Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)最新文献_第3页

Image processing for remotely teleoperated robotic manipulator system for underwater operations 水下作业遥控操纵机器人系统的图像处理

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405630

Chung-Chang Wu, Chun-Jen Huang, Jung-Hua Wang

{"title":"Image processing for remotely teleoperated robotic manipulator system for underwater operations","authors":"Chung-Chang Wu, Chun-Jen Huang, Jung-Hua Wang","doi":"10.1109/UT.2004.1405630","DOIUrl":"https://doi.org/10.1109/UT.2004.1405630","url":null,"abstract":"Presents a method for providing the 3-D spatial information of an object targeted by a remotely teleoperated robotic manipulator system for underwater operations. We use two CCD cameras to capture the raw input picture containing the target object. In order to cope with the rapidly changing undersea environment, we apply the fast image segmentation approach that incorporates watersheds analysis and SFT (Synchronous Feature Tuning) merging algorithm to accurately extract the object. In addition, in order to determine the center coordinates of the target object, a red-light laser is used to pinpoint the object, roughly at the center of the object. The red-light laser points on the two pictures are recognized and the corresponding 2-D coordinates of the two points are calculated. Based on the 2-D coordinates thus obtained, we employ the binocular stereo correspondence technique to determine the 3-D coordinates of the object. The experimental result has shown that, at one meter away from the remotely teleoperated robotic manipulator system, an error rate less than 3% can be achieved.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"18 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":"123429071","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: 1

Wave making properties of circular basin 圆形盆地的造波特性

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405603

K. Maeda, N. Hosotani, K. Tamura, H. Ando

{"title":"Wave making properties of circular basin","authors":"K. Maeda, N. Hosotani, K. Tamura, H. Ando","doi":"10.1109/UT.2004.1405603","DOIUrl":"https://doi.org/10.1109/UT.2004.1405603","url":null,"abstract":"It is always necessary to take the influence of reflected waves into consideration in a tank experiment. Under existing influence of reflected wave, it is difficult to make the target waves. However, if the boundary of basin can absorb reflected waves completely, it is possible to make waves simulating the infinite ocean wave in a small basin. National Maritime Research Institute completed the deep-sea basin in April 2002. This basin consisted of two parts, the circular basin and the deep pit with 6 m diameters. The circular basin was an upper part of the deep-sea basin and it was based on this idea. 128 sets of wave generators were arranged around the basin. Each generator moves to make a wave, and compensates a reflected wave simultaneously. It is possible to make various types of waves by combining a motion of wave generators. In order to investigate the wave making properties of circular basin, wave height distribution of regular wave, change of wave height and phase angle, and power spectrum and distribution function of irregular wave were measured. consequently, if a scale of model and a wave frequency were selected adequately, it was proved that this basin could provide a long-sustained measurement","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"9 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":"130864270","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: 18

Simulation of power feeding system for the mesh-like scientific underwater cable network ARENA 网状科学水下电缆网络ARENA馈电系统仿真

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405614

J. Kojima, K. Asakawa

引用次数: 6

Structure tracing with a ranging system using a sheet laser beam 利用片状激光束的测距系统进行结构跟踪

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405483

H. Kondo, T. Maki, T. Ura, Y. Nose, T. Sakamaki, M. Inaishi

{"title":"Structure tracing with a ranging system using a sheet laser beam","authors":"H. Kondo, T. Maki, T. Ura, Y. Nose, T. Sakamaki, M. Inaishi","doi":"10.1109/UT.2004.1405483","DOIUrl":"https://doi.org/10.1109/UT.2004.1405483","url":null,"abstract":"Autonomous Underwater Vehicles (AUVs) are suitable for condition survey of artificial structures such as pillars and caissons in harbors. The authors have developed a method to investigate the structures using AUVs. The method has been successfully demonstrated in tank tests and sea trials as reported in the previous papers. Since the ranging system in this method used an array of pinpoint lasers, it is oversensitive to noise, for example small obstacles and floating particles. This paper describes a method to trace the structure's surface using a sheet laser beam that overcomes the difficulties previously encountered. This ranging system determines the continuous shape of the target objects over a wide area by light-sectioning. The vehicle navigates referencing the principal shape of the structure, tracing its surface while taking video images. The method is implemented using testbed AUV \"Tri-Dog 1\" and verified by tank tests. It is proved that the new method is more robust against noise and trivial objects than the previous method that used a pinpoint laser ranging system. This ranging system can also be used for 3D mapping of the surface and bottom structure.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"37 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":"114463798","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: 17

Nonlinear internal wave study during ASIAEX ASIAEX期间的非线性内波研究

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405557

A. Liu, Y. Zhao, T. Tang, M. Hsu

{"title":"Nonlinear internal wave study during ASIAEX","authors":"A. Liu, Y. Zhao, T. Tang, M. Hsu","doi":"10.1109/UT.2004.1405557","DOIUrl":"https://doi.org/10.1109/UT.2004.1405557","url":null,"abstract":"In recent Asian Seas International Acoustics Experiment (ASIAEX), extensive moorings have been deployed around the continental shelf break area in the northeast of South China Sea in May 2001. Simultaneous RADARSAT SAR images have been collected during the field test to integrate with the in situ measurements from moorings, ship-board sensors, and CTD castings. Besides providing synoptic information, satellite imagery is very useful for tracking the internal waves, and locating surface fronts and mesoscale features. During ASIAEX in May 2001, many large internal waves were observed at the test area and were the major oceanic features for acoustic volume interaction. Based on the internal wave distribution maps compiled from satellite data, the wave crest can be as long as 200 km with an amplitude of 100 m. Environmental parameters have been calculated based on extensive CTD casts data near the ASIAEX area. Nonlinear internal wave models have been applied to integrate and assimilate both SAR and mooring data. The shoaling, turning, and dissipation of large internal waves on the shelf break, elevation solitons, and wave-wave interaction have been studied and are very important issues for acoustic propagation. The internal wave effects on acoustic modal coupling has been implicated and discussed.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"31 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":"128794298","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

Matched field processing: analysis of feature extraction method with ocean experimental data 匹配场处理:海洋实验数据特征提取方法分析

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405527

Kyungseop Kim, W. Seong, Cheokyung Lee

引用次数: 3

Future view of advanced investigation and construction work in port area 对港区勘察建设工作的展望

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405604

J. Akizono, T. Tanaka, H. Sakai, T. Hirabayashi, T. Yamamoto, M. Utsumi, K. Shirai

引用次数: 2

Multiple sensors based navigation scheme for AUV position estimation 基于多传感器的水下航行器定位方案

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405544

B. Kalyan, Arjuna Balasuriya

引用次数: 9

Geotechnical characteristics of seafloor massive sulfides and cobalt-rich manganese crusts and their influences on design of the mining systems 海底块状硫化物和富钴锰结壳的岩土力学特征及其对采矿系统设计的影响

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405616

T. Yamazaki

引用次数: 0

Acoustic point-source reflection from a seabed with a non-uniform fluid-like sediment layer 具有非均匀流体样沉积层的海底声点源反射

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI: 10.1109/UT.2004.1405562

Jin-Yuan Liu, C. Chu, Yung-Hong Wu, Hsin-Yu Chen, Tiffany Yeh

{"title":"Acoustic point-source reflection from a seabed with a non-uniform fluid-like sediment layer","authors":"Jin-Yuan Liu, C. Chu, Yung-Hong Wu, Hsin-Yu Chen, Tiffany Yeh","doi":"10.1109/UT.2004.1405562","DOIUrl":"https://doi.org/10.1109/UT.2004.1405562","url":null,"abstract":"Acoustic point-source reflection from a non-uniform seabed within which the density and sound speed vary continuously with depth is considered in this paper. This fundamental problem has illuminated many interesting phenomena about the effects of sediment stratification on acoustic wave interactions with the seabed. The analysis employs the analytical solutions for the Helmholtz equation in the sediment layer, in which the density and the sound speed are, respectively, described by three kinds of geological models. The results have demonstrated that the effects of sediment stratification are confined in a region in range, where the reflection field is dominated by the reflected ray bundles containing ray components with the grazing angles that are neither too steep nor too shallow. The effects of many other factors, such as frequency, sediment thickness, basement elasticity, on the reflection field are investigated; in particular, the interface wave component may become important in the region close to the sea-bed, if the sediment thickness is relatively thin in comparison with the acoustic wave length","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"66 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":"126633489","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: 1