OCEANS 2010 MTS/IEEE SEATTLE最新文献

{"title":"Single beacon navigation: Localization and control of the MARES AUV","authors":"Bruno Ferreira, Aníbal Matos, Nuno A. Cruz","doi":"10.1109/OCEANS.2010.5664518","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664518","url":null,"abstract":"This paper addresses the simultaneous localization and control of an AUV using a single acoustic beacon. To determine its horizontal position, the AUV fuses distances to the single beacon with dead reckoning data, heading and longitudinal velocity. A particle filter and an extended Kalman filter are implemented and compared in terms of performances. As this is an ill-posed problem, special guidance laws are derived so that the overall horizontal positioning error remains bounded. Besides presenting the derivation of such guidance and control laws, as well as procedures to estimate the horizontal position, we also demonstrate the performance of the proposed system by means of simulation results.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"117 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":"116188998","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 planning for an autonomous Underwater Vehicle via Sampling Based Model Predictive Control","authors":"C. Caldwell, D. Dunlap, E. Collins","doi":"10.1109/OCEANS.2010.5664470","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664470","url":null,"abstract":"Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result, Sampling-Based Model Predictive Control (SBMPC) is proposed to simultaneously generate control inputs and system trajectories for an autonomous underwater vehicle (AUV). The algorithm combines the benefits of sampling-based motion planning with model predictive control (MPC) while avoiding some of the major pitfalls facing both traditional sampling-based planning algorithms and traditional MPC. The method is based on sampling (i.e., discretizing) the input space at each sample period and implementing a goal-directed optimization (e.g., A*) in place of standard numerical optimization. This formulation of MPC readily applies to nonlinear systems and avoids the local minima which can cause a vehicle to become immobilized behind obstacles. The SBMPC algorithm is applied to an AUV in a cluttered environment and an AUV in a common local minima problem.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"137 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":"115276060","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":"Drag body design in support of wave energy harvesting","authors":"D. DelBalzo, H. M. Chen, B. Hughes, C. Cranford, S. Stewart","doi":"10.1109/OCEANS.2010.5664590","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664590","url":null,"abstract":"The U. S. Navy is looking for new ways to better characterize the littoral ocean environment. An extended life environmental sonobuoy that would drift through an area for several days and transmit data to a central node, is one way to accomplish this. A wave energy converter could be used to convert wave motions into electrical power and extend a buoy's operational life. One method to accomplish the conversion is to suspend an electrical generator between an oscillating surface float and a submerged, nearly motionless sea anchor. The relative motion between these two could be used to spin magnets inside fixed coils and produce electrical power. Our version of an efficient sea anchor is a compliant drag body with variable shape that automatically opens to increase force during a wave crest and closes during the downstroke of a wave trough. Several drag bodies were designed and tested in a large water tank. The forces generated by the drag bodies were measured with a load cell. An analytical model was developed to predict the measured drag body forces. The model includes two components: the inertial (or attached water mass) force, and the viscous (or velocity-squared) force, with arbitrary weighting factors. To determine the optimal weighting factors for each shape we analyzed measured forces on prototype drag bodies. The model predicted the measure forces of compliant drag bodies to better than ten percent and least-squares analysis determined the optimal weighting coefficients.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"7 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":"123716853","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":"SAS-like acoustic color processing for a single-hydrophone sonar platform","authors":"N. Wachowski, M. Azimi-Sadjadi, R. Holtzapple","doi":"10.1109/OCEANS.2010.5663828","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5663828","url":null,"abstract":"This paper addresses the problem of using sonar data collected with a single-hydrophone to generate synthetic aperture sonar (SAS)-like images that display acoustic color information. Our previously-developed SAS-like acoustic color processing typically applies a coherence analysis framework to channels formed using the data of two hydrophone subarrays. Application of this method to single-hydrophone data requires significant modifications to the original framework since a synthetic aperture must be formed over the data from different pings, and hence a different approach to forming the data channels must be used. For this study, data collected using a single hydrophone mounted on a moving rail system that captures a buried underwater object from multiple aspects is used. The images generated by applying both a more conventional omega-k SAS and the revised SAS-like acoustic color processing methods to this data are evaluated based on their ability to provide information useful for detection, identification, and localization of objects.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"22 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":"125016724","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":"Acoustic radiation from a submerged pile during pile driving","authors":"P. Reinhall, P. Dahl","doi":"10.1109/OCEANS.2010.5663872","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5663872","url":null,"abstract":"Pile driving with an impact hammer is inherently a transient process and can produce very high sound levels. It is shown that the underwater noise during pile driving is due to a radial expansion of the pile that propagates along the pile after impact. This structural wave produces a wave front cone in the water, and a downward moving wave that continues into the sediment. An upward moving wave front is produced in the sediment after the first reflection of the structural wave, which is subsequently transmitted into the water. This process is repeated to produce an acoustic field that consists of wave fronts with alternating positive and negative angles. Good agreement in the estimate of the angles was obtained between a finite element wave propagation model and measurements taken during a full scale pile driving study.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"242 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":"123025750","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":"Using sonar to describe temporal patterns of oceanic organisms from the MARS observatory","authors":"J. Horne, S. Urmy, D. Barbee","doi":"10.1109/OCEANS.2010.5664614","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664614","url":null,"abstract":"DEIMOS (Deepwater Echo Integrating Marine Observatory System) is an active acoustic package deployed at the MARS cabled observatory in Monterey Bay, CA. Located on the continental slope at a depth of 875 m, DEIMOS transmits an acoustic pulse upwards every five seconds, recording the intensity of reflected sound (i.e. backscatter) from organisms in the water column. Designed as a robust, ROV-deployable package, it is built around a Simrad EK60 38 kHz scientific echosounder. The 7°, split-beam transducer is oil-filled to withstand pressure at depth. Electronics, including the general-purpose transceiver, an addressable web relay for remote rebooting, and a power filter and step-down, are housed in a 17-inch Teledyne Benthos borosilicate glass pressure sphere. The entire assembly is bolted to a galvanized steel frame and is attached to the MARS node by a 50-m Falmat Ethernet cable with an ODI wetmate connector. DEIMOS was deployed in February 2009 by the ROV Ventana from the R/V Point Lobos. Supplied with power and a communications link from the MARS node, DEIMOS is controlled remotely, and yields near-real-time backscatter data from the seabed to the surface. Since deployment, we have implemented automated data handling to monitor data acquisition, issue email alerts if it stops, and to upload data from the acquisition servers at Monterey Bay Aquarium Research Institute (MBARI) to the Fisheries Acoustics Research Lab in Seattle. Monterey Bay is located in the eastern-boundary California Current. Its food web depends on nutrients supplied by episodic, seasonal upwelling events, and its pelagic fauna are dominated by invertebrates. A variety of biological patterns are visible in the acoustic record. Several backscattering layers undergo diel vertical migrations, and change in number, depth, and density with the seasons. Episodic events such as high-density aggregations and large surface-diving targets are also present. We are developing metrics to characterize temporally-indexed, vertical density distributions. Total backscatter density increased from late spring to early autumn, while simultaneously becoming more dispersed and moving deeper in the water column. These changes reflect a decrease in the number of vertically migrating layers, and the appearance of a large, deep, non-migratory layer centered near 500 m depth. Late winter and spring contained short-term variability, due to the presence of near-surface aggregations. Long-term deployments of stationary acoustic instruments provide high resolution data over a range of temporal scales that is rare for aquatic biological research.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"7 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":"123036979","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 red tides in the Southwestern Florida coastal region using ocean color data","authors":"P. Chu, Y. Kuo","doi":"10.1109/OCEANS.2010.5663861","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5663861","url":null,"abstract":"Near real-time ocean color data from the Seaviewing Wide Field-of-view Sensor (SeaWiFS) was used to detect and trace harmful algal bloom (HAB) (also termed as red tides) in the Southwest Florida coastal water, which was treated as Case-2 water, i.e., its optical characteristics are influenced not only by phytoplankton and related particles, but also by other substances, that vary independently of phytoplankton, notably inorganic particles in suspension and yellow substances. Similar to Ahn et al. (2006), a red tide index was constructed from in-situ radiometric measurements of the three SeaWiFS bands centered at 411 nm, 510 nm, and 555 nm to achieve derivation of indices that are then related to absorbing characteristics of harmful algae (i.e., Lw at 443 nm) from which a best fit with a cubic polynomial function is obtained providing indices of higher ranges for HABs and lower and slightly reduced ranges for turbid and non-bloom water. In order to quantify the HABs in terms of chlorophyll (Chl), an empirical relationship is established between the RI and in-situ Chl in surface water which yields a Red tide index Chlorophyll Algorithm (RCA). In contrast, the band-ratio chlorophyll product of SeaWiFS in this complex coastal environment provided false information. The red tide that formed from November to December 2004 off SW Florida was revealed by RCA imagery, and was confirmed by field sampling to contain medium (104 to 105 cells L-1) to high (>105 cells L-1) concentrations of the toxic Karenia brevis. The RCA imagery also showed that the bloom started in mid October south of Charlotte Harbor, and that it developed and moved to the south and southwest in the subsequent weeks. Our results show that the SeaWiFS data provides an unprecedented tool for research and managers to study and monitor algal blooms in coastal environments.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"66 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":"126221627","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":"Scripting language for state configured layered control of the Tethys long range autonomous underwater vehicle","authors":"M. Godin, J. Bellingham, B. Kieft, R. McEwen","doi":"10.1109/OCEANS.2010.5664515","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664515","url":null,"abstract":"A scripting language for state configured layered control of a long range autonomous underwater vehicle (AUV) is introduced. The XML-based language has been designed to meet the complex requirements for long-term autonomous operation. It does not require that mission planners be programmers, yet allows them to have a high degree of certainty at deployment that the robot will do what they want it to do. The script is simple to execute on the vehicle, both to minimize CPU power usage and to minimize the chance of failure due to complexity. Users do not need a high-fidelity model of the AUV to plan a mission, as the robot may change in unexpected ways over the course of the mission. Those who wish to do more advanced programming of mission commands and behaviors can do so in the script and are not able to crash the vehicle's operating system. To address these needs, the “Tethys script” state-configured layered control language has been developed.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"20 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":"125897171","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":"Hydroacoustics of a submarine eruption in the Northeast Lau Basin using an acoustic glider","authors":"H. Matsumoto, S. Stalin, R. Embley, J. Haxel, D. Bohnenstiehl, R. Dziak, C. Meinig, J. Resing, N. Delich","doi":"10.1109/OCEANS.2010.5664494","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664494","url":null,"abstract":"A 1000-m Slocum glider® (Teledyne Webb Research Corporation) with CTD, turbidity, and hydrophone sensors was operated for two days in the Northeast Lau Basin. The survey was conducted near West Mata Volcano, where in November of 2008 the NOAA PMEL Vents program observed an active eruption emanating from near its summit at 1207 m-the deepest submarine activity ever to be witnessed. Our goal was to use the glider as a forensic tool to search for other nearby eruption sites with onboard sensors that detect the chemical and hydroacoustic signatures associated with the volcanic and hydrothermal plumes. The glider was launched on May 6, 2010 at 15° 8'3.60\"S-174° 6'15.00\"W, approximately 40 km to the west of West Mata. It flew toward West Mata and was recovered near the summit of the volcano after repeating 13 yos during a 41-hour mission. Although the recordings were affected by mechanical noise from the glider's rudder, the data demonstrate that the system can detect the wide-band noises (>1 kHz) associated with submarine volcanic and intense hydrothermal activity. The glider recorded variable acoustic amplitudes based on its distance from West Mata and temporal variations in the volcano's rate of activity, and demonstrated that these geologic processes contribute to the region's high ambient noise levels.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"82 3 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":"129377741","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 compact passive acoustic monitor; a tool for marine mammal risk mitigation","authors":"V. Grandi, P. Guerrini, S. Biagini, T. Osse, W. Zimmer","doi":"10.1109/OCEANS.2010.5664560","DOIUrl":"https://doi.org/10.1109/OCEANS.2010.5664560","url":null,"abstract":"In recent years there is growing concern that the use of mid-frequency (1-10 kHz) tactical sonar may be causing atypical mass stranding of some species of whales. Beaked whales form a family of 21 species of mostly deep diving whales that range from 4 to 13 meters long with a characteristic `beak' similar to dolphins. The beaked whale species common in the Mediterranean Sea, the Cuvier's beaked whale (Ziphius cavirostris), seem uniquely vulnerable to the effects of mid-frequency sonar. These whales make deep dives (nearly 2000 m), typically lasting 20 to 30 minutes but as long as 85 minutes, and together with their minimal surface expression, make visual detection difficult. Although the detailed cause and effect of sonar-related whale strandings are still unknown and subject to intensive research, NURC has been developing a small towed system that not only detects deep-diving whales but also allows for real-time localization. The goal is to detect marine mammals in an area of acoustic experiments that involve high power sonar sources. The Compact Passive Acoustic Monitor (CPAM) lets researchers to monitor the environment with persistent data collection and results reporting. It uses advanced passive acoustic processing technology to capture and analyze very high frequency, short transient signals from marine mammals. A small volumetric array of four hydrophones together with depth and orientation sensors results in true three-dimensional direction finding. In this paper, we describe CPAM and some of the data obtained from engineering tests as well as a recent large-scale marine mammal survey cruise conducted in the Atlantic Ocean.","PeriodicalId":363534,"journal":{"name":"OCEANS 2010 MTS/IEEE SEATTLE","volume":"81 3 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":"121284325","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}