OCEANS 2010 MTS/IEEE SEATTLE最新文献

{"title":"New methods for in-situ calibration of attitude and doppler sensors for underwater vehicle navigation: Preliminary results","authors":"G. Troni, L. Whitcomb","doi":"10.1109/OCEANS.2010.5664279","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664279","url":null,"abstract":"This paper reports two new methods for the problem of in-situ calibration of the alignment rotation matrix between Doppler sonar velocity sensors and gyrocompass attitude sensors arising in the navigation of underwater vehicles. Previously reported solutions to this alignment calibration problem require the use of navigation fixes from an absolute external navigation fixes of the underwater vehicle, thus requiring additional navigation sensors and/or beacons to be located externally and apart from the underwater vehicle. We report a alignment calibration method employing only internal vehicle navigation sensors for velocity, acceleration, and attitude. Results from simulation data comparing these new methods to previously reported methods indicate satisfactory performance of the proposed methods in the presence of simulated sensor noise.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114881110","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 Navy's coupled atmosphere-ocean-wave prediction system","authors":"R. Allard, T. Campbell, S. Chen, J. Cook, T. Jensen, P. Martin, E. Rogers, R. Small, T. Smith","doi":"10.1109/OCEANS.2010.5664543","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664543","url":null,"abstract":"An air-ocean-wave modeling system has been developed by the Naval Research Laboratory to provide improved predictive capabilities to the warfighter in regions that include an oceanic component. Each of the three operational models, run in a standalone mode, have provided 48 to 96 hour forecast guidance for the past several years. Utilizing the Earth System Modeling Framework, a model coupler exchanges needed information between the model components and interpolates between the model grids. This paper will discuss the model coupling and provide a brief overview of validation studies that have been performed in the Adriatic Sea, Ligurian Sea and Kuroshio extension, with a particular emphasis on air-sea interactions. Model studies presented here focus on the upper ocean (mixed layer) heat fluxes, near surface winds, temperature, moisture, the air-sea interaction, and the marine boundary layer characteristics. Validation studies presented here show the most improvements in ocean heat fluxes, due to a more realistic sea surface temperature. The coupled system is scheduled for operational implementation at Navy production centers beginning in 2011.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115128476","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":"Task allocation and path planning for collaborative AUVs operating through an underwater acoustic network","authors":"YueYue Deng, P. Beaujean, E. An, E. Carlson","doi":"10.1109/OCEANS.2010.5664050","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664050","url":null,"abstract":"Multiple cooperative vehicles, joined in an acoustic communication network, can perform time-critical, cooperative operations given a robust task allocation mechanism and an efficient path planning model. In this paper, we present solutions for the task-allocation and path-planning problems of the cooperative schema for multiple AUVs: a Location-Aided task Allocation Framework (LAAF) algorithm for multi-target task assignment and the Grid-based Multi-Objective Optimal Programming (GMOOP) mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Our research is based on an existing mobile ad-hoc network underwater acoustic simulator and two routing protocols (blind flooding and dynamic source routing). The LAAF and GMOOP controllers combine within a “task-planact” structure to generate an optimized local system output in a timely manner to achieve fleet-wide cooperation. Our preliminary results demonstrate that the location-aided auction strategies perform significantly better than a generic auction algorithm in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path planning technique provides an efficient method for multi-objective tasks by cooperative agents with limited communication capabilities with its results can be referenced in [7]. Prior to this work, existing multi-objective action selection methods were limited to robust networks where constant, reliable communication was available. Both the LAAF and GMOOP algorithms were robust to poor acoustic network conditions and ongoing changing environments. LAAF dynamic task allocation and the GMOOP path planning controller provide an effective solution for cooperative search-classify missions with multiple AUVs under marginal communication conditions.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117030638","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 towed sidescan sonar systems","authors":"A. Wright","doi":"10.1109/OCEANS.2010.5664408","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664408","url":null,"abstract":"The advantages of collecting seafloor imagery, bathymetry and subbottom profiler data from 6000 meter rated deep-towed sidescan sonar systems has been appreciated for many years. The number of systems in active use in the commercial, scientific, and government communities continues to increase. New improvements to these systems include additional sub-systems such as gap-filler sonars, integrated CTD's, and improved positioning equipment; enhanced image and data processing software; and additional swath bathymetry and synthetic aperture capabilities. Countries with organizations supporting these sonars include the United States, United Kingdom, Russia, France and Japan. This presentation will describe rationale and operating procedures for these sonars and briefly summarize the recent operations of the various systems.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"37 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123410118","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 localization based on multicarrier waveforms","authors":"P. Carroll, Shengli Zhou, Hao Zhou, Jun-hong Cui, P. Willett","doi":"10.1109/OCEANS.2010.5664347","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664347","url":null,"abstract":"In this paper, we investigate the problem of localizing an underwater sensor node based on message broadcasting from multiple surface nodes. With the time-of-arrival measurements from a DSP-based multicarrier modem, each sensor node localizes itself based on the travel time differences among multiple senders to the receiver. Using one-way message passing, such a solution can scalably accommodate a large number of nodes in a network. We present simulation results as well as preliminary testing results in a swimming pool and in a local lake.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116802424","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":"Predictive habitat models from AUV-based multibeam and optical imagery","authors":"Nasir Ahsan, Stefan B. Williams, M. Jakuba, O. Pizarro, B. Radford","doi":"10.1109/OCEANS.2010.5663809","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5663809","url":null,"abstract":"In AUV habitat mapping and exploration missions, a prior habitat map with associated uncertainty has the potential to guide the design of AUV deployments more effectively than a bathymetric map alone. We present and characterize an approach for learning predictive models of benthic habitats as a function of seabed terrain features. The models were learned by correlating limited-coverage high resolution imagery with full-coverage multibeam bathymetry data, both collected by an AUV at a site off the Tasman Peninsula in Tasmania, Australia. Correlations observed where these data overlapped were extrapolated to the much larger area covered by the multibeam survey. Accuracies of 0.69 - 0.78 were attained using a 10-fold cross-validation. A feature ranking analysis using bootstrap aggregation was also carried out revealing features were more informative at the larger scales of 5 × 5m2. Using bootstrap aggregation we learn probabilistic habitat maps for the site along with map of entropy that indicates areas of uncertainty. We discuss the implications for the planning of AUV missions and for the generation of adaptive trajectories aimed at improving map quality.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124480036","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":"Hybrid classifier for marine vessel based upon propulsion type","authors":"P. Aggarwal, H. Kaushik","doi":"10.1109/OCEANS.2010.5664306","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664306","url":null,"abstract":"Finding features which can reliably classify the ships using radiated acoustic signals is an important and classical problem. It becomes more challenging when the signal has to traverse the underwater channel to reach the receiver. This is because both ship radiated acoustic signal as well as underwater channel change very rapidly with time and frequency. Moreover underwater channel is non-stationary, impulsive and has severe multipath. In this paper, a new hybrid classifier combining various features and classifying algorithms, to classify the marine vessel based upon their propulsion (diesel, gas, steam) has been suggested. Computer simulations show that suggested method works well even at low SNR (signal to noise ratio) and with severe channel.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"414 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124762271","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":"SPIV measurements of axisymmetric turbulent boundary layers","authors":"K. Cipolla, W. Keith, A. Foley","doi":"10.1109/OCEANS.2010.5663848","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5663848","url":null,"abstract":"This paper presents a description of turbulent boundary layer velocity measurements made on an experimental towed array during testing at the David Taylor Model Basin, Naval Surface Warfare Center Carderock Division in June 2007. The experimental array had an aspect ratio L/a = 7 × 103 and was towed at Reynolds numbers Reθ varying from 4.6 × 105 to 8.9 × 105. This range falls well outside that which has been investigated to date in laboratories or with computational fluid dynamics. Previous lake tests of this array were performed and documented in Cipolla and Keith [1]. However, details of the high Reynolds turbulent boundary layer were not obtained during these tests. The goal of the follow-on tow tank testing was to obtain measurements of the mean and turbulent flow field which are not feasible in lake or sea trial testing. A stationary stereo-particle image velocimetry (SPIV) system was used to obtain three-dimensional velocity measurements and evaluate the boundary layer flow development along full-scale fleet towed array modules. Measurements were collected at discrete transverse planes along the length at tow speeds between 6.2 and 15.4 m/s. Algorithms for image pre-processing and filtering were applied to enhance the instantaneous images and mask the array and its shadow. The data will be analyzed to extract mean velocity profiles and compared with wind tunnel measurements on cylinders [2]. Further, relevant boundary layer parameters will be used to refine the scaling of the wall pressure measurements obtained simultaneously as reported by [3]. Independent load cell measurements of the total drag on the towed model provided the momentum thickness at the end of the model and the spatially-averaged friction velocity uτ. These data supplement the SPIV data near the array wall, completing the velocity profile over the entire boundary layer. The load cell also provided a highly accurate value of the mean wall shear stress which is traditionally very difficult to obtain. The velocity profiles can be compared with existing models for the mean velocity which include the velocity defect law and Clauser's log law. In particular, the velocity defect law is expected to provide the best collapse of the data in the outer region of the boundary layer, while the log law relation is expected to provide a good collapse very close to the surface of the towed array (near wall region). Trends in the data with Reynolds number will be evaluated. In addition, the boundary layer thickness and mean wall shear stress at particular streamwise locations along the array will be quantified. The growth of the turbulent boundary layer over the length of the array is an important metric with regard to estimating the maximum turbulent boundary layer thickness which exists over a fleet towed array. The underlying structure of the axisymmetric boundary layer, which leads to significant increases in wall shear stress with respect to flat plate cases, is of primary importance. ","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129382678","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 2010 National Data Buoy Center (NDBC) mooring workshop","authors":"D. Maxwell, T. Mettlach, B. Taft, C. Teng","doi":"10.1109/OCEANS.2010.5664068","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664068","url":null,"abstract":"The National Data Buoy Center (NDBC) has a global operating theater that encompasses marine weather buoys, Tropical Atmosphere Ocean (TAO) buoys and Deep-Ocean Assessment and Reporting of Tsunami (DART®) buoys. NDBC operates and maintains 117 weather buoys, 55 TAO buoys and 38 DART buoys. These systems are deployed into harsh marine environments and are under constant attack from biological, environmental and human forces. NDBC realized that tackling the mooring issues associated with these deep-ocean moored buoy systems was going to be difficult and long term. In dealing with the short-term issues NDBC decided to host a two-day mooring workshop with the intention to improve the operational reliability of their moored systems. In order to better facilitate this mooring workshop, NDBC requested the NDBC Technical Services Contractor (NTSC) to bring together an internal mooring working group to address the mooring issues and problems. This paper presents the NDBC mooring configurations, the mooring working group and their finding, the actual 2010 NDBC mooring workshop and its findings and recommendations, and finally the actions and on-going efforts generated by the mooring workshop.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"05 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129417380","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 trials of the Rope and Riser Crawling Vehicle","authors":"J. Trienekens, B. Braun, J. Gillham, B. Christ","doi":"10.1109/OCEANS.2010.5664476","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664476","url":null,"abstract":"In May 2010, Chevron Energy Technology Company sponsored offshore field trials of the Rope and Riser Crawling vehicle. The vehicle had integrated optical and laser sensors in order to image a mooring rope in actual offshore conditions. This paper details the results of that trial and the lessons learned from infield operations under live conditions.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128585000","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}