发布求助
文献互助 智能选刊 最新文献

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)最新文献

筛选
英文 中文
Programming Networked Vehicle Systems Using Dolphin - Field Tests at REP'17 使用海豚编程网络车辆系统- REP'17现场测试
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8559474
Keila Lima, Eduardo R. B. Marques, J. Pinto, J. Sousa
{"title":"Programming Networked Vehicle Systems Using Dolphin - Field Tests at REP'17","authors":"Keila Lima, Eduardo R. B. Marques, J. Pinto, J. Sousa","doi":"10.1109/OCEANSKOBE.2018.8559474","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559474","url":null,"abstract":"The increasing availability and use of autonomous vehicles for real operational scenarios has led to the need for tools that allow human operators to interact with multiple systems effectively, taking into account their capabilities, limitations and environmental constraints. Multiple vehicles, deployed together in order to accomplish a common goal, impose a high burden on a human operator for specifying and executing coordinated behavior, particularly in mixed-initiative systems where humans are part of the control loop. In this paper, we describe experimental field tests for Dolphin, a domain-specific language that allows a single program to define the joint behaviour of multiple vehicles over a network. Using the language, it is possible to accomplish an orchestrated execution of single-vehicle tasks according to several patterns such as sequential, concurrent, or event-based program flow. With this aim, Dolphin has been integrated modularly with a software toolchain for autonomous vehicles developed by Laboratório de Sistemas e Tecnologia Subaquática (LSTS). The tests we describe made use of LSTS unmanned underwater vehicles (UUVs) at open sea during the 2017 edition of Rapid Environment Picture (REP), an annual exercise jointly organised by LSTS and the Portuguese Navy.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132778210","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
Monostatic Sonar Performance Using Pulse Compression Waveforms 使用脉冲压缩波形的单声纳性能
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8559052
Saima Ahmed, H. Vishnu, M. Chitre
{"title":"Monostatic Sonar Performance Using Pulse Compression Waveforms","authors":"Saima Ahmed, H. Vishnu, M. Chitre","doi":"10.1109/OCEANSKOBE.2018.8559052","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559052","url":null,"abstract":"We compare pulse compression waveforms of different categories in terms of their ambiguity function characteristics and performance in detection and range estimation. How well these characteristics translate into sonar performance in shallow waters is studied via simulations. We select three operating scenarios to compare the performance of these waveforms, namely, short range, long range and detection of multiple targets that are close to each other. Our comparison indicates the relative strengths and weaknesses of these waveforms. The results indicate that some aspects of the relative sonar performance of these waveforms can be gauged from their ambiguity function characteristics, though not always in a straightforward manner. Thus, this gives us a methodology to select suitable waveforms for sonar operation without the need to perform computationally intensive Monte Carlo simulations.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133460400","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
Real-Time Detecting Method of Marine Small Object with Underwater Robot Vision 基于水下机器人视觉的海洋小目标实时检测方法
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8558804
Fengqiang Xu, Xueyan Ding, Jinjia Peng, Guoliang Yuan, Yafei Wang, Jun Zhang, Xianping Fu
{"title":"Real-Time Detecting Method of Marine Small Object with Underwater Robot Vision","authors":"Fengqiang Xu, Xueyan Ding, Jinjia Peng, Guoliang Yuan, Yafei Wang, Jun Zhang, Xianping Fu","doi":"10.1109/OCEANSKOBE.2018.8558804","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8558804","url":null,"abstract":"Detection and counting small objects using under-water robot draw an appealing attention because of its urgent demands in marine aquaculture. Because this challenge problem must be solved before the underwater robot can be used to catch seafood in practice instead of diver. This paper proposed a novel method using Faster R-CNN and kernelized correlation filter (KCF) tracking algorithm to detect seafood objects, such as sea cucumber, sea urchin, and scallop and so on in real time. Firstly, we trained an accurate and stable Faster R-CNN detector with VGG model using underwater image database, which is built by ourselves. Next, we recognized and tracked the seafood objects in order to fetch them using underwater robot vision in naturalistic ocean environment. The experimental results show the proposed method can recognized and catch seafood in real time using our integrated underwater robot.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132829638","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: 15
A Novel High-Resolution Trace Metal Clean Sampler for Stationary, Profiling, and Mobile Deployment 一种新型的高分辨率痕量金属清洁采样器，用于固定，分析和移动部署
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8559270
A. Mueller, J. Crusius, Alexander Agudelo, Fizzah Shaikh
{"title":"A Novel High-Resolution Trace Metal Clean Sampler for Stationary, Profiling, and Mobile Deployment","authors":"A. Mueller, J. Crusius, Alexander Agudelo, Fizzah Shaikh","doi":"10.1109/OCEANSKOBE.2018.8559270","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559270","url":null,"abstract":"The Portable Remote In-Situ Metal (PRISM) sampler is a trace metal clean sampler designed for high resolution study of iron (and other metals) in marine ecosystems. Sub-nanomolar detection limits are achievable through a combination of material selection (PTFE, LDPE, HDPE, polypropylene), actively pumped sampling, and design of the fluid loop to avoid contact between sampled waters and the pump or any active valves. A compact modular design, collecting 15 or 30 10 mL samples per module, facilitates deployment on a wide range of stationary, profiling, and mobile platforms. The PRISM sampler has been tested to 200m depth, sufficient for deployment along the continental shelf or for study of the euphotic zone, and can operate autonomously for up to 6 months on a battery pack of 8 C-cell NiMH batteries. Use of readily accessible standard parts minimizes cost and facilitates utilization by other scientists.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"59 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130773434","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
Development of a Towed Optical Camera Array System (SSS: Speedy Sea Scanner) for Sea Environmental Monitoring 用于海洋环境监测的拖曳式光学相机阵列系统(SSS:快速海洋扫描仪)的研制
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8558885
K. Mizuno, S. Tabeta, Yoshino Matsumoto, Shingo Sakamoto, Yusuke Sugimoto, Toshihiro Ogawa, Kenichi Sugimoto, L. Jimenez, Kei Terayama, H. Fukami, M. Sakagami, M. Deki, Akihiro Kawakubo
{"title":"Development of a Towed Optical Camera Array System (SSS: Speedy Sea Scanner) for Sea Environmental Monitoring","authors":"K. Mizuno, S. Tabeta, Yoshino Matsumoto, Shingo Sakamoto, Yusuke Sugimoto, Toshihiro Ogawa, Kenichi Sugimoto, L. Jimenez, Kei Terayama, H. Fukami, M. Sakagami, M. Deki, Akihiro Kawakubo","doi":"10.1109/OCEANSKOBE.2018.8558885","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8558885","url":null,"abstract":"Various methods have been developed and used for monitoring marine benthic habitats, such as coral reefs and seagrass meadows. Basically, field transects, such as Line Intercept Transect (LIT), Photo Line Intercept Transect (PLIT), and Video Transect (VT), are the most widely used methods as it is easy and simple to conduct as well as less costly [1]. However, these in-situ visual method requires long sampling time due to the small coverage of the methods. In addition, 3D information of the seabed cannot be obtained. On the other hand, marine biologists and ecologists have increasingly relied on imagery from platforms such as autonomous underwater vehicles (AUVs) for marine monitoring [2], [3]. The underwater imagery obtained by AUVs can be used to make high quality 3D model of seabed, classify and count the abundance of various species in an area. However, the cost for development is still high and expert is necessary for the operation of vehicles. In addition, the AUV systems usually use mono or stereo cameras for the observation, therefore, the coverage of the observation is not wide.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130993313","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: 7
Multi-Ships Tracking Based on Probability Hypothesis Density Filter with Unknown Birth Intensities 基于未知出生强度的概率假设密度滤波的多船跟踪
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8559171
Feihu Zhang, Chensheng Cheng, Can Wang, Li-e Gao
{"title":"Multi-Ships Tracking Based on Probability Hypothesis Density Filter with Unknown Birth Intensities","authors":"Feihu Zhang, Chensheng Cheng, Can Wang, Li-e Gao","doi":"10.1109/OCEANSKOBE.2018.8559171","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559171","url":null,"abstract":"Recently, the developments of tracking systems have been significantly improved for ships tracking. Traditional approaches adopts a divide-and-conquer strategy, in which data association becomes quite challenging to collect right measurements in high density clutter environments. In this paper, a novel approach using Probability Hypothesis Density (PHD) filter is proposed for ships tracking, in which targets states are estimated based on set-valued measurements. Furthermore, the proposed solution also avoids the requirements of the prior parameters in the PHD filter, with respect to the birth intensities. During the tracking phase, the point matching method is also utilized to distinguish the ships and non-interested targets between consecutive frames, where the unchanged topology information is then utilized to initialize the birth intensities in the PHD filter.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115149942","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
Optimal Strategy for Seabed 3D Mapping of AUV Based on Imaging Sonar 基于成像声纳的水下航行器海底三维测绘优化策略
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8558892
Byeongjin Kim, Hyeonwoo Cho, Hangil Joe, Son-cheol Yu
{"title":"Optimal Strategy for Seabed 3D Mapping of AUV Based on Imaging Sonar","authors":"Byeongjin Kim, Hyeonwoo Cho, Hangil Joe, Son-cheol Yu","doi":"10.1109/OCEANSKOBE.2018.8558892","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8558892","url":null,"abstract":"An imaging sonar loses information of elevation angle while a mapping process. To overcome this limitation, the motion of the autonomous underwater vehicle (AUV) can be used to obtain 3D information using the imaging sonar. In this paper, we propose a two-stage mapping strategy for accurately generating underwater 3D maps based on an imaging sonar. It consists of searching and scanning stage. In the scanning stage, multi-directional scanning is performed on an object. To process 3D point cloud data obtained by multi-directional scanning, we propose a polygonal approximation method. This method reduces the uncertainty of 3D point cloud data by extracting intersection area of multiple data groups. To verify the feasibility of proposed strategies, we conducted indoor tank experiments using a hovering-type AUV ‘Cyclops’ and acoustic lens-based multibeam sonar (ALMS) ‘DIDSON’.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123167438","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
Real-Time Reliability Evaluation of Optical and Acoustic Images for Feature-Based Localization of AUV 基于特征定位的水下航行器光学和声学图像实时可靠性评估
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8559126
Seokyong Song, Byeongjin Kim, Juhwan Kim, Son-cheol Yu
{"title":"Real-Time Reliability Evaluation of Optical and Acoustic Images for Feature-Based Localization of AUV","authors":"Seokyong Song, Byeongjin Kim, Juhwan Kim, Son-cheol Yu","doi":"10.1109/OCEANSKOBE.2018.8559126","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559126","url":null,"abstract":"We propose a method of evaluating reliability of optical image and acoustic image for localization of AUV in real time. Some studies about SLAM using vision or an imaging sonar have been suggested, but both sensors have their own advantageous cases. Using proposed method, AUV switches the utilizing sensor in appropriate case in real time, and always navigates with the most useful sensor. We defined each reliability value of optical and acoustic images using the number of features. We acquired image pairs in seawater and water tank with AUV Cyclops. Using linear discriminant analysis, the parameters to compare their reliability values were found. We compared the results depending on the experiment conditions, and then checked the processing time.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131060146","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: 3
Wideband Geoacoustic Inversion Using Synchrosqueezing Transform 基于同步压缩变换的宽带地球声反演
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8559240
Hong Liu, Kunde Yang, Yuanliang Ma, Qiulong Yang, Liya Xu
{"title":"Wideband Geoacoustic Inversion Using Synchrosqueezing Transform","authors":"Hong Liu, Kunde Yang, Yuanliang Ma, Qiulong Yang, Liya Xu","doi":"10.1109/OCEANSKOBE.2018.8559240","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559240","url":null,"abstract":"Inversion based on modal characteristics is an effective method to estimate shallow water bottom parameters. The precision of dispersion curve extraction has a significant impact on inversion result. In this paper, a method of combination of warping transform and synchrosqueezing transform is introduced to extract mode dispersion curves. It is applied to process an air-gun impulsive signal during a shallow water sound propagation experiment in the winter. According to the normal mode theory, the arrival time difference of propagation modes computed by dispersion curves are used to invert bottom parameters. Genetic algorithm is used for inversion. In addition, the reliability of inversion result is verified by in suit measurement and a posteriori probability statistics.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127100077","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
Measurement of Metal Grade of Ore Particles in Slurry Using Laser-Induced Breakdown Spectroscopy 激光诱导击穿光谱法测定矿浆中矿石颗粒的金属品位
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO) Pub Date : 2018-05-28 DOI: 10.1109/OCEANSKOBE.2018.8559349
Y. Nakajima, J. Yamamoto, Tomoko Takahashi, B. Thornton, Gjergj Dodbiba, T. Fujita
{"title":"Measurement of Metal Grade of Ore Particles in Slurry Using Laser-Induced Breakdown Spectroscopy","authors":"Y. Nakajima, J. Yamamoto, Tomoko Takahashi, B. Thornton, Gjergj Dodbiba, T. Fujita","doi":"10.1109/OCEANSKOBE.2018.8559349","DOIUrl":"https://doi.org/10.1109/OCEANSKOBE.2018.8559349","url":null,"abstract":"This paper describes experimental works to apply Laser-Induced Breakdown Spectroscopy (LIBS) for in-situ measurement of the metal grade of ore particles handled in seafloor mineral processing system for seafloor massive sulfides. LIBS measurements of ore particles containing metallic elements in slurry were performed, where ore slurry was circulated through a chamber mounted on the optical probe of a LIBS device. The chamber was positioned to set the focal point of laser from the LIBS device at the center of the tubular space in the chamber, where the slurry runs. Analytically useful LIBS spectra were obtained from the slurry with enough slurry concentration. While relatively strong LIBS signals assigned to major elements appeared in many spectra, sharp LIBS signals assigned to minor elements appeared in a spectrum. Individual ore particles are not homogeneous even though they are prepared from single ore. The results suggest that multiple measurements are required to assess the metal grade in the seafloor mineral processing system.","PeriodicalId":441405,"journal":{"name":"2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129893968","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信