Kumar, R. Gupta","doi":"10.1109/UT.2013.6519851","DOIUrl":"https://doi.org/10.1109/UT.2013.6519851","url":null,"abstract":"In recent literature on underwater acoustics, great emphasis has been placed on the impact of anthropogenic sound on marine life. The monitoring and reduction of noise emissions from submarines and ships has become an integral aspect in manufacture and maintenance processes. The sound produced by large ships is known to contain tonals, which are generated by various machines operating on the marine vessel. The objective of this paper is to perform a spatial mapping of the tonal sources in cross-range by employing the concept of passive inverse synthetic aperture. A single stationary sensor observes the sound emitted by the cooperative source under uniform linear motion at close range over finite observation duration. It is assumed that the velocity and the range at the closest point of approach of the moving vessel, modeled as a distributed source, are known accurately. The emitted tonals undergo a time-varying Doppler shift due to the relative motion of the source as compared to the stationary sensor. We propose a two-step algorithm for cross-range imaging of the cooperative source, which involves the estimation of the tonal rest frequencies followed by the estimation of the time at the closest point of approach corresponding to each of the estimated tonal frequencies. The prominent tonal frequencies are estimated using a novel one-dimensional optimization based on time warping of the received signal. Then, matched filters are designed to determine the time at the closest point of approach corresponding to each of the Doppler shifted tonal frequencies, which indicate the location of the tonal sources relative to each other in the cross-range. The proposed algorithm is also capable of distinguishing two or more sources that are spatially displaced, but emit the same tonal frequency. The issues related to the design of the matched filters in the proposed algorithm and the resolution achievable in the cross-range are discussed. Simulations are used to assess the performance of the proposed algorithm in presence of noise. The proposed algorithm is also applied on an actual underwater recording.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"8 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":"121255887","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":"Observation of in situ tuna behavior around the fisheries aggregating devises (FADs) by using passive and active acoustic methods","authors":"T. Imaizumi, T. Akamatsu, T. Oshima, K. Yokota, H. Iga, I. Fusejima, Y. Wang, M. Ito, I. Matsuo, Y. Takao, S. Hasegawa","doi":"10.1109/UT.2013.6519877","DOIUrl":"https://doi.org/10.1109/UT.2013.6519877","url":null,"abstract":"The by-catch of bigeye tuna (Thunnus obesus) has been serious problem for commercial fisheries of skip jack tuna (Katsuwonus pelamis) due to the strong constrain of quarter for each species. Selective catch of skip jack tuna with avoiding by-catch of bigeye tuna is required for sustainable and effective fisheries. Light stimuli were applied in attempts to remove unnecessary tuna species and let them escape through the mesh or underneath of a round net. The movements of fish were observed with coded pingers (passive method) and a broadband quantitative split-beam echo sounder (active method). Newly introduced micro coded pinger (Fusion Inc., Tokyo) for this observation resulted in longer survival or / and retention of tagged fish comparing with previous survey periods. Three hydrophone array systems were deployed on each survey ships (Shoyo-maru, Nippon-maru, and Nippon-maru's boat). The pinger transmitted 31 bits M-sequence signal every 1 second. Movements of multiple tagged fish were able to be observed at the same time. Not only depth change of each fish, but also three dimensional locations could be calculated. In the mean time, schools of fish were observed by the broadband echo sounder near the FADs. The 3D tracks of fishes which were estimated by active way with high distance resolution showed the fish swam deeper at sun rising that was consistent with passive monitoring result. Consequently large data sets of the movement of in situ bigeye tuna and skipjack tuna around FADs were obtained.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"8 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120984454","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":"Online system identification of the dynamics of an Autonomous Underwater vehicle","authors":"E. Hong, Teo Kwong Meng, M. Chitre","doi":"10.1109/UT.2013.6519846","DOIUrl":"https://doi.org/10.1109/UT.2013.6519846","url":null,"abstract":"Autonomous Underwater vehicles (AUV) with reconfigurable payloads are rapidly becoming common. Their dynamic characteristics are affected when payloads change. Typically, retuning of the controller is required to maintain good control performance. To address this situation, we develop a technique to enable rapid identification of AUV dynamics online. We demonstrate the technique with a fin-controlled single-thruster torpedo-shaped AUV. By decoupling the system according to planar and horizontal motion, mathematical models for yaw and pitch dynamics are developed. This results in a second-order transfer function with auxiliary steady state fin deflection. Identification of continuous-time model was performed to preserve the physical meaning of the parameters. Identification in continuous-time requires time-derivative terms which are reconstructed using the state variable filter (SVF). Then, recursive least-square (RLS) algorithm is used to identify the unknown parameters. The proposed identification method was validated through field deployments of our AUVs. The online estimates compare favorably with results obtained from offline identification methods requiring numerical optimization. We demonstrate how turning radius of the AUV can be estimated accurately from the identified parameters. We also show how a gain-scheduled controller, with better control performance than a constant-gain controller, can be designed using the estimated parameters.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"2 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":"126364347","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}