中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881733

J. Riedel

{"title":"Shallow water stationkeeping of an autonomous underwater vehicle: the experimental results of a disturbance compensation controller","authors":"J. Riedel","doi":"10.1109/OCEANS.2000.881733","DOIUrl":"https://doi.org/10.1109/OCEANS.2000.881733","url":null,"abstract":"The continual development of computer technology has enabled the expansion of intelligent control into the field of underwater robots, where potential uses include oceanographic research, environmental monitoring and military mine countermeasures. With the naval focus shifting to operations in the littorals, and the need to lower cost of operations, tetherless autonomous vehicles are now being proposed for use in very shallow water minefield reconnaissance. These areas are dominated by a highly energetic environment arising from waves and currents. Motion control in such an environment becomes a difficult task and is the subject of this work. The main objective of the paper is to show that intervention tasks performed by intelligent underwater robots are improved by their ability to gather, learn and use information about their working environment. Using a new generalized approach to the modeling of underwater vehicles, which directly includes disturbance effects, a new disturbance compensation controller (DCC) is proposed. The DCC, employing onboard vehicle sensors, allows the robot to learn and estimate the seaway dynamics. This self-derived knowledge is embedded in a non-linear sliding mode control law which allows significantly improved motion stabilization. The performance of the DCC has been experimentally verified in Monterey Harbor using the NPS Phoenix AUV.","PeriodicalId":68534,"journal":{"name":"中国会展","volume":"43 1","pages":"1017-1028 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2000-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80915300","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: 32

AUV positioning using bathymetry matching 利用测深匹配进行水下航行器定位

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.882248

R. Beckman, A. Martinez, B. Bourgeois

{"title":"AUV positioning using bathymetry matching","authors":"R. Beckman, A. Martinez, B. Bourgeois","doi":"10.1109/OCEANS.2000.882248","DOIUrl":"https://doi.org/10.1109/OCEANS.2000.882248","url":null,"abstract":"A research concern in AUV positioning is the constraint of INS error growth; approaches to this include surfacing for GPS fixes, terrain matching methods and acoustic transponder systems. The paper presents a positioning technique for AUV's that exploits existing bathymetric data in an operation area. Unlike many terrain matching approaches, which do positioning using distinct ocean bottom features, this method generates a position estimate by comparing the in-situ measured depth at the position of the AUV with available bathymetry data in the immediate area. This builds on contemporary AUV INS/VL navigation systems by incorporating a maximum likelihood estimate of position. Particular emphasis is placed on the design of the maximum likelihood estimator module which produces point-wise position estimates and typically contains a large error component with many outliers. This estimate is merged with the output of the AUV's INS/VL system which constrains the INS drift. Further position accuracy and faster convergence to the correct position can be achieved by incorporating a single slant range measurement from the AUV to a fixed location. The slant range is used as external constraint on both the INS and the MLE. The paper describes the implementation of this approach and the results of simulation studies.","PeriodicalId":68534,"journal":{"name":"中国会展","volume":"1 1","pages":"2123-2127 vol.3"},"PeriodicalIF":0.0,"publicationDate":"2000-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79921159","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: 14

A possible relationship between waveguide properties and bandwidth utilization in humpback whales 座头鲸波导特性与带宽利用之间的可能关系

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.882192

Eduardo Mercado, Z. Michalopoulou, L. N. Frazer

引用次数: 7

System design aspects of a steerable directional acoustic communications transducer for autonomous undersea systems 用于自主水下系统的可操纵定向声通信换能器的系统设计

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881315

N. Fruehauf, J. Rice

引用次数: 13

An evolution of an information technology architecture for oceanography 海洋学信息技术体系结构的演变

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881746

J. Lever, L. Bernard, I. Moore, W.J. Moseley, R. J. Starek

引用次数: 0

Power, packaging, and multiplexing considerations in an acoustic travel-time current meter 声学走时电流计的功率、封装和多路复用考虑

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881726

A. Williams

{"title":"Power, packaging, and multiplexing considerations in an acoustic travel-time current meter","authors":"A. Williams","doi":"10.1109/OCEANS.2000.881726","DOIUrl":"https://doi.org/10.1109/OCEANS.2000.881726","url":null,"abstract":"For users of a current meter, ease of operation is very important, second only to its accuracy of flow measurement. Simplicity of deployment is one measure of this ease of operation. A current meter that can be deployed for an extended period of time, that includes power source and logger in a single case, and that is small and lightweight makes deployment and recovery easy. If the current meter can also accommodate ancillary sensors without extra housings the deployment becomes even simpler. Small size is generally compromised by the need for long deployments. In a recent redesign of the Modular Acoustic Velocity Sensor (MAVS), power management has improved battery consumption by a factor of 50. Power switching alone was unable to provide the benefit required. In the new design, the controller (Onset Tattletale 8 microcomputer) is shut down between measurements and the switching regulators are turned off except during the actual analog conditioning and digitization of signals. Multiplexing of acoustic signals reduces circuit board real estate and allows ports for analog and digital signals from some sensors and from conditioning circuits attached to other sensors. This in turn reduces the total size of the measurement suite, easing the handling of the mooring. A deep sea MAVS with temperature sensing array and high resolution pressure sensor has been built for monitoring heat flux in a hydrothermal vent field in a pressure case 95 mm (3.75\") in diameter and 430 mm (17\") long. It samples for 270 days on 35 WH of internal battery, storing a sample every minute. A single sample takes 45 milliwatt-seconds (mJ) of energy for a total measurement energy budget of 5 WH.","PeriodicalId":68534,"journal":{"name":"中国会展","volume":"3 1","pages":"975-980 vol.2"},"PeriodicalIF":0.0,"publicationDate":"2000-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86426589","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

A new sampler for monitoring fluid and chemical fluxes in hydrologically active submarine environments 一种在水文活跃的海底环境中监测流体和化学通量的新型采样器

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881242

M. Kastner, H. Jannasch, Y. Weinstein, J. Martin

引用次数: 5

Quadratic phase coupling analysis of passive sonar data using biphase techniques 被动声呐数据的二次相位耦合分析

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.881740

L. Persson, R. Lennartsson, J.W.C. Robinson, S. McLaughlin

引用次数: 12

The patch test: a comprehensive calibration tool for multibeam echosounders 贴片测试:多波束回声测深仪的综合校准工具

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.882178

D. Guériot, J. Chèdru, S. Daniel, E. Maillard

{"title":"The patch test: a comprehensive calibration tool for multibeam echosounders","authors":"D. Guériot, J. Chèdru, S. Daniel, E. Maillard","doi":"10.1109/OCEANS.2000.882178","DOIUrl":"https://doi.org/10.1109/OCEANS.2000.882178","url":null,"abstract":"The patch test procedure is the first stage required in any multibeam echosounder survey. The patch test is designed to precisely determine the static configuration of the sonar head (roll, pitch, yaw) and the latency remaining between the reception of the GPS fix and its integration by the acquisition system. An imprecise knowledge of these four values introduces bias when computing the real 3D geographic location of each beam. In the proposed patch test program, these four values are sequentially computed, according to tailored track acquisitions. An extended set of measured information is involved, such as the dynamic attitude, position and heading of the supportship, the geometric offsets of each acquisition unit (MRU, GPS, MBES, compass) and some environmental features (sound velocity profile). The computation mainly relies on performing a matching between specific sea-bottom profiles extracted from each overlapping track. A first rough computation is performed to help the user quickly select the range and step of values to search. Then the user can refine its search as required with successive iterations, during which both the error measures and the error curve for all the previous tested values are displayed. The computation is thus fully automatic, searching the best value within the range. The impact of selecting such at value is immediately shown on the global display of the surveyed area, which provides three representations to enable the user to evaluate the accuracy of the current result: a color-coded real location of the beams, the iso-depth contours extracted from each track, and synthesized depth grids which perform direct comparisons between the track depths.","PeriodicalId":68534,"journal":{"name":"中国会展","volume":"19 1","pages":"1655-1661 vol.3"},"PeriodicalIF":0.0,"publicationDate":"2000-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81297129","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: 30

Subsurface classification of high-resolution seismic data with multivariate statistical techniques: case study from the Strait of Georgia 基于多元统计技术的高分辨率地震资料地下分类:以乔治亚海峡为例

中国会展 Pub Date : 2000-09-11 DOI: 10.1109/OCEANS.2000.882182

S. Bloomer, D. Mosher, W. Collins, J. M. Preston, A. Rosenberger

{"title":"Subsurface classification of high-resolution seismic data with multivariate statistical techniques: case study from the Strait of Georgia","authors":"S. Bloomer, D. Mosher, W. Collins, J. M. Preston, A. Rosenberger","doi":"10.1109/OCEANS.2000.882182","DOIUrl":"https://doi.org/10.1109/OCEANS.2000.882182","url":null,"abstract":"The use of multivariate statistics on the features of echo sounder returns has empirically and repeatedly been shown to be successful in classifying bottom types. The features are derived from the shape and the spectral character of the first echo. They, and other aspects of the data processing, have been optimized for sounder frequencies for which surface scattering dominates over that from volume inhomogeneities. Many engineering applications, such as dredging, the laying of submarine pipelines and cables, the siting of drill and production platforms, and the building of bridges and dams require knowledge of the subsurface. With the development of high-resolution digital seismic systems such as chirp sonars and the IKB SEISTEC/sup TM/ system in the last decade, mapping of the subsurface in shallow water has become cost-effective. This paper describes results from applying these statistical techniques to normal-incidence high-resolution seismic reflection data in which the surface scattering is far less significant, with the hope that these methods will be an adjunct to, and perhaps eventual replacement for, manual expert classification decisions.","PeriodicalId":68534,"journal":{"name":"中国会展","volume":"30 1","pages":"1677-1683 vol.3"},"PeriodicalIF":0.0,"publicationDate":"2000-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83583149","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

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