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

{"title":"Development of underwater ultrasonic positioning system for construction machines","authors":"K. Shirai, J. Akizono, T. Hirabayashi","doi":"10.1109/UT.2004.1405510","DOIUrl":"https://doi.org/10.1109/UT.2004.1405510","url":null,"abstract":"The construction and maintenance of port facilities are carried out by the human labor of divers. Mechanization of underwater work is necessary for safer and more efficient operation of large-scale port construction work. To satisfy the underwater construction standards by machine work, high accuracy positioning technology that has accuracy of /spl plusmn/10 cm or less is required in a rather narrow area for port construction work. However, conventional ultrasonic positioning devices such as LBLs and SBLs target at wide area positioning and have accuracy of 50-60 cm at least. The main factors of such accuracy of the conventional system are caused by the measurement error of the sound propagation time from responders to receivers and the incorrectness of the average sound velocity in the propagation path. Therefore, to achieve the positioning accuracy less than /spl plusmn/10 cm in the arrangement that receivers can be equipped on a work vessel, we have developed the new type underwater positioning system. This system consists of 3 responders on the underwater construction machine and 4 receivers on the work vessel. The 4 receiver system can give information about the mean sound velocity required for calibrating the distance between responders and receivers. To improve the measurement accuracy of propagation time, the system employs the ultrasonic signal modulated by M-sequence. To confirm the basic performance and potential advantages of this positioning system, numerical simulation has been performed. In this simulation, accuracy of the system and the required length of the base line have been calculated. The simulation has shown that the proposed system has higher accuracy than conventional system and base line longer than 5.9 m is required in order to achieve the measurement accuracy of /spl plusmn/10 cm or less when the underwater construction machine moves within 20 m in radius from work vessel. These results have been verified with several tank tests using one transmitter/receiver. In the next step, we develop prototype ultrasonic positioning system, and demonstrate the absolute positioning of the underwater machines, combined with GPS in the real sea.","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":"128641847","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":"Long term seafloor observatory for deep sea research","authors":"Xinsheng Yu, S. Zhai, Z. Cao, Dejun Gong, Shiren Li","doi":"10.1109/UT.2004.1405497","DOIUrl":"https://doi.org/10.1109/UT.2004.1405497","url":null,"abstract":"The last decade has showed that there is a great interest in physical, biological, geophysical and chemical processes of deep sea research. A wide variety of monitoring systems have developed and used to perform the surveying, sampling, and manipulation tasks to quantitative oceanographic science. In most cases, in-situ results are likely to be less biased, compared to the methods of bringing the samples to the surface of the ship. On the other hand, it is required for a scientist to understand the long term vibration both in time scale and spatial scale. The field observatory is a self-contained system that not only can operate autonomously under water for a long period (1 month to 1 year), but also have the capability to cover temporal changes. We reported the design work of GeoVent (Geochemistry, Oceanographic and hydrothermal Vent Observations), a seabed observatory developed in China. This system consists of power supply, data acquisition and control unit, and multi sensors can automatically operate under potentially hazardous conditions. An acoustic modem is attached to allow the system to send the data back to the surface in real time. A detailed description of the prototype of GeoVent is presented. It is shown that it is an ideal tool for deep ocean science, by combining the different sensor packages. The capabilities and limitation of the in situ observation methods are also discussed.","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":"130283285","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":"Expanded interferometry and synthetic aperture applied to a side scanning sonar for seafloor bathymetry mapping","authors":"A. Asada, T. Ura, H. Koyama, T. Sakamaki, Y. Nose, T. Obara, K. Nagahashi","doi":"10.1109/UT.2004.1405472","DOIUrl":"https://doi.org/10.1109/UT.2004.1405472","url":null,"abstract":"A new designed Autonomous Underwater Vehicle r2D4 for operation to 4,000 meters was built for the purpose of seafloor mapping on the oceanic ridge having hydrothermal activity in July 2003. An expanded interferometry sonar with operating frequencies of 100 kHz was installed on the AUV for high resolve bathymetry mapping, not to mention the backscatter imaging. In effect, the interferometry sonar is simply composed of three hydrophones, which are arranged at intervals of three and thirteen wavelengths in the L-shape at each side, in addition, to a side scanning sonar Klein System 2000 with operating frequencies of 100 kHZ and 500 kHz. It explains features of low cost and low power consumption. An initial survey test of the AUV was carried out up to 500 meters deep off Ryotsu port of Sado Island in July 2003. In advance of the sea test of the AUV, a test of the interferometry sonar with the barge had been carried out. L-shape array of hydrophones enables us to make a phase difference measurement successfully with high resolution. It follows that a detailed swath bathymetry was brought about. Consequently, a seafloor mapping was carried out to reveal the detail topography on the top of Kuroshima knoll in the vicinity of Okinawa islands in December 2003. The AUV is installed with the PHotonic Inertial Navigation System (PHINS), which provides inertial navigation and motion measurements of the AUV. Furthermore, since the AUV is able to move underwater very stably along planed courses, it is a proper platform in materializing the synthetic aperture of the side scanning transducers. We have been devoting ourselves to process the observation data. As a result, the synthetic aperture technique was very useful for the improvement of the seafloor bathymetry mapping as expected.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"52 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":"127928842","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":"Routine seafloor geodetic observation around Japan","authors":"M. Mochizuki, M. Fujita, M. Sato, Z. Yoshida, T. Yabuki, A. Asada","doi":"10.1109/UT.2004.1405619","DOIUrl":"https://doi.org/10.1109/UT.2004.1405619","url":null,"abstract":"Institute of Industrial Science, University of Tokyo and the Hydrographic and Oceanographic Department, Japan Coast Guard have been jointly developing the seafloor geodetic observation network around Japan. The seafloor reference points have been distributed along the major trenches, such as the Japan trench and the Nankai trough. A total of 16 seafloor geodetic reference points have been deployed by the end of 2003. We have visited the seafloor reference points repeatedly in order to make measurements. Although we reached certain level with the already existing system, we come up with the possible improvements of the system as we accumulate the experience of the observations using the system. Trials to improve the system are always done in order to achieve a full centimeter level geodesy on the seafloor.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"136 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":"131819030","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":"Electronic chart based ocean environment development method and its application in digital AUV platform","authors":"Jian Liu, Kaizhou Liu, Xisheng Feng","doi":"10.1109/UT.2004.1405637","DOIUrl":"https://doi.org/10.1109/UT.2004.1405637","url":null,"abstract":"For the purpose of building a robust AUV controller, which could be used to handle dangerous ocean environment, a method of obtaining benthonic terrain based on Electronic Chart is presented. Firstly, some terrain conversion algorithms for development of the benthonic terrain, such as nearest neighbor interpolation, linear interpolation, cubic interpolation and v4-interpolation are compared; Later a new terrain conversion algorithm for development of the benthonic terrain DTTCGSFD (Delaunay Triangle-based Terrain Considering of Grid, Sparse, Feature Data) is introduced. This method consider the data not only distance constant grid data, Sparse data, but also feature data with the terrain data, such as fathom line etc. In the end, build benthonic terrain making use of Electronic Chart ESRI shapefile database. The result, which is of importance in the AUV research of terrain matching navigation, path planning and obstacle avoidance strategy, has been applied in the research work of our digital AUV platform.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"51 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":"132039486","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":"Discrete hierarchical supervisory control for autonomous underwater vehicle","authors":"Hongli Xu, Yu Zhang, Xisheng Feng","doi":"10.1109/UT.2004.1405633","DOIUrl":"https://doi.org/10.1109/UT.2004.1405633","url":null,"abstract":"An autonomous underwater vehicle (AUV) is an unmanned untethered underwater vehicle managed by its control architecture. If we want an AUV to undertake a user-specified mission without the presence of a human, the control system should have enough machine intelligence. The present paper, based on the RW supervisory control theory of Discrete Event Dynamic Systems (DEDS) developed by Ramadge and Wonham, presents discrete hierarchical supervisory control for the intelligent level of AUV control architecture. The DEDS formalism models of AUVs are given in detail. Then the controllability and observability are outlined. The simulation results on the semi-physical virtual reality system shows that the control cannot only coordinate properly sensing, planning and motion but also make the vehicle to adapt to some relatively complex unknown ocean environment.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"42 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":"133512399","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 tracking of sperm whales using two sets of hydrophone array","authors":"T. Ura, R. Bahl, M. Sakata, J. Kojima, T. Fukuchi, J. Ura, Y. Nose, H. Sugimatsu, K. Mori, T. Nakatani, M. Yanagisawa","doi":"10.1109/UT.2004.1405494","DOIUrl":"https://doi.org/10.1109/UT.2004.1405494","url":null,"abstract":"Sperm whales are known to dive to a depth of over two thousand meters and it is also known that they emit loud impulsive broadband sounds called \"clicks\" during their diving. However, little is known about sperm whales' behavior because of a shortage of methods to observe them during their dives. Our attempt is to use the autonomous underwater vehicle (AUV) as an observation platform for sperm whales. The tasks of AUV are to recognize sperm whales individually and track them in real time by listening to sperm whale's clicks with 4-hydrophone array and detecting its direction. As the initial stage for these objectives, we set up an experiment for our observation system using a boat instead of AUV and a support boat. In the middle of August 2003, we carried out an experiment to test our observation system off Ogasawara Islands. Two boats, each with a hydrophone array were deployed mainly in the west or southeast of Chichijima Island in an ocean depth of about 1000 meters. During the experiments over five days we encountered at least fourteen sperm whales. The result of this experiment indicates that our observation system is suitable for tracking sperm whales in sub-real time. We also acquired sufficient sound data of sperm whale's vocalization for off-line verification. The analysis of the results is presently underway. This experiment can be considered as the preliminary step to apply this kind of technique to develop innovative observation for underwater ecosystem system using AUVs.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"2003 52","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114129484","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 visual tracking system for a biomimetic autonomous underwater vehicle","authors":"Jenhwa Guo, Chunxia Wu","doi":"10.1109/UT.2004.1405592","DOIUrl":"https://doi.org/10.1109/UT.2004.1405592","url":null,"abstract":"A visual tracking system for the guidance and navigation of a biomimetic-autonomous underwater vehicle (BAUV) is proposed. Video camera provides precise guiding when the BAUV is close to its target. We design the guidance system that utilizes vision sensor to approach a target. The purpose of the visual sensor is to assist the position estimation of the vehicle and the environment. BAUV swims with cyclic oscillations. Hough transform is applied for resolving the swinging features on the image plane due to the yawing, rolling and pitching of BAUV. A kinematic model is derived to describe the motion of BAUV, and the stereo imaging is applied to estimate relative distance between the BAUV and the underwater target. An extended Kalman filter that combines observational information with navigational data is shown to be effective in reducing positional uncertainty of the BAUV. Numerical simulations and experimental results in a water tank show the validity of the proposed method","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":"130258195","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":"J-15 CW transmission data analysis and comparison with simulation results","authors":"Yung-Sheng Chiu, Yan-Shiun Chen, Ying-Tsong Lin, Chi-Fang Chen","doi":"10.1109/OCEANS.2004.1406474","DOIUrl":"https://doi.org/10.1109/OCEANS.2004.1406474","url":null,"abstract":"Data analysis and 3-D numerical simulations of the acoustic propagation in the ASIAEX SCS experiment are presented in this paper. During the experiment, personnel aboard the Taiwanese ocean research vessel, OR3, periodically deployed and towed the J-15-3 acoustic source to study the sound propagation in the ocean. One of the emitted waveforms was continuous wave (CW), which had 5 simultaneous 140, 260, 340, 452 and 560 Hz. Transmission losses of CW tones are obtained. As for numerical simulations, the wide-angle version of FOR3D is used to calculate transmission losses with background and measured sound speed profile containing internal tides. The model scenario includes also the sediment and 3-D bathymetry. Results of data analysis and numerical simulations show that TL variations in the data are due to the variations in the sediment and water columns.","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":"122299058","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 development and the challenges of underwater vehicles for polar expedition","authors":"Jiancheng Yu, Aiqun Zhang, Zhigang Li, Kuichen Yan","doi":"10.1109/UT.2004.1405488","DOIUrl":"https://doi.org/10.1109/UT.2004.1405488","url":null,"abstract":"The application of underwater vehicles for polar expedition can result in significant improvements in efficiency, cost-effective, and spatial and temporal density of exploration. Existing technology is adequate to develop advanced underwater vehicles for utilization in polar expedition. Great efforts have been made in developing underwater vehicles using for polar expedition over the world in the last decade. Firstly, this paper describes the actions and necessaries of underwater vehicles for polar expedition in detail. Secondly, this paper surveys the development and applications of underwater vehicles for polar expedition over the world, and presents those in China in particular. The scientists over the world have carried out the scientific research on the underwater vehicles technologies and designed many special underwater vehicles used for polar expedition. SeaPole, a remotely operated vehicle, developed by SIA (Shenyang Institute of Automation, China), is described in detail. This underwater vehicle was used during the China Second Arctic Expedition (from July 15 to September 26, 2003). Many important data, which have not ever been acquired before, are acquired by using this vehicle. Thirdly, this paper discusses the trends of the special underwater vehicles for polar expedition. ARVs, a new type of underwater vehicle, is proposed for polar expedition by SIA, and its concept design and some essential parameters are expressed in this paper. Finally, this paper describes the requirements of polar expedition to underwater vehicles and discusses the special challenges of Polar Regions for underwater vehicles, which include the high-latitude navigation and positioning, low temperatures, ice-covered unstructured and hazardous ocean environment, and so on. These challenges need new advancement in underwater vehicles technologies that can enable the development of more practical, reliable underwater vehicles for polar expedition.","PeriodicalId":437450,"journal":{"name":"Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)","volume":"106 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":"122619845","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}