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

{"title":"Deformable camber-line foil and its applications","authors":"S. Takagawa","doi":"10.1109/UT.2013.6519809","DOIUrl":"https://doi.org/10.1109/UT.2013.6519809","url":null,"abstract":"Foils play important roles in fluid dynamics. Fish uses fins for propulsion and direction control, and these fins are foils. Also the body of the fish itself is a foil to produce strong propulsion force. These foils deform themselves in order to get the best efficiency for propulsion and control. However, foils on the present bio-mimetic underwater fish-like robots are rigid flat plates in most cases, and the body of the bio-mimetic fish is usually a rigid body with a movable tail fin. The author has developed a deformable camber-line foil with a very simple link mechanism without any special actuators such as motors. This mechanism can grasp the flow well and can get the stronger thrust force than the flat plate or rigid foil. This mechanism shows another link mechanism which can deform a straight line into sinusoidal cyclic curve like a snake. However, sinusoidal cyclic curve with time delay is not possible because of the link mechanism. This deformable camber-line foil can not only be applied on bio-mimetic underwater robots, but also have very wide applications such as sail of yacht or rudder of ship. Controllable pitch propeller (CPP) including ship's propeller and wind/current power generator's rotor may be candidates of this application by keeping the pitch (=moving distance per revolution) the same at any radius. The details of the mechanism will be shown in this paper.","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":"124360630","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":"Fish population estimation and species classification from underwater video sequences using blob counting and shape analysis","authors":"J. N. Fabic, I. E. Turla, J. A. Capacillo, L. David, P. Naval","doi":"10.1109/UT.2013.6519876","DOIUrl":"https://doi.org/10.1109/UT.2013.6519876","url":null,"abstract":"Fish population estimation and classification of fish species have been an integral part of marine science research. These tasks are important for the assessment of fish abundance, distribution and diversity in marine environments. We describe an efficient method for fish detection, counting, and species classification from underwater video sequences (UWVS) using blob counting and shape analysis. The video sequences were obtained with a moving camera resulting in rapid viewpoint changes thereby making it difficult to employ motion detection schemes in extracting fish images from background. Video preprocessing involved blackening out the corals from the underwater videos. This is done in order to effectively estimate fish count in the environment, though excluding those that are against a coral background. We then applied histogram comparison to initially blacken out the occlusions using blue and non-blue templates obtained randomly from the UWVS. We then introduced an erasure procedure to further aid in removing the coral background For fish detection, Canny edge detection was applied to extract fish contours. After the latter have been delineated, blob counting is then employed to in order to compute the fish count. Due to rapid frame changes, the average fish count per unit time is computed from the counts in each frame. For shape analysis, blob size is initially estimated and when a threshold is exceeded, Zernike moment-based shape analysis is performed on the blob for comparison with moment signatures of selected fish species stored in a database. The label of the best matching moments identifies the species of the fish blob. The shape-based classification algorithm is designed to identify the two most common species of fish found in the Tubbathaha reef in Sulu Sea, Philippines.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"103 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":"133870836","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":"Risk management strategy of DONET installation and the utilization of real-time data for disaster prevention","authors":"N. Takahashi, T. Baba, M. Takaesu, S. Kamiya, K. Kawaguchi, Y. Kaneda","doi":"10.1109/UT.2013.6519843","DOIUrl":"https://doi.org/10.1109/UT.2013.6519843","url":null,"abstract":"We have developed ocean floor network cable system in view of scientific and technical aspects. Japan Agency for Marine-Earth Science and Technology (JAMSTEC) already deployed a dense ocean floor network system (DONET) in the Tonankai earthquake rupture area and new one named by DONET2 in the Nankai earthquake rupture area. These earthquakes have repeatedly occurred, had tormented people living the coastal area, and suffered great damages of their strong motions and tsunami. These systems have to contribute to early detection of earthquakes and tsunamis, understanding source mechanisms of earthquakes and tsunamis, damage reduction of the coastal areas. In addition, they have to work continuously for long years even if huge earthquakes occurs, because large earthquakes with magnitude of 8 has successively occurred and because large tsunamis have also attacked accompanied with the earthquakes. To prepare such issues, we have considered in various point of views. Here we introduce such various points to set ocean floor network system and implement them.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"26 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":"114402874","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":"Evaluation of sound speed profile estimation by single sonar","authors":"H. Shiba","doi":"10.1109/UT.2013.6519826","DOIUrl":"https://doi.org/10.1109/UT.2013.6519826","url":null,"abstract":"It is almost always said that the sound speed profile is principle in the underwater acoustic measurements. The profiles affect propagation ranges, target depression angles and so on. Therefore the sonar operation is useless without them for the severe requirements like security usages. Usually, they are estimated based on temperature and salinity distribution measurements with expendable probes like XBTs. However, it is not appropriate for frequent measurements which are sometimes required in the highly secure applications. On the other hand, this is also true for acoustic tomography of which scale is sometimes too large for small sized applications. To solve this frequent estimation problem a new approach is proposed. The new approach needs only single sonar and it is based on a layered model of ray propagations. This method is found to be effective by simulations. However, required computational times are laid on the table for consideration.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"145 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":"116195203","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":"AUV Tri-TON — A hover-capable platform for 3D visualization of complicated surfaces","authors":"T. Maki, Y. Sato, T. Matsuda, A. Kume, T. Sakamaki, T. Ura","doi":"10.1109/UT.2013.6519873","DOIUrl":"https://doi.org/10.1109/UT.2013.6519873","url":null,"abstract":"AUV Tri-TON is a hovering type autonomous underwater vehicle developed by the University of Tokyo, launched in 2011. The vehicle was constructed as a testbed under the governmental project to develop instruments to estimate ore reserves in underwater hydrothermal deposits. The vehicle's mission is to obtain dense, large-area 3D image of hydrothermal vent fields, in collaboration with a seafloor station. The information will be also used for environmental assessments, mine planning, and educational activities. Although the vehicle is not equipped with an inertial navigation system (INS), the vehicle can estimate its position in real-time with a precision enough for rough photo-mosaicking, owing to the mutual acoustic positioning with the station. The vehicle has two suites of imaging instruments looking forward and downward directions in order to image whole surface of bumpy hydrothermal vent fields. The vehicle has been tested through a series of experiments at tanks and real fields. In April 2012 the vehicle was deployed to the hydrothermal vent field of Kagoshima Bay in Japan and succeeded in observing seafloor with the area of around 200 square meters.","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":"129334987","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":"Motion parameter estimation of a radiating point source with multiple tonals using acoustic Doppler analysis","authors":"R. Gupta, A. Kumar, R. Bahl","doi":"10.1109/UT.2013.6519850","DOIUrl":"https://doi.org/10.1109/UT.2013.6519850","url":null,"abstract":"The sound emitted by distant moving sources, such as air crafts, submarines and ships contain time-varying Doppler-shifted tonals when observed from a stationary sensor. This temporal variation in the Doppler shift of the tonal can be used for the estimation of time of closest approach, distance between the source and the sensor at the closest approach instant, the relative speed of the source and the rest frequency of the emitted tonal. The existing methods model the radiating source as a point source under uniform linear motion, and estimate the frequency of a single dominant tonal as it undergoes Doppler shift due to the relative motion of the source as compared to a stationary sensor. However, the received signal may consist of multiple tonals and their harmonics. In this case, the tonals exhibit dissimilar Doppler shifts as the Doppler shift depends on the rest frequency of the tonal. In this paper we consider the motion parameter estimation of a point source when the received signal is composed of multiple Doppler-shifted tonals, which may or may not be harmonically related. The frequencies corresponding to the multiple Doppler-shifted tonals present in the received signal are estimated over short intervals. We propose the use of the average of the estimated Doppler-shifted tonals for the estimation of the motion parameters. The average of the estimated frequencies preserves the temporal variation in the Doppler shift and hence it can be used for the estimation of the motion parameters. Once the motion parameters are estimated, it is also possible to extract the line spectrum, which is often used in applications such as the classification of the moving source. Simulations are used to demonstrate the efficacy of proposed algorithm, which utilizes the Doppler variation corresponding to multiple tonals as compared with the monotone case. The performance of the proposed algorithm in the presence of noise is assessed under several signal-to-noise ratios. The proposed algorithm is applied to actual pass-by sound of an aircraft and an underwater signal recorded for a ship.","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":"130193054","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":"Automatic detection and classification of cetacean tonal sounds from a long-term marine observatory","authors":"Tzu‐Hao Lin, Hsin-Yi Yu, Chi-Fang Chen, L. Chou","doi":"10.1109/UT.2013.6519820","DOIUrl":"https://doi.org/10.1109/UT.2013.6519820","url":null,"abstract":"Passive acoustic monitoring is effective for examining the temporal variation of cetacean occurrences through continuous recording. However, the interpretation of behavior variability remains difficult. Cetacean tonal sounds are believed to play an important role in communication. Changes in tonal sound usage can be indicative of changes in cetacean behavior. In this study, we applied a generalized tonal sound detector on recordings from the marine cable hosted observatory (MACHO) off Northeastern Taiwan. The tonal sound detector is a modified local-max detector, which examines the prominence of tonality in 2 ms time intervals. Detections were confirmed based on the short-time transient characteristic of tonal sounds. The burst pulse, fundamental frequency, and harmonic were separated during post-processing. The detection results can be used to analyze the frequency distribution and modulation of the tonal sounds. Following individual contour extractions, the tonal sounds were classified to examine the repertoire composition through duration and frequency normalization. An evident nighttime occurrence was identified for both the burst pulse and tonal sound. The mode frequency of tonal sound did not show a significant difference, but the percentage of overlapping tonal sounds, Shannon entropy of frequency distribution, and repertoire complexity varied significantly among diurnal cycles. The current framework of quantification on tonal sound modulation and repertoire complexity provides intuitive parameters for the variability of cetacean behavior, which can be used to examine the temporal variations of cetacean habitat use. The precision in distinguishing different species and behaviors may be increased by comparing the repertoire established through automatic classification.","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":"114084201","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":"Species classification of submerged aquatic plants using acoustic images in shallow lakes","authors":"K. Mizuno, C. Xu, A. Asada, K. Abukawa, M. Yamamuro","doi":"10.1109/UT.2013.6519815","DOIUrl":"https://doi.org/10.1109/UT.2013.6519815","url":null,"abstract":"Acoustic imaging sonar is used for species classification of the submerged aquatic plants at lakes. We used a measurement system that combined a high resolution acoustic imaging sonar, i.e., a Dual-frequency IDentification SONar (DIDSON) with two types of concentrator lens, motion sensors, and GPS receivers to quantify the underwater status of the lake. Our survey system could efficiently accumulate information from beneath the lake surface and it could be used to reconstruct the spatial state of the lake as a three-dimensional (3D) image at any time. In addition, we developed an image processing program to classify the aquatic plants using acoustic features of each aquatic plant. Two types of the field experiments were performed at Lake Yamanaka and Lake Yunoko in Japan. In the first experiment at Lake Yamanaka, 3D views of Myriophyüum spicatum were generated. In the second experiment at Lake Yunoko, we conducted a species classification of three aquatic plants, Myriophyüum spicatum, Chara globularis, and Elodea nuttallii.","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":"127551784","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 unified framework for image performance enhancement of extended range laser seabed survey sensors","authors":"F. Dalgleish, B. Ouyang, A. Vuorenkoski","doi":"10.1109/UT.2013.6519906","DOIUrl":"https://doi.org/10.1109/UT.2013.6519906","url":null,"abstract":"Recent advancements in system hardware components, such as more powerful, lower noise high repetition rate blue-green pulsed lasers, high quantum efficiency photon detectors capable of nanosecond low noise gating as well as new generation of low noise high precision electronic devices such as analog digital converter (ADC) have resulted in alternate imager designs being proposed that have the potential to significantly improve the performance of current state-of-the-art undersea laser serial imaging sensors. However, during basic operation, system issues such as laser instability, electronic noise, and severe environmental conditions can impose major constraints on the performance of imager. In this work, post-processing techniques that utilize both multichannel serial imager designs and the application of accurate time-resolved radiative transfer codes are shown to be critical aspects in fully taking advantage of these new hardware architectures. The benefits to image performance are studied in post-processing using datasets acquired in both the coastal ocean off south Florida and also in the large electro-optics test tank facility at Harbor Branch.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"28 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":"129909547","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":"Developments in underwater technologies — Indian scenario","authors":"M. Atmanand","doi":"10.1109/UT.2013.6519830","DOIUrl":"https://doi.org/10.1109/UT.2013.6519830","url":null,"abstract":"With a large coastline of approximately 7600 km surrounded by two major ocean basins on both sides of peninsular India as Bay of Bengal and Arabian Sea, drained by major river basins from Himalayas, there are multidimensional requirement of underwater technologies to cater the country's demand. With increased thrust on underwater technology in India during the past 15 years, it is imperative to put forth India's development in the frontier area of underwater technologies. Under the Ministry of Earth Sciences, Government of India, National Institute of Ocean Technology (NIOT) is leading the frontier areas of underwater technologies. The Institutes like Central Mechanical Engineering Research Institute and Indian Institute of Technologies are also contributing in a minor way. Under International Seabed Authority (ISA) regulations, Government of India registered as a contractor on 17th August 1987. India was allocated 150,000 sq. km area in Central Indian Ocean Basin for exploration of manganese nodules. After detailed exploration, 50% of this area has been relinquished to the ISA. While other Institutes in India are responsible for metal extraction, NIOT is responsible for developing technology for mining of manganese nodules from the deep seabed. To harness the non-renewable resources ranging from placer deposits at water depth of 100 m, gas hydrates at 1000 m, hydrothermal sulphides at 3000 m to polymetallic nodules at 5400 m water depth, various technologies were developed and proven in the field. To cater to the disaster management, range of observation systems, drifters and seafloor based observations are being developed and data collection and dissemination is in place. This paper deals with the achievements in the development of underwater vehicles and systems during the past 15 years in India in the civilian front. The major technologies developed, like the Deep sea crawler (512 m) for mining of manganese nodules, In-situ soil tester (5462 m) for measurement of in-situ soil property on the sea bed, Work Class Remotely Operated Vehicle (5289 m) for general purpose, including assistance in nodule mining, Autonomous Underwater Vehicle (200 m) for shallow water and operation in polar regions, being developed, and drifter buoys for collection of ocean data are explained in detail. The challenges involved in design, development, testing and issues faced during the sea trials of the various systems and lessons learnt are explained in this paper.","PeriodicalId":354995,"journal":{"name":"2013 IEEE International Underwater Technology Symposium (UT)","volume":"30 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133291871","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}