Design and Evaluation of a Propulsion System for Small, Compact, Low-Speed Maneuvering Underwater Vehicles

Underwater vehicles used to perform precision inspection and non-destructive evaluation in tightly constrained or delicate underwater environments must be small, have low-speed maneuverability and a smooth streamlined outer shape with no appendages. In this thesis, the design and analysis of a new propulsion system for such underwater vehicles is presented. It consists primarily of a syringe and a plunger driven by a linear actuator and uses different inflow and outflow nozzles to provide continuous propulsive force. A prototype of the proposed propulsion mechanism is built and tested. The practical utility and potential efficacy of the system is demonstrated and assessed via direct thrust measurement experiments and by use of an initial proof-of-concept test vehicle. Experiments are performed to enable the evaluation and modelling of the thrust output of the mechanism as well as the speed capability of a vehicle employing the propulsion system

Cost-Effective and Energy-Efficient Techniques for Underwater Acoustic Communication Modems

Finally, the modem developed has been tested experimentally in laboratory (aquatic environment) showing that can communicates at different data rates (100..1200 bps) compared to state-of-the-art research modems. The software used include LabVIEW, MATLAB, Simulink, and Multisim (to test the electronic circuit built) has been employed.Underwater wireless sensor networks (UWSNs) are widely used in many applications related to ecosystem monitoring, and many more fields. Due to the absorption of electromagnetic waves in water and line-of-sight communication of optical waves, acoustic waves are the most suitable medium of communication in underwater environments. Underwater acoustic modem (UAM) is responsible for the transmission and reception of acoustic signals in an aquatic channel. Commercial modems may communicate at longer distances with reliability, but they are expensive and less power efficient. Research modems are designed by using a digital-signal-processor (DSP is expensive) and field-programmable-gate-array (FPGA is high power consuming device). In addition to, the use of a microcontroller is also a common practice (which is less expensive) but provides limited computational power. Hence, there is a need for a cost-effective and energy-efficient UAM to be used in budget limited applications. In this thesis different objectives are proposed. First, to identify the limitations of state-of-the-art commercial and research UAMs through a comprehensive survey. The second contribution has been the design of a low-cost acoustic modem for short-range underwater communications by using a single board computer (Raspberry-Pi), and a microcontroller (Atmega328P). The modulator, demodulator and amplifiers are designed with discrete components to reduce the overall cost. The third contribution is to design a web based underwater acoustic communication testbed along with a simulation platform (with underwater channel and sound propagation models), for testing modems. The fourth contribution is to integrate in a single module two important modules present in UAMs: the PSK modulator and the power amplifier

Design, modelling, characterization and implementation of acoustic lenses for modulation of ultrasound beams.

Tesis por compendio[ES] La capacidad de controlar y modificar los haces de energía ha sido motivo de investigación por parte de la comunidad científica desde largo tiempo atrás. En el campo de la acústica, este control energético de las ondas mecánicas tiene numerosas aplicaciones. Desde las aplicaciones industriales, alimentarias, farmacéuticas, etcétera hasta la biomedicina. Esta tesis se basa en la aplicación del control y modulación focal de los ultrasonidos para el uso en este último campo. Se puede modular y controlar los focos de ultrasonidos de diferentes formas. En este caso, se han desarrollado lentes planas que utilizan el principio de la difracción para lograr focalizar los haces. Las ventajas del uso de lentes planas de focalización permiten ser implementadas de forma sencilla en procesos de mecanización e incluso mediante impresión 3D. Se propone utilizar transductores planos que al emitir sobre una lente acústica, se produzca una conformación focal de características controladas. La lente conocida como lente de Fresnel (FZP) ha sido escogida como base de diseño en la implementación de las diferentes soluciones que logran cumplir con los objetivos marcados. Mediante la aplicación de modificaciones en una FZP se puede lograr pasar de una lente con capacidades extraordinarias de focalización a una lente capaz de controlar la resolución lateral y la profundidad de foco e incluso mejorar la ganancia. El objetivo final de aplicación es el uso en transductores de ultrasonidos de alta intensidad conocidos como HIFU. Mejorar la capacidad de resolución hace que se puedan desarrollar mejores terapias oncológicas que supongan un índice mayor de éxito en la lucha contra el cáncer. En la presente tesis se ha propuesto, además, una novedosa lente FZP basada en el cambio de fase que puede resultar un antes y un después en aplicaciones biomédicas. Se ha conseguido no solo mejorar la eficiencia de una FZP, sino que se ha conseguido implementar en materiales compatibles con resonancia magnética. Se han desarrollado modelos numéricos basados en el método de los elementos finitos que emulan la física involucrada. Las medidas han sido realizadas en condiciones controladas por un sistema robotizado de alta precisión. Todos los resultados obtenidos y publicados han sido desarrollados de forma numérica y experimental, validándose el método de trabajo y dando consistencia a las soluciones propuestas.[CA] La capacitat de controlar i modificar els feixos d'energia ha sigut motiu d'investigació per part de la comunitat científica des de llarg temps arrere. En el camp de l'acústica, este control energètic de les ones mecàniques té nombroses aplicacions. Des de les aplicacions industrials, alimentàries, farmacèutiques, etcètera fins la biomedicina. Esta tesi es basa en l'aplicació del control i modulació focal dels ultrasons per a l'ús en este últim camp. Es pot modular i controlar els focus d'ultrasons de diferents formes. En este cas, s'han desenvolupat lents planes que utilitzen el principi de la difracció per a aconseguir focalitzar els feixos. Els avantatges de l'ús de lents planes de focalització permeten ser implementades de forma senzilla en processos de mecanització i inclús per mitjà d'impressió 3D. Es proposa utilitzar transductores plans que a l'emetre sobre una lent acústica, es produïsca una conformació focal de característiques controlades. La lent coneguda com a lent de Fresnel (FZP) ha sigut triada com a base de disseny en la implementació de les diferents solucions que aconseguixen complir amb els objectius marcats. Per mitjà de l'aplicació de modificacions en una FZP es pot aconseguir passar d'una lent amb capacitats extraordinàries de focalització a una lent capaç de controlar la resolució lateral i la profunditat de focus i inclús millorar el guany. L'objectiu final d'aplicació és l'ús en transductores d'ultrasons d'alta intensitat coneguts com HIFU. Millorar la capacitat de resolució fa que es puguen desenvolupar millors teràpies oncològiques que suposen un índex major d'èxit en la lluita contra el càncer. En la present tesi s'ha proposat, a més, una nova lent FZP basada en el canvi de fase que pot resultar un abans i un després en aplicacions biomèdiques. S'ha aconseguit no sols millorar l'eficiència d'una FZP, sinó que s'ha aconseguit implementar en materials compatibles amb ressonància magnètica. S'han desenvolupat models numèrics basats en el mètode dels elements finits que emulen la física involucrada. Les mesures han sigut realitzades en condicions controlades per un sistema robotitzat d'alta precisió. Tots els resultats obtinguts i publicats han sigut desenvolupats de forma numèrica i experimental, validant-se el mètode de treball i donant consistència a les solucions proposades.[EN] The ability to control and modify energy beams has been the subject of research by the scientific community for a long time. In the acoustic field, this energetic control of mechanical waves has numerous applications. From industrial, food, pharmaceutical applications, et cetera, to biomedicine. This thesis is based on the ultrasound control and focal modulation applications. It is possible to modulate and control the ultrasound focii in different ways. In this case, flat lenses were developed based on the principle of diffraction to focus the beams. The advantages of using flat focusing lenses allow them to be easily implemented in machining and drilling processes and even through 3D printing. It was proposed to use planar transducers that when emitting on an acoustic lens, controlled characteristics of focal conformation were produced. The lens known as Fresnel Zone Plane (FZP) was chosen as the implementation design basis for the different solutions that manage to fulfill the objectives set. By applying modifications to an FZP it was possible to go from a lens with extraordinary focusing capabilities to a lens that was capable to control lateral resolution, depth of focus and even improving the gain. The final objective application was the use in high intensity ultrasound transducers known as HIFU. Improving the ability to resolve makes it possible to develop better cancer therapies that represent a higher rate of success in the fight against cancer. In the present thesis, a novel FZP lens based on phase change has also been proposed that can be a before and after in biomedical applications. It has not only been possible to improve the efficiency of an FZP, but it has also been possible to implement it in materials compatible with magnetic resonance imaging. Numerical models based on the finite element method were developed for emulating the involved physics. Measurements were carried out under controlled conditions by a high precision robotic system. All the results obtained and published were developed numerically and experimentally, validating the working method and giving consistency to the proposed solutions.I want to acknowledge the following public funding sources that have made possible this research: Grant BES-2016-077133 (Ministerio de Ciencia, Innovación y Universidades de España) Project TEC2015-70939-R (MINECO/FEDER). Tomsk Polytechnic University within the framework of Tomsk Polytechnic University Competitiveness Enhancement Program.Tarrazó Serrano, D. (2020). Design, modelling, characterization and implementation of acoustic lenses for modulation of ultrasound beams [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/159895TESISCompendi

Ultrasonic guided wave interpretation for structural health inspections

Structural Health Management (SHM) combines the use of onboard sensors with artificial intelligence algorithms to automatically identify and monitor structural health issues. A fully integrated approach to SHM systems demands an understanding of the sensor output relative to the structure, along with sophisticated prognostic systems that automatically draw conclusions about structural integrity issues. Ultrasonic guided wave methods allow us to examine the interaction of multimode signals within key structural components. Since they propagate relatively long distances within plate- and shell-like structures, guided waves allow inspection of greater areas with fewer sensors, making this technique attractive for a variety of applications.;This dissertation describes the experimental development of automatic guided wave interpretation for three real world applications. Using the guided wave theories for idealized plates we have systematically developed techniques for identifying the mass loading of underwater limpet mines on US Navy ship hulls, characterizing type and bonding of protective coatings on large diameter pipelines, and detecting the thinning effects of corrosion on aluminum aircraft structural stringers. In each of these circumstances the signals received are too complex for interpretation without knowledge of the guided wave physics. We employ a signal processing technique called the Dynamic Wavelet Fingerprint Technique (DFWT) in order to render the guided wave mode information in two-dimensional binary images. The use of wavelets allows us to keep track of both time and scale features from the original signals. With simple image processing we have developed automatic extraction algorithms for features that correspond to the arrival times of the guided wave modes of interest for each of the applications. Due to the dispersive nature of the guided wave modes, the mode arrival times give details of the structure in the propagation path.;For further understanding of how the guided wave modes propagate through the real structures, we have developed parallel processing, 3D elastic wave simulations using the finite integration technique (EFIT). This full field, numeric simulation technique easily examines models too complex for analytical solutions. We have developed the algorithm to handle built up 3D structures as well as layers with different material properties and surface detail. The simulations produce informative visualizations of the guided wave modes in the structures as well as the output from sensors placed in the simulation space to mimic the placement from experiment. Using the previously developed mode extraction algorithms we were then able to compare our 3D EFIT data to their experimental counterparts with consistency

Index to 1984 NASA Tech Briefs, volume 9, numbers 1-4

Short announcements of new technology derived from the R&D activities of NASA are presented. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This index for 1984 Tech B Briefs contains abstracts and four indexes: subject, personal author, originating center, and Tech Brief Number. The following areas are covered: electronic components and circuits, electronic systems, physical sciences, materials, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences

OIL SPILL MODELING FOR IMPROVED RESPONSE TO ARCTIC MARITIME SPILLS: THE PATH FORWARD

Maritime shipping and natural resource development in the Arctic are projected to increase as sea ice coverage decreases, resulting in a greater probability of more and larger oil spills. The increasing risk of Arctic spills emphasizes the need to identify the state-of-the-art oil trajectory and sea ice models and the potential for their integration. The Oil Spill Modeling for Improved Response to Arctic Maritime Spills: The Path Forward (AMSM) project, funded by the Arctic Domain Awareness Center (ADAC), provides a structured approach to gather expert advice to address U.S. Coast Guard (USCG) Federal On-Scene Coordinator (FOSC) core needs for decision-making. The National Oceanic & Atmospheric Administration (NOAA) Office of Response & Restoration (OR&R) provides scientific support to the USCG FOSC during oil spill response. As part of this scientific support, NOAA OR&R supplies decision support models that predict the fate (including chemical and physical weathering) and transport of spilled oil. Oil spill modeling in the Arctic faces many unique challenges including limited availability of environmental data (e.g., currents, wind, ice characteristics) at fine spatial and temporal resolution to feed models. Despite these challenges, OR&R’s modeling products must provide adequate spill trajectory predictions, so that response efforts minimize economic, cultural and environmental impacts, including those to species, habitats and food supplies. The AMSM project addressed the unique needs and challenges associated with Arctic spill response by: (1) identifying state-of-the-art oil spill and sea ice models, (2) recommending new components and algorithms for oil and ice interactions, (3) proposing methods for improving communication of model output uncertainty, and (4) developing methods for coordinating oil and ice modeling efforts

Index to NASA Tech Briefs, 1975

This index contains abstracts and four indexes--subject, personal author, originating Center, and Tech Brief number--for 1975 Tech Briefs

Internal in-service inspection of petrochemical storage tank floors to detect underside corrosion with Non-Destructive Testing Robot

This research develops a new robotics technology for the in-service inspection of floor plates of the majority for the world’s petrochemical storage tanks. The new robotic system aims to decrease inspection cost, reduce human inspector exposure to chemical and hazard environment during the inspection and eliminate tank outage entirely if the floor is found to contain no corrosion. The research focus is on the design and development of a Non-Destructive Testing Robot (NDTBOT) prototype that uses active buoyancy control for its locomotion mechanism and uses NDT ultrasound to measure floor plate thickness as an indication of corrosion thinning. The NDTBOT hops from one location of the floor to another location to make ultrasound thickness measurements of a tank floor, thus avoiding issues of motion on a dirty tank floor (due to oil sludge). Also, a novel radio frequency (RF) data communication system is investigated and developed that can operate while submerged in oil. This system allows control commands to be sent to the NDTBOT by an operator outside the tank and NDT data to be recovered for analysis. To evaluate the performance of the NDTBOT making thickness measurement in the tank, three types of measurement techniques were used. First, the real thickness was measured using a Vernier caliper, the second method used a standard hand-held ultrasonic thickness measurement instrument and finally the in-service inspection thickness measurements were made with the NDTBOT operating in a water tank. The NDTBOT thickness measurements with an immersion ultrasound probe obtained more accurate results than hand-held contact ultrasonic testing. Petrochemical storage tank size varies from 20 to 200 meters in diameter, rapid corrosion inspection in such tanks with a swarm of robots requires that a number of NDTBOTs be deployed inside the tank to perform the NDT. Such deployment needs coordination and control work between the robots to send the NDT data to the NDT inspector. Therefore, an investigation and experimental radio frequency wireless transmission is done in order to compare different radio frequency communication. Simulation with commercial software CADFEKO is used to perform simulation of RF wave transmission in petroleum and vegetable oil with selected radio frequencies of 200 MHz, 300 MHz, and 433 MHz. The experimental work and simulation results give confidence. The RF communication in petroleum medium is feasible for both control of NDTBOTs inside the tank and NDT data transmission back to a technician’s console placed outside the tank