{"title":"Installation of high precision seismometer unit at the Ryukyu Trench using Guam-Okinawa geophysical submarine cable (GOGC: FOMER TPC-2 cable)","authors":"J. Kasahara, K. Kawaguchi, R. Iwase, Y. Shirasaki","doi":"10.1109/UT.2000.852573","DOIUrl":"https://doi.org/10.1109/UT.2000.852573","url":null,"abstract":"An ocean bottom broadband seismometer (OBBS) was installed 2170 m deep on the slope of the Ryukyu Trench with other sensors through the VENUS project. Prior to the installation of the OBBS unit, the bottom telemetry system, which supplies electrical power to the instruments, telemetry system and cable was installed on the ocean bottom by a method similar to cable repair works. Since broadband seismometers are extremely fragile, it was handled with special care. The installation of the seismometer was done by use of a deep-tow system and the ROV Kaiko-10 K. In September 1999, the OBBS unit was deployed at the target position, at 80-meter from the bottom telemetry system, with several meters allowances using a deep-tow system. To install the instrument at the exact location, the mother ship of the deep-tow system was precisely navigated. The connecting cable and eight weights were also dropped from the deep-tow system. The ROV Kaiko-10 K extended the 100 m-long connecting cable from the seismometer to the junction box and connected it to the junction box. The OBBS unit collected one and half month records. Several significant earthquakes near Japan, in Taiwan and San Francisco have been observed since the installation.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"189 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115423508","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}
H. Fujimoto, K. Koizumi, M. Watanabe, A. Oshida, T. Furuta, N. Takamura, T. Ura
{"title":"Underwater gravimeter on board the R-One robot","authors":"H. Fujimoto, K. Koizumi, M. Watanabe, A. Oshida, T. Furuta, N. Takamura, T. Ura","doi":"10.1109/UT.2000.852559","DOIUrl":"https://doi.org/10.1109/UT.2000.852559","url":null,"abstract":"We have developed a compact gravimeter for measurement on board an AUV called R-One Robot. The gravity sensor is a special model of Scintrex gravimeter CG-3M with operating range of 27 gals. The gravity sensor is stabilized with signals from an optical gyroscope. The gravimeter has been tested and examined on a diagnostic table and surface ships anchored in a harbor as well as on the R-One Robot. Resolution of gravimetry is the order of 1 mgal (10/sup -6/ G); a few problems remain to be solved.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121564710","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":"Solar and wave powered AUV concept","authors":"M. Ageev","doi":"10.1109/UT.2000.852530","DOIUrl":"https://doi.org/10.1109/UT.2000.852530","url":null,"abstract":"Performances of solar powered AUV, evidently, depend on available solar energy. Low efficiency of industrially produced solar panels (10-16%) affords sufficient amount of energy at low latitudes and does not at high latitudes of about 50 degrees and more. On the contrary, available wave energy distribution increases with latitude. A similar relation of solar and wave energies applies to their seasonal variations. Hence, combination of solar and wave energies promises more efficient use of the vehicle at all latitudes during the whole year period. Converters of wave energy to electrical energy are usually cumbersome mechanical structures unsuitable for installation on AUV. It is more reasonable to use the wave energy for vehicle's motion. In this case a very fortunate situation occurs. The best shape for solar vehicle being a wing, and it being possible to transform wave oscillations to forward movement using three fixed wings, the demands of efficient solar powered and wave driven vehicles fully coincide. These relationships are considered in the paper and some resulting data are given.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"156 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122561022","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 stereoscopic ranging system using standard PC technology","authors":"N. Nelissen, R. Koch, A. Duncan","doi":"10.1109/UT.2000.852535","DOIUrl":"https://doi.org/10.1109/UT.2000.852535","url":null,"abstract":"A stereoscopic ranging system is currently being developed as a key source of positional information for an underwater ROV station keeping system. Advancements in PC technology make it possible to use a relatively simple image capture card and a PC as a platform for the fast capture and processing of video images. We make use of the extensive capabilities of fast data buses and the high processing power of fast PCs with Pentium II or III processors. Using this approach we are developing an image processing system that is largely manufacturer independent and promises a good path for both hardware and software upgrading in the future.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133112836","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 real-time expert control system for 6000 m deep towed system","authors":"Hao Liang, Luyi Zhang, Jimao Zhu","doi":"10.1109/UT.2000.852603","DOIUrl":"https://doi.org/10.1109/UT.2000.852603","url":null,"abstract":"The 6000 m deep towed system is used in exploring and exploiting manganese which is deposited in the seabed over 5000 m underwater. In the paper, the real-time expert control system is employed to deal with the movement control problems of the 6000 m deep towed system. First, the dynamic motion process of the 6000 m deep towed system is analyzed. Then, the real-time expert control system is used in depth control of the 6000 m deep towed system. Finally, the results in depth control of the 6000 m deep towed system are discussed. Compared with a PID controller, the real-time expert control system gives significant robustness to disturbances and uncertainties.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130888183","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":"Preliminary comparison of physical and numerical simulations of hydrodynamic forces on underwater vehicles","authors":"T. Curtis","doi":"10.1109/UT.2000.852591","DOIUrl":"https://doi.org/10.1109/UT.2000.852591","url":null,"abstract":"During cruising and maneuvering, the hydrodynamic loads induced on underwater vehicles can be readily modeled and calculated using numerical (virtual) tanks. However, the results obtained from any numerical simulation should not be completely trusted unless satisfactory validation and quality assurance of the numerical results are obtained. To achieve a high degree of confidence in a virtual tank, the numerical results must be compared with experimental data (either laboratory or field data). The main goal of the paper is to present direct comparisons between the numerical results obtained from explicit finite element simulations and the results of physical model tests. The numerical simulations were conducted using a combination of two packages of commercial software, the ANSYS and LS-DYNA finite element codes. The physical experiments were conducted using the Marine Dynamic Test Facility, at the Institute for Marine Dynamics of the National Research Council of Canada.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134214116","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":"Analytical formulation of AUV unpowered diving steady motion","authors":"L. Zhengyuan, X. Qinan, L. Tao, C. Jianping","doi":"10.1109/UT.2000.852537","DOIUrl":"https://doi.org/10.1109/UT.2000.852537","url":null,"abstract":"The mathematical model of AUV unpowered diving motion was modeled on the basis of an unpowered unrestrained model test. By analyzing the characteristics of the steady motion, it can be concluded that the diving depth rate U/sub z/ and trimming angle /spl theta/ are important parameters to describe the steady motion. The analytical expressions of the diving depth rate U/sub z/ and trimming angle /spl theta/ are obtained, then U/sub z/ and /spl theta/ can be determined quickly and precisely. This method provides great convenience in practical applications.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134330655","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":"Nonlinear variable structure double mode control of AUV","authors":"Xue Demin, Yan Weisheng, Shi Yang","doi":"10.1109/UT.2000.852582","DOIUrl":"https://doi.org/10.1109/UT.2000.852582","url":null,"abstract":"In order to achieve fast response and no chattering, a nonlinear variable structure double mode controller for SISO systems is presented and applied in three channels control for AUV. This controller employs the nonlinear sliding-mode control which possesses the \"quasi-time-optimal-switching-surface\" when the state is far from the equilibrium point, and can be automatically turned into linear sliding mode controller which possesses the integral type linear switching surface when the state is near the equilibrium one. It is believed that this controller has the following distinguishing features: 1) nearly time-optimal response speed, 2) very small overshoot, 3) no static error, and 4) no chattering.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115664454","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}
C. D. de Moustier, F. Spiess, D. Jabson, P. Jonke, G. Austin, D. Price, R. Zimmerman
{"title":"Deep-sea borehole re-entry with fiber optic wireline technology","authors":"C. D. de Moustier, F. Spiess, D. Jabson, P. Jonke, G. Austin, D. Price, R. Zimmerman","doi":"10.1109/UT.2000.852575","DOIUrl":"https://doi.org/10.1109/UT.2000.852575","url":null,"abstract":"In September 1999, the Marine Physical Laboratory's control vehicle (CV) was deployed on a 17.3 mm armored electro-optical tow cable to retrieve 300-600 m long instrument strings from deep-sea boreholes drilled near the Juan de Fuca Ridge by the Ocean Drilling Program (ODP). The CV was used also to deposit heavy instruments near the well heads for subsequent operations by the research submarine Alvin, and to re-enter and log ODP hole 1026B. The wireline technology and techniques used for this work are described in this paper. In particular, re-entry operations involved lowering a 5 m long probe, about 7 cm in diameter, into the 9 cm opening diameter of the hole's circulation obviation retrofit kit in 2600 m of water depth. Grappling and re-entry operations were made possible by a combination of dynamic positioning of the ship, long baseline acoustic navigation of the CV and of the probe, and real-time video through fiber optic telemetry on the tow cable.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128408590","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":"Inspection of submarine cable of over 400 km by AUV","authors":"T. Asai, J. Kojima, K. Asakawa, T. Iso","doi":"10.1109/UT.2000.852529","DOIUrl":"https://doi.org/10.1109/UT.2000.852529","url":null,"abstract":"Inspection of submarine cable of over 400 km was carried out by a latest autonomous underwater vehicle (AUV) name AQUA EXPLORER 2 (AE2) in Taiwan Strait in the last summer. Because of the strong current in the Strait, AUV were expected as the most cost effective tool for inspection. AE2 measured cable burial depth and took pictures of the seafloor. This paper will describe the results of operation of AE2 in Taiwan Strait.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126659698","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}