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Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)最新文献

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Solar and wave powered AUV concept 太阳能和波浪动力AUV概念
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852530
M. Ageev
{"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}
引用次数: 4
Tuba II-a compact multi-frequency sonar suited to use in autonomous or towed platforms for the study of upper-ocean zooplankton distribution and abundance Tuba ii -一种紧凑的多频声纳，适用于自主或拖曳平台，用于研究上层海洋浮游动物的分布和丰度
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852585
N. Crisp, A. Harris
{"title":"Tuba II-a compact multi-frequency sonar suited to use in autonomous or towed platforms for the study of upper-ocean zooplankton distribution and abundance","authors":"N. Crisp, A. Harris","doi":"10.1109/UT.2000.852585","DOIUrl":"https://doi.org/10.1109/UT.2000.852585","url":null,"abstract":"TUBA is a towed undulating bio-acoustic instrument, developed at the Southampton Oceanography Centre, to enable the study of zooplankton using seven frequencies covering the range 175 kHz to 2.4 MHz. In TUBA II a significant advancement is the adoption of the 2-wire I/sup 2/C serial communications protocol to allow configuration and control of the instrument over as much as 1300 m of cable. This allows the control of parameters including receiver filter Q and bandwidth, transmit power, pulse width, transmission centre frequencies, and routing of test signals through the receiver stages to check internal noise levels and filter responses. As well as allowing greater control of the unit during scientific experiments, we have greater control during calibration exercises whether in the laboratory, or at sea. Further improvements include new wideband linear power amplifiers, improved receiver circuitry and filtering, and redesigned transducers using modern composite materials for greater sensitivity at the higher frequencies.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"5 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":"127821383","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}
引用次数: 5
A stereoscopic ranging system using standard PC technology 采用标准PC技术的立体测距系统
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852535
N. Nelissen, R. Koch, A. Duncan
{"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}
引用次数: 0
Highly compact fiber optic gyrocompass for applications at depths up to 3000 meters 高度紧凑的光纤陀螺仪，可用于深度达3000米的应用
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852533
T. Gaiffe, Y. Cottreau, N. Faussot, G. Hardy, P. Simonpiétri, H. Arditty
{"title":"Highly compact fiber optic gyrocompass for applications at depths up to 3000 meters","authors":"T. Gaiffe, Y. Cottreau, N. Faussot, G. Hardy, P. Simonpiétri, H. Arditty","doi":"10.1109/UT.2000.852533","DOIUrl":"https://doi.org/10.1109/UT.2000.852533","url":null,"abstract":"Octans is a fiber-optic gyrocompass with an integral motion sensor developed by Photonetics for demanding marine applications. In contrast with conventional gyrocompasses relying on a spinning gyroscope, Octans has no moving parts and utilizes instead three fiber optic gyroscopes (FOG) and three quartz accelerometers. The FOG technology is based on the relativistic Sagnac effect: light travels in opposite directions into a fiber optic coil, and interferes at the output with a phase-shift proportional to the rotation rate. Moreover, three accelerometers measure, after Schuler filtering, the local gravity vector. As the FOGs are enough accurate (typically a bias stability of 0,05 /spl deg//h), the observation of the gravity slow drift in the inertial space allows one to determine the Earth axis, thus the North direction. In addition, the real three-axis architecture allows Octans to act as a marine motion sensor and compute the complete attitude of the vessel in terms of roll, pitch, heave, surge and sway. Because of a specific algorithm, Octans is able to find the true heading without any help in three minutes even at sea. This system is obviously ideal for ROVs and AUVs applications: low power consumption, compact, light box and very low settling time.","PeriodicalId":397110,"journal":{"name":"Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418)","volume":"38 5 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":"130842225","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}
引用次数: 40
The real-time expert control system for 6000 m deep towed system 6000m深拖曳系统实时专家控制系统
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852603
Hao Liang, Luyi Zhang, Jimao Zhu
{"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}
引用次数: 0
Preliminary comparison of physical and numerical simulations of hydrodynamic forces on underwater vehicles 水下航行器水动力物理模拟与数值模拟的初步比较
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852591
T. Curtis
{"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}
引用次数: 0
Analytical formulation of AUV unpowered diving steady motion AUV无动力潜水定常运动解析公式
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852537
L. Zhengyuan, X. Qinan, L. Tao, C. Jianping
{"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}
引用次数: 4
Nonlinear variable structure double mode control of AUV 水下航行器非线性变结构双模控制
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852582
Xue Demin, Yan Weisheng, Shi Yang
{"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}
引用次数: 2
Deep-sea borehole re-entry with fiber optic wireline technology 利用光纤电缆技术进行深海钻孔再入
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852575
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}
引用次数: 4
Inspection of submarine cable of over 400 km by AUV 水下航行器检查400公里以上海底电缆
Proceedings of the 2000 International Symposium on Underwater Technology (Cat. No.00EX418) Pub Date : 2000-05-23 DOI: 10.1109/UT.2000.852529
T. Asai, J. Kojima, K. Asakawa, T. Iso
{"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}
引用次数: 12
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