Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)最新文献

{"title":"Technical advances in the Naval Meteorology and Oceanography program","authors":"E. Gough","doi":"10.1109/UT.2004.1405642","DOIUrl":"https://doi.org/10.1109/UT.2004.1405642","url":null,"abstract":"The challenge of the Naval Meteorology and Oceanography Command is to assess and predict the world's most diverse operating environment and translate its impact on military defense areas - aviation, maritime operations, expeditionary/special operations and undersea/surface/mine operations. The command seeks continual improvement in its core competencies to provide meteorology and oceanography geospatial information -in order to provide safety of navigation and turn environmental information into combat power. In recent years, the Navy has reinvigorated its METOC program through advanced training programs, numeric modeling, state of the art survey ships, airborne lidar surveys, autonomous underwater vehicles and rapidly deployable fleet survey teams. This presentation describes the role of new technologies in Navy Oceanography.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120886492","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":"Sonar based automatic target detection scheme for underwater environments using CFAR techniques: a comparative study","authors":"B. Kalyan, Arjuna Balasuriya","doi":"10.1109/UT.2004.1405465","DOIUrl":"https://doi.org/10.1109/UT.2004.1405465","url":null,"abstract":"A sonar detection scheme is presented using Constant False Alarm Rate (CFAR) techniques. The proposed system has the following advantage. The technique yields unbiased estimates under a non-homogenous underwater environment, because the false alarm rate is maintained at a constant level while the threshold changes with different underwater environments in the presence of interfering targets. A mathematical analysis is also being done for different CFAR processors with the interest on the CFAR losses. Average decision threshold (ADT) is used as a measure.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121193245","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":"Application of quasi-orthogonal sequence in underwater acoustic DSSS communication system","authors":"Shun-Hsyung Chang, Cheng-Hung Weng, Jiang-Yao Chen","doi":"10.1109/UT.2004.1405511","DOIUrl":"https://doi.org/10.1109/UT.2004.1405511","url":null,"abstract":"This article deals with the performance of quasi-orthogonal sequence in underwater acoustic direct sequence spread spectrum communication. A code division multiple access communication system adopting quasi-orthogonal sequences as short code is considered. The capability of a quasi-orthogonal sequence in combating intersymbol interference and multiple access interference is discussed and the capacity of the system is calculated. Computer simulation showed that the quasi-orthogonal sequence is more robust in an underwater acoustic channel.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131291065","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 study of remotely teleoperated robotic manipulator system for underwater construction","authors":"Chung Cheng Chang, Jung Hwa Wang, C. Lin, M. Jeng, Chia Yuan Chang, C. Wu, W. Hsu, Chung Chi Lee, Bon Long Fang","doi":"10.1109/UT.2004.1405573","DOIUrl":"https://doi.org/10.1109/UT.2004.1405573","url":null,"abstract":"Most commercial underwater manipulators to date belong to master-slave type. The disadvantage of the system is that it requires the operator be well trained and fully skilled. Hence a robot manipulator system with high intelligence should be developed to fulfill the need of less-skilled or even non-skilled operators. In response to the above needs, we have designed and implemented an intelligent underwater robotic manipulator system to enhance the capability of the robotic manipulator. This developing system consists of a manipulator, a distance measurement system, water-proof camera, computer, interface technology and task planning technology etc. The system is constructed as a windows-guided, supervisory underwater robotic manipulator system. The underwater manipulator was designed and fabricated to be an articulate type robot with five rotary joints, including waist, shoulder, elbow, wrist-pitch, and wrist-roll motion. The system consists four subsystems to facilitate the intelligence behavior of the robotic system. The modules include a task planning module, an image process and identification module a distance measurement module, and a motion planning and control module. A prototype of teleoperated underwater robotic manipulator systems has been setup. The finished prototype underwater manipulator system have been used as a test station for underwater operation, to crip and more a object. The set up system is hanged under a manipulator is installed on the 6 degrees of freedom rotation platforms to simulate ROV motion under sea. The remotely teleoperated robot manipulator system hanged under the 6 degrees of freedom rotation platform can finish a underwater construction. To demonstrate the ability of the underwater robotic manipulator system, we designed an experiment for the underwater manipulator under the 6 degrees of freedom rotation platforms to simulating ROV under sea to accomplish an object crip under water with robotic system. The task planning module incorporated with the commands from the control panel, forms the highest control level of the system. In the manipulator system, the image module functions as a pre-process. It deals with tasks such as extracting target objects from CCD-images, and more importantly, providing information needed by the planning module. In distance measurement module, we have test ultrasonic and laser distance measurement system to offer main system accuracy distance information. In the motion planning and control module, the coordinates of the target position are obtained from the task planning module, then the inverse kinematics of the manipulator is performed to derive the joint angle for each joint.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133999170","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":"Development of noise reduction algorithm for underwater signals","authors":"Chu-Kuei Tu, Yanyu Jiang","doi":"10.1109/UT.2004.1405524","DOIUrl":"https://doi.org/10.1109/UT.2004.1405524","url":null,"abstract":"The underwater acoustic signal is affected by ocean interference and ambient noise disturbance during its propagation in ocean. Therefore, the signals reveal random process and time varying characteristics. In order to distinguish the weakened signal caused by the loss of long distance propagation, the received signal must be processed properly. During the research, a sophisticated procedure is developed for de-noising the signal automatically, the procedure consists of three parts: firstly, wavelet transformation of the underwater acoustic signals. Secondly, threshold of wavelet coefficients. Thirdly, inverse wavelet transformation of reconstructing the modified signals. Central to this research is the problem of de-noising which makes use of the genetic algorithms to find the optimal threshold value for the shrinking of wavelet coefficients. Two different noisy signals are used to examine the goodness of the varied designs for doing de-noise of signals. The first type is artificial signals. The second type is the actual underwater acoustic signal. In order to evaluate the effect of the proposed method, the criteria of mean-square error and signal to noise ratio are used to evaluate the result of the de-noising, for comparison purpose two existing de-noising methods are used in demonstration. The outcome of demonstration shows that the proposed method can achieve good performance on underwater signal de-noising.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125631386","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":"Geophysical observations at the ocean bottom","authors":"J. Kasahara","doi":"10.1109/UT.2004.1405459","DOIUrl":"https://doi.org/10.1109/UT.2004.1405459","url":null,"abstract":"Trench systems surrounding the circum Pacific Ocean are the subduction zones of the oceanic plates according to plate tectonics. These subduction zones are the source regions generating large earthquakes which caused huge damage in Japan and Taiwan. Seismological studies during three decades suggest that these earthquakes are caused by frictional slip between the subducting oceanic plate and the continental plate. If we can monitor any precursory slips at the plate boundary prior to the large earthquakes, it may be possible to reduce the earthquake damage. The precursory seismic activities and/or slip can be observed by seismometers, and/or geodetic instruments at the ocean bottom. In order to monitor the seismic activity at deep ocean, we developed free-fall-pop-up digital ocean bottom seismometers (OBSs). In addition to non-real time seismic observation using free-fall-pop-up OBSs, submarine cable OBSs enabling real-time observation have been used. There are many scientific submarine cable systems in Japan. Each submarine cable system is nearly 100 km long. Some use optical fibers and others use coaxial cables. We also examined the possibility of using decommissioned telecommunication submarine cables. The GeO-TOC cable OBS located at the 2800 m depth of ocean bottom along the Izu-Bonin Trench was operated for 5 years and brought important seismic and hydrophone data to the Japanese seismic network continuously. The VENUS cable system using the GOGC submarine cables was the test system deployed off Okinawa Island and operated for two months. It was an interdisciplinary ocean bottom observatory. In USA and Canada, the NEPTUNE (North East Pacific Time-series Undersea Networked Experiment) project is intending to install scientific submarine cables systems near Vancouver Island, Monterey Bay and off Cascadia-Juan de Fuca. In Japan, the ARENA project has been proposed. To make such a project economical and successful, international cooperation is requested because the branching from the main submarine cable needs a technological breakthrough. The development of power supply systems, undersea mateable connectors and a fail safe system are key points. This development of new technologies may greatly contribute to the ocean engineering field.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117184289","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":"Plane-based calibration for multibeam echo sounder mounting angles","authors":"C.C. Wang, Z.W. Her, K. Yang, C.P. Lee, S. Shyue","doi":"10.1109/UT.2004.1405622","DOIUrl":"https://doi.org/10.1109/UT.2004.1405622","url":null,"abstract":"In this work, we propose best fitting a small patch of sounding data collected by multibeam sonar to represent the seafloor right beneath the survey path. A pair of such patches obtained from two adjacent reciprocal or perpendicular survey paths are selected for comparison. The inconsistency between the two patches, or a false feature, gives us an idea how the mounting parameters of the multibeam system, i.e., the rolling, pitching and yawing angles, might be. If the parameters are accurately estimated, the two patches should be co-plane. We design three feedback iteration algorithms to steer the mounting angles to search for the unknown offset values. We test this idea with field data. The contour plots based on this method and with the angles calibrated by commercial software, such as Hysweep are compared. The performance of our proposed algorithms looks promising in this preliminary study.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125125363","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":"Precision maneuvering of underwater robot by mechanical pectoral fins","authors":"N. Kato, Y. Ando, T. Shigetomi","doi":"10.1109/UT.2004.1405588","DOIUrl":"https://doi.org/10.1109/UT.2004.1405588","url":null,"abstract":"This paper describes the experimental results in the guidance and control of an underwater robot equipped with 2 pairs of the oscillating fins in water currents. The robot can be guided from a far point to an underwater post and docked with it in water currents flowing perpendicularly to the course under some circumstances. The robot also can perform an inspection task around a circular cylinder in water currents keeping the distance to the wall of the cylinder and directing the heading to the center of the cylinder to some extent","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124044850","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 alarms to reduce cetacean by-catch","authors":"B. Woodward","doi":"10.1109/UT.2004.1405586","DOIUrl":"https://doi.org/10.1109/UT.2004.1405586","url":null,"abstract":"Acoustic alarms, otherwise known as beacons or pingers, are designed to transmit certain sound patterns underwater as a deterrent effect on cetaceans in the vicinity of fishing nets. The device presented here has been successfully tested in Scotland and Denmark and has been shown to reduce the by-catch of harbour porpoises during a commercial fishing trial","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126814800","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 video mosaicing using AUV and its application to vehicle navigation","authors":"H. Sakai, T. Tanaka, T. Mori, S. Ohata, K. Ishii, T. Ura","doi":"10.1109/UT.2004.1405628","DOIUrl":"https://doi.org/10.1109/UT.2004.1405628","url":null,"abstract":"Underwater mosaic images have important information to survey the ocean floor, creatures, inspection of underwater structures, etc. Usually, the image acquisition of the underwater environment is performed by the human operators in the support vessels using remotely operated vehicles (ROVs) and towed fishes. However, the tasks have difficulties caused by their operating environment and poor visibility. This paper describes an underwater video mosaicing system using an autonomous underwater vehicle (AUV).","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"56 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113968530","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}